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58 lines
2.2 KiB
58 lines
2.2 KiB
#pragma once
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#include <map>
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#include "api/api.hpp"
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#include "api\i_zcan_cmder_master.hpp"
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#include "cmdid.hpp"
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namespace iflytop {
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class ZIProtocolProxy : public ZIMotor, //
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public ZIXYMotor, //
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public ZIModule {
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private:
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IZcanCmderMaster *m_cancmder;
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int32_t m_id = 0;
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public:
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void initialize(IZCanCmder *cancmder, int32_t id);
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virtual int32_t getid(int32_t *id) {
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*id = m_id;
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return 0;
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};
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/*******************************************************************************
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* ZIModule *
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*******************************************************************************/
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virtual int32_t stop();
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virtual int32_t brake();
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virtual int32_t get_last_exec_status(int32_t *status);
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virtual int32_t get_status(int32_t *status);
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virtual int32_t set_param(int32_t param_id, int32_t param_value);
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virtual int32_t get_param(int32_t param_id, int32_t *param_value);
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virtual int32_t readio(int32_t *io);
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virtual int32_t writeio(int32_t io);
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virtual int32_t read_adc(int adcindex, int32_t *adc);
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/*******************************************************************************
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* ZIMotor *
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*******************************************************************************/
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virtual int32_t motor_enable(int32_t enable);
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virtual int32_t motor_rotate(int32_t direction, int32_t velocitylevel);
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virtual int32_t motor_move_by(int32_t distance, int32_t velocitylevel);
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virtual int32_t motor_move_to(int32_t position, int32_t velocitylevel);
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virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque);
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/*******************************************************************************
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* ZIXYMotor *
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*******************************************************************************/
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virtual int32_t xymotor_enable(int32_t enable);
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virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t velocitylevel);
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virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t velocitylevel);
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};
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} // namespace iflytop
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