iflytop_cancmder/usrc/app_zmodule_device_manager.cpp

#include "app_zmodule_device_manager.hpp"

#include "sdk/os/zos.hpp"

#define TAG "APPDM"

#define DM ZModuleDeviceManager

using namespace iflytop;
void APPDM::initialize(IZcanCmderMaster *m_cancmder) {  //
  DM::initialize(m_cancmder);
}

void APPDM::registerModule(ZIModule *module) { DM::registerModule(module); }
/*******************************************************************************
 *                                  ZIModule                                   *
 *******************************************************************************/

#define DOCMD(exptr)                                                                     \
  {                                                                                      \
    int32_t errcode = exptr;                                                             \
    if (errcode != 0) {                                                                  \
      ZLOGE(TAG, "do %s fail,errcode %s(%d)", #exptr, err::error2str(errcode), errcode); \
    }                                                                                    \
    return errcode;                                                                      \
  }

int32_t APPDM::module_stop(uint16_t id) {  //
  ZLOGI(TAG, "module_stop %d", id);
  DOCMD(DM::module_stop(id));
}
int32_t APPDM::module_break(uint16_t id) {  //

  ZLOGI(TAG, "module_break %d", id);
  DOCMD(DM::module_break(id));
}

int32_t APPDM::module_get_last_exec_status(uint16_t id, int32_t *status) {  //
  DOCMD(DM::module_get_last_exec_status(id, status));
}
int32_t APPDM::module_get_status(uint16_t id, int32_t *status) {  //
  DOCMD(DM::module_get_status(id, status));
}

int32_t APPDM::module_set_param(uint16_t id, int32_t param_id, int32_t param_value) {  //
  ZLOGI(TAG, "module_set_param %d %d", id, param_value);
  DOCMD(DM::module_set_param(id, param_id, param_value));
}
int32_t APPDM::module_get_param(uint16_t id, int32_t param_id, int32_t *param_value) {  //
  DOCMD(DM::module_get_param(id, param_id, param_value));
}

int32_t APPDM::module_readio(uint16_t id, int32_t *io) {  //
  DOCMD(DM::module_readio(id, io));
}
int32_t APPDM::module_writeio(uint16_t id, int32_t io) {  //

  ZLOGI(TAG, "module_writeio %d %d", id, io);
  DOCMD(DM::module_writeio(id, io));
}

int32_t APPDM::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) {  //
  DOCMD(DM::module_read_adc(id, adcindex, adc));
}

int32_t APPDM::module_get_error(uint16_t id, int32_t *iserror) {  //
  DOCMD(DM::module_get_error(id, iserror));
}
int32_t APPDM::module_clear_error(uint16_t id) {  //
  ZLOGI(TAG, "module_clear_error %d", id);
  DOCMD(DM::module_clear_error(id));
}

int32_t APPDM::module_set_inited_flag(uint16_t id, int32_t flag) {  //
  ZLOGI(TAG, "module_set_inited_flag %d %d", id, flag);
  DOCMD(DM::module_set_inited_flag(id, flag));
}
int32_t APPDM::module_get_inited_flag(uint16_t id, int32_t *flag) {  //
  DOCMD(DM::module_get_inited_flag(id, flag));
}

int32_t APPDM::module_factory_reset(uint16_t id) {  //
  ZLOGI(TAG, "module_factory_reset %d", id);
  DOCMD(DM::module_factory_reset(id));
}
int32_t APPDM::module_flush_cfg(uint16_t id) {  //
  ZLOGI(TAG, "module_flush_cfg %d", id);
  DOCMD(DM::module_flush_cfg(id));
}
int32_t APPDM::module_active_cfg(uint16_t id) {  //
  ZLOGI(TAG, "module_active_cfg %d", id);
  DOCMD(DM::module_active_cfg(id));
}

int32_t APPDM::module_set_state(uint16_t id, int32_t state_id, int32_t state_value) {  //
  ZLOGI(TAG, "module_set_state %d %d %d", id, state_id, state_value);
  DOCMD(DM::module_set_state(id, state_id, state_value));
}
int32_t APPDM::module_get_state(uint16_t id, int32_t state_id, int32_t *state_value) {  //
  DOCMD(DM::module_get_state(id, state_id, state_value));
}

