#include "zmodule_device_script_cmder_paser.hpp" #include #include #include 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); int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value); int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value); /******************************************************************************* * 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); 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; #endif PROCESS_PACKET_10(module_stop, "(mid)"); PROCESS_PACKET_10(module_break, "(mid)"); PROCESS_PACKET_11(module_get_last_exec_status, "(mid)"); PROCESS_PACKET_11(module_get_status, "(mid)"); PROCESS_PACKET_30(module_set_param, "(mid, param_id, param_value)"); PROCESS_PACKET_21(module_get_param, "(mid, param_id)"); PROCESS_PACKET_11(module_readio, "(mid)"); PROCESS_PACKET_20(module_writeio, "(mid, io)"); PROCESS_PACKET_21(module_read_adc, "(mid,adc_id, adcindex)"); PROCESS_PACKET_11(module_get_error, "(mid)"); PROCESS_PACKET_10(module_clear_error, "(mid)"); PROCESS_PACKET_20(module_set_inited_flag, "(mid, flag)"); PROCESS_PACKET_11(module_get_inited_flag, "(mid)"); PROCESS_PACKET_10(module_factory_reset, "(mid)"); PROCESS_PACKET_10(module_flush_cfg, "(mid)"); PROCESS_PACKET_10(module_active_cfg, "(mid)"); PROCESS_PACKET_30(module_set_state, "(mid, state_id, state_value)"); PROCESS_PACKET_21(module_get_state, "(mid, state_id)"); PROCESS_PACKET_20(motor_enable, "(mid, enable)"); PROCESS_PACKET_40(motor_rotate, "(mid, direction, motor_velocity, acc)"); PROCESS_PACKET_40(motor_move_by, "(mid, distance, motor_velocity, acc)"); PROCESS_PACKET_40(motor_move_to, "(mid, position, motor_velocity, acc)"); PROCESS_PACKET_40(motor_rotate_acctime, "(mid, direction, motor_velocity, acctime)"); PROCESS_PACKET_40(motor_move_by_acctime, "(mid, distance, motor_velocity, acctime)"); PROCESS_PACKET_40(motor_move_to_acctime, "(mid, position, motor_velocity, acctime)"); PROCESS_PACKET_30(motor_move_to_with_torque, "(mid, pos, torque)"); PROCESS_PACKET_50(motor_move_to_zero_forward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)"); PROCESS_PACKET_50(motor_move_to_zero_backward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)"); PROCESS_PACKET_11(motor_read_pos, "(mid)"); PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "(mid, pos)"); PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)"); PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)"); #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; } 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; } #endif PROCESS_PACKET_20(xymotor_enable, "(mid, enable)"); PROCESS_PACKET_40(xymotor_move_by, "(mid, dx, dy, motor_velocity)"); PROCESS_PACKET_40(xymotor_move_to, "(mid, x, y, motor_velocity)"); PROCESS_PACKET_10(xymotor_move_to_zero, "(mid)"); PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "(mid)"); PROCESS_PACKET_12(xymotor_read_pos, "(mid)"); }