update

api/zi_module.hpp

@@ -47,6 +47,8 @@ class ZIModule {
     return id;
   };
 
+  virtual int32_t module_ping() = 0;
+
   virtual int32_t module_stop() { return err::koperation_not_support; }
   virtual int32_t module_break() { return err::koperation_not_support; }
   virtual int32_t module_start() { return err::koperation_not_support; }

cmdid.hpp

@@ -14,6 +14,7 @@ typedef enum {
 
   kevent_bus_reg_change_report = CMDID(0, 100),  // para:{}, ack:{}
 
+  kmodule_ping                 = CMDID(1, 0),   // para:{}, ack:{}
   kmodule_stop                 = CMDID(1, 1),   // para:{}, ack:{}
   kmodule_break                = CMDID(1, 2),   // para:{}, ack:{}
   kmodule_get_last_exec_status = CMDID(1, 3),   // para:{}, ack:{4}

protocol_parser.cpp

@@ -117,7 +117,7 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
     virtual ~ZIModule() {}
 
   virtual int32_t getid(int32_t *id) = 0;
-
+  virtual int32_t module_ping() = 0;
   virtual int32_t module_stop()                                = 0;
   virtual int32_t module_break()                               = 0;
   virtual int32_t module_start() { return err::koperation_not_support; }
@@ -155,6 +155,8 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
 
 #endif
+
+  PROCESS_PACKET_00(kmodule_ping, ZIModule, module_ping);
   PROCESS_PACKET_00(kmodule_stop, ZIModule, module_stop);
   PROCESS_PACKET_00(kmodule_break, ZIModule, module_break);
   PROCESS_PACKET_01(kmodule_get_last_exec_status, ZIModule, module_get_last_exec_status);

protocol_proxy.cpp

@@ -73,6 +73,7 @@ using namespace iflytop;
 #define PROXY_IMPL_42(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 2, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
 #define PROXY_IMPL_43(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 3, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
 
+int32_t ZIProtocolProxy::module_ping() { PROXY_IMPL_00(kmodule_ping, 30); }
 int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop, 30); }
 int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break, 30); }
 int32_t ZIProtocolProxy::module_start() { PROXY_IMPL_00(kmodule_start, 30); }

protocol_proxy.hpp

@@ -32,6 +32,8 @@ class ZIProtocolProxy : public ZIMotor,    //
    *******************************************************************************/
 #if 0
 #endif
+  virtual int32_t module_ping() override;
+
   virtual int32_t module_stop() override;
   virtual int32_t module_break() override;
   virtual int32_t module_start() override;

zmodule_device_manager.cpp

@@ -15,8 +15,8 @@ using namespace std;
 
 void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
   m_cancmder = cancmder;
-  assert(m_cancmder != nullptr);
-
+  // assert(m_cancmder != nullptr);
+  if (m_cancmder) {
     m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) {
       if (datalen < 4) return;
 
@@ -29,6 +29,7 @@ void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
         callOnRegValChangeEvent(moduleid, event_id, eventval);
       }
     });
+  }
 }
 void ZModuleDeviceManager::registerModule(ZIModule *module) {
   assert(module != nullptr);
@@ -41,6 +42,7 @@ void ZModuleDeviceManager::registerModule(ZIModule *module) {
 /*******************************************************************************
  *                                  ZIModule                                   *
  *******************************************************************************/
+int32_t ZModuleDeviceManager::module_ping(uint16_t id) { PROXY_IMPL(ZIModule, module_ping); }
 int32_t ZModuleDeviceManager::module_stop(uint16_t id) { PROXY_IMPL(ZIModule, module_stop); }
 int32_t ZModuleDeviceManager::module_break(uint16_t id) { PROXY_IMPL(ZIModule, module_break); }
 int32_t ZModuleDeviceManager::module_get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, module_get_last_exec_status, ack0); }

zmodule_device_manager.hpp

@@ -69,6 +69,7 @@ class ZModuleDeviceManager {
 
   virtual int32_t module_enable(int32_t enable) override;
 #endif
+  virtual int32_t module_ping(uint16_t id);
   virtual int32_t module_stop(uint16_t id);
   virtual int32_t module_break(uint16_t id);
 

zmodule_device_script_cmder_paser.cpp

@@ -100,7 +100,7 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t module_enable(uint16_t id, int32_t enable);
 #endif
-
+  PROCESS_PACKET_10(module_ping, "(mid)");
   PROCESS_PACKET_10(module_stop, "(mid)");
   PROCESS_PACKET_10(module_start, "(mid)");
   PROCESS_PACKET_10(module_break, "(mid)");