From 9ab1db7926b72d1dec1db8c4f92d283d17dc2f92 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 21 Nov 2023 17:14:23 +0800 Subject: [PATCH] update --- api/packet_interface.hpp | 12 ++++++------ protocol_event_bus_sender.cpp | 6 +++--- protocol_parser.cpp | 8 ++++---- zmodule_device_manager.cpp | 4 ++-- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/api/packet_interface.hpp b/api/packet_interface.hpp index ef80fa9..781d298 100644 --- a/api/packet_interface.hpp +++ b/api/packet_interface.hpp @@ -6,10 +6,10 @@ namespace zcr { #pragma pack(push, 1) typedef struct { uint16_t packetindex; - uint16_t cmdmoduleid; - uint8_t subcmdid; - uint8_t packetType; - uint16_t submoduleid; + uint16_t cmdMainId; // cmd main id + uint8_t cmdSubId; // cmd sub id + uint8_t packetType; // + uint16_t subModuleid; // module id uint8_t data[]; } zcr_cmd_header_t; #pragma pack(pop) @@ -24,8 +24,8 @@ typedef enum { } // namespace zcr } // namespace iflytop -#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid) -#define SUBCMDID(cmdid) (cmdid & 0xff) +#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId) +#define CMD_SUB_ID(cmdid) (cmdid & 0xff) #define MODULE_CMDID(cmdid) (cmdid >> 8) #define STEP_MOTOR_ID_OFF 100 diff --git a/protocol_event_bus_sender.cpp b/protocol_event_bus_sender.cpp index 6629b64..42f2a48 100644 --- a/protocol_event_bus_sender.cpp +++ b/protocol_event_bus_sender.cpp @@ -11,9 +11,9 @@ void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32 zcr_cmd_header_t cmd_header = {0}; int32_t data[3]; - cmd_header.cmdmoduleid = moduleid; - cmd_header.cmdmoduleid = zcr::kevent_bus_reg_change_report >> 8; - cmd_header.submoduleid = zcr::kevent_bus_reg_change_report & 0xff; + cmd_header.subModuleid = moduleid; + cmd_header.cmdMainId = zcr::kevent_bus_reg_change_report >> 8; + cmd_header.subModuleid = zcr::kevent_bus_reg_change_report & 0xff; data[1] = regindex; data[2] = oldval; diff --git a/protocol_parser.cpp b/protocol_parser.cpp index 1c3af10..39fa0bd 100644 --- a/protocol_parser.cpp +++ b/protocol_parser.cpp @@ -100,15 +100,15 @@ void ZIProtocolParser::registerModule(ZIModule* module) { } void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) { - // printf("onRceivePacket cmdid:%d submoduleid:%d subcmdid:%d\n", rxcmd->cmdmoduleid, rxcmd->submoduleid, rxcmd->subcmdid); - uint16_t submoduleid = rxcmd->submoduleid; - auto it = m_modulers.find(submoduleid); + // printf("onRceivePacket cmdid:%d subModuleid:%d cmdSubId:%d\n", rxcmd->cmdMainId, rxcmd->subModuleid, rxcmd->cmdSubId); + uint16_t subModuleid = rxcmd->subModuleid; + auto it = m_modulers.find(subModuleid); if (it == m_modulers.end()) { return; } ZIModule* module = it->second; - int32_t cmdid = CMDID(rxcmd->cmdmoduleid, rxcmd->subcmdid); + int32_t cmdid = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId); /******************************************************************************* * module * *******************************************************************************/ diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp index 7f61626..8176694 100644 --- a/zmodule_device_manager.cpp +++ b/zmodule_device_manager.cpp @@ -18,12 +18,12 @@ void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) { // assert(m_cancmder != nullptr); if (m_cancmder) { m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) { - if (CMDID(packet->cmdmoduleid, packet->subcmdid) == zcr::kevent_bus_reg_change_report) { + if (CMDID(packet->cmdMainId, packet->cmdSubId) == zcr::kevent_bus_reg_change_report) { int32_t *pdata = (int32_t *)packet->data; int32_t regindex = pdata[0]; int32_t regold = pdata[1]; int32_t regnew = pdata[2]; - callOnRegValChangeEvent(packet->cmdmoduleid, regindex, regold, regnew); + callOnRegValChangeEvent(packet->cmdMainId, regindex, regold, regnew); } }); }