p_graphite_digester_sdk/components/zcancmder/cmd/cmd.hpp

#pragma once
#include <stdint.h>

#include "basic.hpp"
namespace iflytop {
namespace zcr {

typedef enum {
  kcmd_ping        = CMDID(0, 0),
  kcmd_read_io     = CMDID(1, 0),
  kcmd_set_io      = CMDID(2, 0),
  kcmd_readadc_raw = CMDID(3, 0),

  kcmd_m211887_operation             = CMDID(1000, 0),  // ά��������������
  kcmd_read_presure_sensor           = CMDID(1001, 0),  // ѹ��������
  kcmd_triple_warning_light_ctl      = CMDID(1002, 0),  // ��ɫ��ʾ�ƿ���
  kcmd_high_power_electrical_ctl     = CMDID(1003, 0),  // �����ʵ�Դ����
  kcmd_peristaltic_pump_ctl          = CMDID(1004, 0),  // Һ�ÿ���
  kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0),  // ����ѹ��������

  /*******************************************************************************
   *                            |Module_1006:XYRobot�����˿���ģ��                 *
   *******************************************************************************/
  kcmd_xy_robot_ctrl_enable                      = CMDID(1006, 0),  // ������ʹ��
  kcmd_xy_robot_ctrl_stop                        = CMDID(1006, 1),  // ������ֹͣ
  kcmd_xy_robot_ctrl_move_to_zero                = CMDID(1006, 2),  // �����˻���
  kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3),  // �����˻��㲢�궨
  kcmd_xy_robot_ctrl_move_to                     = CMDID(1006, 4),  // �������ƶ���ָ��λ��
  kcmd_xy_robot_ctrl_move_by                     = CMDID(1006, 5),  // �������ƶ�ָ������

  kcmd_xy_robot_ctrl_read_version    = CMDID(1006, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_xy_robot_ctrl_read_status     = CMDID(1006, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_xy_robot_ctrl_read_debug_info = CMDID(1006, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_xy_robot_ctrl_set_run_param           = CMDID(1006, 100),  // �������в���
  kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101),  // ���ÿ������Ʋ���
  kcmd_xy_robot_ctrl_set_run_to_zero_param   = CMDID(1006, 102),  // ���ù�������

  /*******************************************************************************
   *                            |Module_1007:������������ģ��                      *
   *******************************************************************************/
  kcmd_step_motor_ctrl_enable                      = CMDID(1007, 0),  // ʹ��
  kcmd_step_motor_ctrl_stop                        = CMDID(1007, 1),  // ֹͣ
  kcmd_step_motor_ctrl_move_to_zero                = CMDID(1007, 2),  // ����
  kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3),  // ���㲢У׼
  kcmd_step_motor_ctrl_move_to                     = CMDID(1007, 4),  // �ƶ���
  kcmd_step_motor_ctrl_move_by                     = CMDID(1007, 5),  // �����ƶ�
  kcmd_step_motor_ctrl_rotate                      = CMDID(1007, 6),  // �����ƶ�

  kcmd_step_motor_ctrl_read_version    = CMDID(1007, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_step_motor_ctrl_read_status     = CMDID(1007, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_step_motor_ctrl_read_debug_info = CMDID(1007, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_step_motor_ctrl_set_run_param           = CMDID(1007, 100),  // �������в���
  kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101),  // ���þ������Ʋ���
  kcmd_step_motor_ctrl_set_run_to_zero_param   = CMDID(1007, 102),  // ���ù�������

  /*******************************************************************************
   *                            |Module_1008:����                                *
   *******************************************************************************/
  kcmd_mini_servo_ctrl_enable             = CMDID(1008, 0),  // ʹ��
  kcmd_mini_servo_ctrl_stop               = CMDID(1008, 1),  // ֹͣ
  kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2),  // У׼
  kcmd_mini_servo_ctrl_rotate             = CMDID(1008, 3),  // �ٶ�ģʽ
  kcmd_mini_servo_ctrl_move_to            = CMDID(1008, 4),  // λ��ģʽ����
  kcmd_mini_servo_ctrl_move_by            = CMDID(1008, 5),  // λ��ģʽ����
  kcmd_mini_servo_ctrl_run_with_torque    = CMDID(1008, 6),  // ����Ť��ģʽ
  kcmd_mini_servo_ctrl_move_by_nolimit = CMDID(1008, 7),  // �����ƶ�,λ��ģʽ������,�ƶ���������λ�ú���Сλ�����ƣ����޷���ȡ����ǰλ��

  kcmd_mini_servo_ctrl_read_version    = CMDID(1008, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_mini_servo_ctrl_read_status     = CMDID(1008, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_mini_servo_ctrl_read_debug_info = CMDID(1008, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_mini_servo_ctrl_set_run_param           = CMDID(1008, 100),  // λ������ ����λ�ã���Сλ��
  kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101),  // ��ѹ�������� ������ѹ ��С��ѹ

  /*******************************************************************************
   *                                  |Module_1009:EEPROM                       *
   *******************************************************************************/
  kcmd_eeprom_read_block  = CMDID(1009, 0),  // ��ȡEEPROM
  kcmd_eeprom_write_block = CMDID(1009, 1),  // д��EEPROM

  /*******************************************************************************
   *                                 |Module_1010:ɨ����                          *
   *******************************************************************************/
  kcmd_barcode_reader_start_scan = CMDID(1010, 0),  // ��ȡɨ����
  kcmd_barcode_reader_stop_scan  = CMDID(1010, 1),  // ֹͣ��ȡɨ����

  /*******************************************************************************
   *                                 |Module_1011:������-ˮ��-���ȿ���ϵͳ           *
   *******************************************************************************/
  // ����Ŀ���¶�
  kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0),  // ����Ŀ���¶�
  kcmd_heater_ctrl_module_read_stop_temperature  = CMDID(1011, 1),  // ��ȡֹͣ�¶�

  kcmd_heater_ctrl_module_read_version    = CMDID(1011, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_heater_ctrl_module_read_status     = CMDID(1011, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_heater_ctrl_module_read_debug_info = CMDID(1011, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_heater_ctrl_module_set_run_param           = CMDID(1011, 100),  // �������в���
  kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101),  // �������Ʋ���

  /*******************************************************************************
   *                                 |Module_1012:��ѧģ��ɨ����                    *
   *******************************************************************************/
  kcmd_optical_barcode_reader_start_scan                        = CMDID(1012, 0),  // ��ʼɨ��
  kcmd_optical_barcode_reader_stop_scan                         = CMDID(1012, 1),  // ֹͣɨ��
  kcmd_optical_barcode_reader_motor_move_to                     = CMDID(1012, 4),  // ˮƽ�����ƶ���
  kcmd_optical_barcode_reader_motor_move_to_zero                = CMDID(1012, 6),  // ����У׼
  kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate = CMDID(1012, 7),  // ����У׼
  kcmd_optical_barcode_reader_motor_stop                        = CMDID(1012, 8),  // ����ֹͣ
  kcmd_optical_barcode_reader_motor_enable                      = CMDID(1012, 9),  // ����ʹ��

  kcmd_optical_barcode_reader_read_version    = CMDID(1012, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_optical_barcode_reader_read_status     = CMDID(1012, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_optical_barcode_reader_read_debug_info = CMDID(1012, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_optical_barcode_reader_set_run_param           = CMDID(1012, 100),  // �������в���
  kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101),  // �������Ʋ���
  kcmd_optical_barcode_reader_set_run_to_zero_param   = CMDID(1012, 102),  // ���ù�������

  /*******************************************************************************
   *                                 |Module_1013:���в�                            *
   *******************************************************************************/

  kcmd_board_clamp_module_push_and_scan                     = CMDID(1013, 0),  // �Ƴ���Ӧ�岢ɨ��
  kcmd_board_clamp_module_moter_move_to                     = CMDID(1013, 1),  // �����ƶ���
  kcmd_board_clamp_module_moter_move_by                     = CMDID(1013, 2),  // �����ƶ���
  kcmd_board_clamp_module_moter_move_to_zero                = CMDID(1013, 3),  // ��������
  kcmd_board_clamp_module_moter_move_to_zero_with_calibrate = CMDID(1013, 4),  // �������㲢У׼
  kcmd_board_clamp_module_moter_stop                        = CMDID(1013, 5),  // ����ֹͣ
  kcmd_board_clamp_module_moter_enable                      = CMDID(1013, 6),  // ����ʹ��

  kcmd_board_clamp_module_read_version    = CMDID(1013, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_board_clamp_module_read_status     = CMDID(1013, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_board_clamp_module_read_debug_info = CMDID(1013, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_board_clamp_module_set_run_param           = CMDID(1013, 100),  // �������в���
  kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101),  // �������Ʋ���
  kcmd_board_clamp_module_set_run_to_zero_param   = CMDID(1013, 102),  // ���ù�������

  // ����
  /*******************************************************************************
   *                                 |Module_1014:����                            *
   *******************************************************************************/
  kcmd_fan_module_fan_ctrl            = CMDID(1014, 0),   // ���ȿ���
  kcmd_fan_module_fan_read_status     = CMDID(1014, 50),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_fan_module_fan_read_debug_info = CMDID(1014, 51),  // ��ȡģ����ϸ״̬��Ϣ

  // ����͸��
  /*******************************************************************************
   *                                 |Module_1015:����͸��                        *
   *******************************************************************************/
  kcmd_serial_module_send_data       = CMDID(1015, 0),    // ����͸����������
  kcmd_serial_module_start_read_data = CMDID(1015, 1),    // ����͸����ȡ����
  kcmd_serial_module_start_stop_data = CMDID(1015, 2),    // ����͸��ֹͣ��ȡ����
  kcmd_serial_module_read_status     = CMDID(1015, 50),   // ��ȡģ��״̬��Ϣ
  kcmd_serial_module_set_cfg         = CMDID(1015, 100),  // ����͸����������

  // ��Һǹ����
  /*******************************************************************************
   *                                 |Module_1016:��Һǹ����                        *
   *******************************************************************************/
  kcmd_pipette_module_z_motor_enable                      = CMDID(1016, 0),  // ʹ��
  kcmd_pipette_module_z_motor_move_to                     = CMDID(1016, 1),  // �ƶ���
  kcmd_pipette_module_z_motor_move_to_zero                = CMDID(1016, 2),  // ����
  kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3),  // ���㲢У׼
  kcmd_pipette_module_z_motor_stop                        = CMDID(1016, 4),  // ֹͣ

  kcmd_pipette_module_take_liquid  = CMDID(1016, 4),  // ȡҺ��
  kcmd_pipette_module_split_liquid = CMDID(1016, 5),  // ��Һ��
  kcmd_pipette_module_take_tip     = CMDID(1016, 6),  // ȡtip
  kcmd_pipette_module_remove_tip   = CMDID(1016, 7),  // �Ƴ�tip

  kcmd_pipette_module_read_version    = CMDID(1016, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_pipette_module_read_status     = CMDID(1016, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_pipette_module_read_debug_info = CMDID(1016, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_pipette_module_set_run_param           = CMDID(1016, 100),  // �������в���
  kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101),  // �������Ʋ���
  kcmd_pipette_module_set_run_to_zero_param   = CMDID(1016, 102),  // ���ù�������

} CmdID_t;

#pragma pack(push, 1)

ZPACKET_CMD_ACK(kcmd_ping,         //
                CMD(u8 boardid;),  //
                ACK(u8 boardid;));

