mirror of
https://github.com/goldenfishs/MRobot.git
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112 lines
3.9 KiB
C
112 lines
3.9 KiB
C
/*
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* CMD 模块 V2 - 输入适配器接口
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* 定义设备到统一输入结构的转换接口
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*/
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#pragma once
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#include "cmd_types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ========================================================================== */
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/* 适配器接口定义 */
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/* ========================================================================== */
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/* 适配器操作函数指针类型 */
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typedef int8_t (*CMD_AdapterInitFunc)(void *device_data);
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typedef int8_t (*CMD_AdapterGetInputFunc)(void *device_data, CMD_RawInput_t *output);
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typedef bool (*CMD_AdapterIsOnlineFunc)(void *device_data);
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/* 适配器描述结构 */
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typedef struct {
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const char *name; /* 适配器名称 */
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CMD_InputSource_t source; /* 对应的输入源 */
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void *device_data; /* 设备数据指针 */
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CMD_AdapterInitFunc init; /* 初始化函数 */
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CMD_AdapterGetInputFunc get_input; /* 获取输入函数 */
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CMD_AdapterIsOnlineFunc is_online; /* 在线检测函数 */
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} CMD_InputAdapter_t;
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/* ========================================================================== */
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/* 适配器注册宏 */
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/* ========================================================================== */
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/*
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* 声明适配器
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* 使用示例:
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* CMD_DECLARE_ADAPTER(DR16, dr16, DR16_t)
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*
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* 会生成:
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* - extern DR16_t dr16; // 设备实例声明
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* - int8_t CMD_DR16_Init(void *data);
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* - int8_t CMD_DR16_GetInput(void *data, CMD_RawInput_t *output);
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* - bool CMD_DR16_IsOnline(void *data);
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*/
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#define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \
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extern TYPE var; \
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int8_t CMD_##NAME##_Init(void *data); \
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int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \
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bool CMD_##NAME##_IsOnline(void *data);
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/*
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* 定义适配器实例
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* 使用示例:
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* CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_RC_IsOnline)
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*/
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#define CMD_DEFINE_ADAPTER(NAME, var, source_enum, init_func, get_func, online_func) \
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static CMD_InputAdapter_t g_adapter_##NAME = { \
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.name = #NAME, \
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.source = source_enum, \
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.device_data = (void*)&var, \
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.init = init_func, \
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.get_input = get_func, \
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.is_online = online_func, \
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};
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/* ========================================================================== */
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/* RC设备适配器配置 */
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/* ========================================================================== */
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/* 选择使用的RC设备 - 只需修改这里 */
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#define CMD_RC_DEVICE_TYPE 0 /* 0:DR16, 1:AT9S, 2:VT13 */
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#if CMD_RC_DEVICE_TYPE == 0
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#include "device/dr16.h"
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CMD_DECLARE_ADAPTER(DR16_RC, dr16, DR16_t)
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CMD_DECLARE_ADAPTER(DR16_PC, dr16, DR16_t)
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#define CMD_RC_ADAPTER_NAME DR16
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#define CMD_RC_ADAPTER_VAR dr16
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#elif CMD_RC_DEVICE_TYPE == 1
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#include "device/at9s_pro.h"
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CMD_DECLARE_ADAPTER(AT9S, at9s, AT9S_t)
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#define CMD_RC_ADAPTER_NAME AT9S
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#define CMD_RC_ADAPTER_VAR at9s
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#elif CMD_RC_DEVICE_TYPE == 2
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#include "device/vt13.h"
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CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t)
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#define CMD_RC_ADAPTER_NAME VT13
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#define CMD_RC_ADAPTER_VAR vt13
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#endif
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/* ========================================================================== */
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/* 适配器管理接口 */
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/* ========================================================================== */
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/* 初始化所有适配器 */
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int8_t CMD_Adapter_InitAll(void);
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/* 获取指定输入源的原始输入 */
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int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output);
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/* 检查输入源是否在线 */
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bool CMD_Adapter_IsOnline(CMD_InputSource_t source);
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/* 注册适配器 (运行时注册，可选) */
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int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter);
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#ifdef __cplusplus
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}
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#endif
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