/*******************************************************************************
 *                                   ZIMotor                                   *
 *******************************************************************************/

int32_t APPDM::motor_enable(uint16_t id, int32_t enable) {  //
  ZLOGI(TAG, "motor_enable %d %d", id, enable);
  DOCMD(DM::motor_enable(id, enable));
}
int32_t APPDM::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) {  //
  ZLOGI(TAG, "motor_rotate %d %d %d %d", id, direction, motor_velocity, acc);
  DOCMD(DM::motor_rotate(id, direction, motor_velocity, acc));
}
int32_t APPDM::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) {  //
  ZLOGI(TAG, "motor_move_by %d %d %d %d", id, distance, motor_velocity, acc);
  DOCMD(DM::motor_move_by(id, distance, motor_velocity, acc));
}
int32_t APPDM::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) {  //
  ZLOGI(TAG, "motor_move_to %d %d %d %d", id, position, motor_velocity, acc);
  DOCMD(DM::motor_move_to(id, position, motor_velocity, acc));
}
int32_t APPDM::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) {  //
  ZLOGI(TAG, "motor_rotate_acctime %d %d %d %d", id, direction, motor_velocity, acctime);
  DOCMD(DM::motor_rotate_acctime(id, direction, motor_velocity, acctime));
}
int32_t APPDM::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) {  //
  ZLOGI(TAG, "motor_move_by_acctime %d %d %d %d", id, distance, motor_velocity, acctime);
  DOCMD(DM::motor_move_by_acctime(id, distance, motor_velocity, acctime));
}
int32_t APPDM::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) {  //
  ZLOGI(TAG, "motor_move_to_acctime %d %d %d %d", id, position, motor_velocity, acctime);
  DOCMD(DM::motor_move_to_acctime(id, position, motor_velocity, acctime));
}
int32_t APPDM::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {  //
  ZLOGI(TAG, "motor_move_to_zero_forward %d %d %d %d %d", id, findzerospeed, findzeroedge_speed, acc, overtime);
  DOCMD(DM::motor_move_to_zero_forward(id, findzerospeed, findzeroedge_speed, acc, overtime));
}
int32_t APPDM::motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {  //
  ZLOGI(TAG, "motor_move_to_zero_backward %d %d %d %d %d", id, findzerospeed, findzeroedge_speed, acc, overtime);
  DOCMD(DM::motor_move_to_zero_backward(id, findzerospeed, findzeroedge_speed, acc, overtime));
}
int32_t APPDM::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) {  //
  ZLOGI(TAG, "motor_rotate_with_torque %d %d %d", id, direction, torque);
  DOCMD(DM::motor_rotate_with_torque(id, direction, torque));
}

int32_t APPDM::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) {  //
  ZLOGI(TAG, "motor_move_to_torque %d %d %d %d", id, pos, torque, overtime);
  DOCMD(DM::motor_move_to_torque(id, pos, torque, overtime));
}

int32_t APPDM::motor_read_pos(uint16_t id, int32_t *pos) {  //
  DOCMD(DM::motor_read_pos(id, pos));
}
int32_t APPDM::motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) {  //
  ZLOGI(TAG, "motor_set_current_pos_by_change_shift %d %d", id, pos);
  DOCMD(DM::motor_set_current_pos_by_change_shift(id, pos));
}
int32_t APPDM::motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {  //
  ZLOGI(TAG, "motor_move_to_zero_forward_and_calculated_shift %d %d %d %d %d", id, findzerospeed, findzeroedge_speed, acc, overtime);
  DOCMD(DM::motor_move_to_zero_forward_and_calculated_shift(id, findzerospeed, findzeroedge_speed, acc, overtime));
}
int32_t APPDM::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {  //
  ZLOGI(TAG, "motor_move_to_zero_backward_and_calculated_shift %d %d %d %d %d", id, findzerospeed, findzeroedge_speed, acc, overtime);
  DOCMD(DM::motor_move_to_zero_backward_and_calculated_shift(id, findzerospeed, findzeroedge_speed, acc, overtime));
}

/*******************************************************************************
 *                                  ZIXYMotor                                  *
 *******************************************************************************/

int32_t APPDM::xymotor_enable(uint16_t id, int32_t enable) {  //
  ZLOGI(TAG, "xymotor_enable %d %d", id, enable);
  DOCMD(DM::xymotor_enable(id, enable));
}
int32_t APPDM::xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity) {  //
  ZLOGI(TAG, "xymotor_move_by %d %d %d %d", id, dx, dy, motor_velocity);
  DOCMD(DM::xymotor_move_by(id, dx, dy, motor_velocity));
}
int32_t APPDM::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity) {  //
  ZLOGI(TAG, "xymotor_move_to %d %d %d %d", id, x, y, motor_velocity);
  DOCMD(DM::xymotor_move_to(id, x, y, motor_velocity));
}
int32_t APPDM::xymotor_move_to_zero(uint16_t id) {  //
  ZLOGI(TAG, "xymotor_move_to_zero %d", id);
  DOCMD(DM::xymotor_move_to_zero(id));
}
int32_t APPDM::xymotor_move_to_zero_and_calculated_shift(uint16_t id) {  //
  ZLOGI(TAG, "xymotor_move_to_zero_and_calculated_shift %d", id);
  DOCMD(DM::xymotor_move_to_zero_and_calculated_shift(id));
}
int32_t APPDM::xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y) {  //
  DOCMD(DM::xymotor_read_pos(id, x, y));
}
int32_t APPDM::xymotor_calculated_pos_by_move_to_zero(uint16_t id) {  //
  ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero %d", id);
  DOCMD(DM::xymotor_calculated_pos_by_move_to_zero(id));
}