#pragma once #include #include "api/api.hpp" #include "api\i_zcan_cmder_master.hpp" #include "cmdid.hpp" namespace iflytop { class ZIProtocolProxy : public ZIMotor, // public ZIXYMotor, // public ZIModule { private: IZcanCmderMaster *m_cancmder; int32_t m_id = 0; public: void initialize(int32_t moduleId, IZcanCmderMaster *cancmder) { m_cancmder = cancmder; m_id = moduleId; } virtual int32_t getid(int32_t *id) { *id = m_id; return 0; }; /******************************************************************************* * ZIModule * *******************************************************************************/ #if 0 #endif virtual int32_t module_stop() override; virtual int32_t module_break() override; virtual int32_t module_start() override; virtual int32_t module_get_last_exec_status(int32_t *status) override; virtual int32_t module_get_status(int32_t *status) override; virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override; virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override; virtual int32_t module_readio(int32_t *io) override; virtual int32_t module_writeio(int32_t ioindex, int32_t io) override; virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override; virtual int32_t module_get_error(int32_t *iserror) override; virtual int32_t module_clear_error() override; virtual int32_t module_set_inited_flag(int32_t flag) override; virtual int32_t module_get_inited_flag(int32_t *flag) override; virtual int32_t module_factory_reset() override; virtual int32_t module_flush_cfg() override; virtual int32_t module_active_cfg() override; virtual int32_t module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) override; virtual int32_t module_enable(int32_t enable) override; /******************************************************************************* * ZIMotor * *******************************************************************************/ #if 0 virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; } virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; } virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; } #endif virtual int32_t motor_enable(int32_t enable) override; virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override; virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override; virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override; virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override; virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override; virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override; virtual int32_t motor_read_pos(int32_t *pos) override; virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override; virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override; 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 motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override; virtual int32_t motor_calculated_pos_by_move_to_zero() override; /******************************************************************************* * ZIXYMotor * *******************************************************************************/ #if 0 virtual ~ZIXYMotor() {} 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; } virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; } virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; } virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; } #endif virtual int32_t xymotor_enable(int32_t enable) override; virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override; virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override; virtual int32_t xymotor_move_to_zero() override; virtual int32_t xymotor_move_to_zero_and_calculated_shift() override; virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override; virtual int32_t xymotor_calculated_pos_by_move_to_zero() override; }; } // namespace iflytop