zcancmder_v2/zmodule_device_script_cmder_paser.cpp

#include "zmodule_device_script_cmder_paser.hpp"

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

using namespace iflytop;
using namespace std;
#define PROCESS_PACKET_XX(var_funcname, cmdhelp, XP, XACK, ...)                                                  \
  cancmder->regCMD(#var_funcname, cmdhelp, XP, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { \
    ack->ecode   = m_deviceManager->var_funcname(__VA_ARGS__);                                                   \
    ack->acktype = ICmdParserACK::kAckType_int32;                                                                \
    ack->rawlen  = XACK * 4;                                                                                     \
  });

#define PROCESS_PACKET_00(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 0)
#define PROCESS_PACKET_01(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 1, ack->getAck(0))
#define PROCESS_PACKET_02(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 2, ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_03(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 3, ack->getAck(0), ack->getAck(1), ack->getAck(2))

#define PROCESS_PACKET_10(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 0, atoi(paraV[0]))
#define PROCESS_PACKET_11(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 1, atoi(paraV[0]), ack->getAck(0))
#define PROCESS_PACKET_12(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 2, atoi(paraV[0]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_13(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 3, atoi(paraV[0]), ack->getAck(0), ack->getAck(1), ack->getAck(2))

#define PROCESS_PACKET_20(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 0, atoi(paraV[0]), atoi(paraV[1]))
#define PROCESS_PACKET_21(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 1, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0))
#define PROCESS_PACKET_22(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 2, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_23(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 3, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1), ack->getAck(2))

#define PROCESS_PACKET_30(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]))
#define PROCESS_PACKET_31(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0))
#define PROCESS_PACKET_32(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_33(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1), ack->getAck(2))

#define PROCESS_PACKET_40(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]))
#define PROCESS_PACKET_41(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0))
#define PROCESS_PACKET_42(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_43(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1), ack->getAck(2))

#define PROCESS_PACKET_50(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]))
#define PROCESS_PACKET_51(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0))
#define PROCESS_PACKET_52(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_53(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1), ack->getAck(2))

void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
#if 0
 /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
  int32_t module_stop(uint16_t id);
  int32_t module_break(uint16_t id);

  int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
  int32_t module_get_status(uint16_t id, int32_t *status);

  int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
  int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);

  int32_t module_readio(uint16_t id, int32_t *io);
  int32_t module_writeio(uint16_t id, int32_t io);

  int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);

  int32_t module_get_error(uint16_t id, int32_t *iserror);
  int32_t module_clear_error(uint16_t id);

    int32_t module_set_inited_flag(uint16_t id, int32_t flag);
  int32_t module_get_inited_flag(uint16_t id, int32_t *flag);

    int32_t module_factory_reset(uint16_t id);
  int32_t module_flush_cfg(uint16_t id);
  int32_t module_active_cfg(uint16_t id);


  /*******************************************************************************
   *                                   ZIMotor                                   *
   *******************************************************************************/

  int32_t motor_enable(uint16_t id, int32_t enable);
  int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
  int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
  int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
  int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
  int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
  int32_t motor_read_pos(uint16_t id, int32_t *pos);
  int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);

#endif

  PROCESS_PACKET_10(module_stop, "module_stop (mid)");
  PROCESS_PACKET_10(module_break, "module_break (mid)");
  PROCESS_PACKET_11(module_get_last_exec_status, "module_get_last_exec_status (mid)");
  PROCESS_PACKET_11(module_get_status, "module_get_status (mid)");
  PROCESS_PACKET_30(module_set_param, "module_set_param (mid, param_id, param_value)");
  PROCESS_PACKET_21(module_get_param, "module_get_param (mid, param_id)");
  PROCESS_PACKET_11(module_readio, "module_readio (mid)");
  PROCESS_PACKET_20(module_writeio, "module_writeio (mid, io)");
  PROCESS_PACKET_21(module_read_adc, "module_read_adc (mid,adc_id, adcindex)");
  PROCESS_PACKET_11(module_get_error, "module_get_error (mid)");
  PROCESS_PACKET_10(module_clear_error, "module_clear_error (mid)");
  PROCESS_PACKET_20(module_set_inited_flag, "module_set_inited_flag (mid, flag)");
  PROCESS_PACKET_11(module_get_inited_flag, "module_get_inited_flag (mid)");
  PROCESS_PACKET_10(module_factory_reset, "module_factory_reset (mid)");
  PROCESS_PACKET_10(module_flush_cfg, "module_flush_cfg (mid)");
  PROCESS_PACKET_10(module_active_cfg, "module_active_cfg (mid)");

  PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
  PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
  PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
  PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");

  PROCESS_PACKET_40(motor_rotate_acctime, "motor_rotate_acctime (mid, direction, motor_velocity, acctime)");
  PROCESS_PACKET_40(motor_move_by_acctime, "motor_move_by_acctime (mid, distance, motor_velocity, acctime)");
  PROCESS_PACKET_40(motor_move_to_acctime, "motor_move_to_acctime (mid, position, motor_velocity, acctime)");

  PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
  PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
  PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");

  PROCESS_PACKET_11(motor_read_pos, "motor_read_pos (mid)");
  PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "motor_set_current_pos_by_change_shift (mid, pos)");

#if 0
  virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
#endif
  PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
  PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
  PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");
  PROCESS_PACKET_10(xymotor_move_to_zero, "xymotor_move_to_zero (mid)");
}