ZPACKET_CMD_ACK(kcmd_read_io,   //
                CMD(u8 ioid;),  //
                ACK(u8 ioid; u8 val;));

ZPACKET_CMD_ACK(kcmd_set_io,            //
                CMD(u8 ioid; u8 val;),  //
                ACK(u8 ioid; u8 val;));

ZPACKET_CMD_ACK(kcmd_readadc_raw,   //
                CMD(u8 sensorid;),  //
                ACK(u8 sensorid; s32 val;));

/*******************************************************************************
 *                            |Module_1006:XYRobot�����˿���ģ��                 *
 *******************************************************************************/
// ACTION
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable,
                CMD(u8 id; u8 enable;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop,
                CMD(u8 id; u8 stop_type;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero,
                           CMD(u8 id;),  //
                           ACK(u8 id;),  //
                           REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate,
                           CMD(u8 id; s32 nowx; s32 nowy;),  //
                           ACK(u8 id;),                      //
                           REPORT(u8 id; u8 status; s32 zero_shift_x; s32 zero_shift_y;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to,
                           CMD(u8 id; s32 x; s32 y; s32 speed;),  //
                           ACK(u8 id;),                           //
                           REPORT(u8 id; u8 status; s32 x; s32 y;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by,
                           CMD(u8 id; s32 dx; s32 dy; s32 speed;),  //
                           ACK(u8 id;),                             //
                           REPORT(u8 id; u8 status; s32 dx; s32 dy;));
// READ
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version,  //
                CMD(u8 id;),                      //
                ACK(u8 id; u32 version;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status,  //
                CMD(u8 id;),                     //
                ACK(u8 id; u8 status; s32 x; s32 y;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info,  //
                CMD(u8 id;),                         //
                ACK(u8 id; u8 status; s32 x; s32 y;));
// SET
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param,  //
                CMD(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
                    s32 max_y;),  //
                ACK(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
                    s32 max_y;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param,  //
                CMD(u8 id; u8 opt_type;),                    //
                ACK(u8 id; u8 opt_type;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param,                                                         //
                CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;),  //
                ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;));

/*******************************************************************************
 *                            |Module_1007:������������ģ��                      *
 *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable,
                CMD(u8 id; u8 enable;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop,
                CMD(u8 id; u8 stop_type;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero,
                           CMD(u8 id;),  //
                           ACK(u8 id;),  //
                           REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate,
                           CMD(u8 id; s32 nowx; s32 nowy;),  //
                           ACK(u8 id;),                      //
                           REPORT(u8 id; u8 status; s32 zero_shift_x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to,
                           CMD(u8 id; s32 x; s32 speed;),  //
                           ACK(u8 id;),                    //
                           REPORT(u8 id; u8 status; u32 x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by,
                           CMD(u8 id; s32 dx; s32 speed;),  //
                           ACK(u8 id;),                     //
                           REPORT(u8 id; u8 status; s32 dx;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate,
                           CMD(u8 id; s32 speed; s32 run_time;),  //
                           ACK(u8 id;),                           //
                           REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version,  //
                CMD(u8 id;),                        //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status,  //
                CMD(u8 id;),                       //
                ACK(u8 id; u8 status; s32 x; s32 velocity;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info,  //
                CMD(u8 id;),                           //
                ACK(u8 id; u8 status; s32 x; s32 velocity; s32 acc; s32 dec; s32 speed;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param,                                                                                              //
                CMD(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;),  //
                ACK(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param,  //
                CMD(u8 id; u8 opt_type; s32 pad;),             //
                ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param,                                                       //
                CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;),  //
                ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;));

/*******************************************************************************
 *                              |Module_1008:����                              *
 *******************************************************************************/

ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable,
                CMD(u8 id; u8 enable;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop,
                CMD(u8 id; u8 stop_type;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate,
                CMD(u8 id; s32 calibrate_pos;),  //
                ACK(u8 id;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate,
                           CMD(u8 id; s32 speed; s32 run_time;),  //
                           ACK(u8 id;),                           //
                           REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to,
                           CMD(u8 id; s32 pos; s32 speed; s32 torque;),  //
                           ACK(u8 id;),                                  //
                           REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by,
                           CMD(u8 id; s32 pos; s32 speed; s32 torque;),  //
                           ACK(u8 id;),                                  //
                           REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque,
                           CMD(u8 id; s32 torque; s32 run_time;),  //
                           ACK(u8 id;),                            //
                           REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit,
                           CMD(u8 id; s32 pos; s32 speed; s32 torque;),  //
                           ACK(u8 id;),                                  //
                           REPORT(u8 id; u8 status; s32 pos;));
/*******************************************************************************
 *                             |Module_1009:EEPROM                             *
 *******************************************************************************/

ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
                CMD(u8 id; u16 addr; u16 len;),  //
                ACK(u8 id; u16 addr; u16 len; u8 data[0];));
ZPACKET_CMD_ACK(kcmd_eeprom_write_block,
                CMD(u8 id; u16 addr; u16 len; u8 data[0];),  //
                ACK(u8 id; u16 addr; u16 len;));
/*******************************************************************************
 *                             |Module_1010:ɨ����                             *
 *******************************************************************************/

ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
                           CMD(u8 id;),  //
                           ACK(u8 id;),  //
                           REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
                CMD(u8 id;),  //
                ACK(u8 id;));
/*******************************************************************************
 *                    |Module_1011:������-ˮ��-���ȿ���ϵͳ                    *
 *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_start_ctrl_temperature,
                CMD(u8 id; s32 target_temperature;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_stop_temperature,
                CMD(u8 id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version,
                CMD(u8 id;),  //
                ACK(u8 id; uint32_t version;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_debug_info,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param,
                CMD(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;),  //
                ACK(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_warning_limit_param,
                CMD(u8 id; u8 opt_type;),  //
                ACK(u8 id; u8 opt_type;));

/*******************************************************************************
 *                         |Module_1012:��ѧģ��ɨ����                         *
 *******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_start_scan,
                           CMD(u8 id;),  //
                           ACK(u8 id;),  //
                           REPORT(u8 id; u8 status; u16 codelen; u16 code[0];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_stop_scan,
                CMD(u8 id;),  //
                ACK(u8 id;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to,
                           CMD(u8 id; u8 motor_id; s32 pos; s32 speed;),  //
                           ACK(u8 id;),                                   //
                           REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero,
                           CMD(u8 id; u8 motor_id;),  //
                           ACK(u8 id;),               //
                           REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate,
                           CMD(u8 id; u8 motor_id; s32 now_pos;),  //
                           ACK(u8 id;),                            //
                           REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_motor_stop,
                CMD(u8 id; u8 motor_id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version,
                CMD(u8 id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_debug_info,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_param,                                                           //
                CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];),  //
                ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_warning_limit_param,
                CMD(u8 id; u8 opt_type; s32 pad;),  //
                ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_to_zero_param,
                CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];),  //
                ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));

/*******************************************************************************
 *                             Module_1013:���в�                              *
 *******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_push_and_scan,
                           CMD(u8 id;),  //
                           ACK(u8 id;),  //
                           REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to,
                           CMD(u8 id; u8 motor_id; s32 pos; s32 speed;),  //
                           ACK(u8 id;),                                   //
                           REPORT(u8 id; u8 status; s32 pos;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_by,
                           CMD(u8 id; u8 motor_id; s32 pos; s32 speed;),  //
                           ACK(u8 id;),                                   //
                           REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero,
                           CMD(u8 id; u8 motor_id;),  //
                           ACK(u8 id;),               //
                           REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero_with_calibrate,
                           CMD(u8 id; u8 motor_id; s32 now_pos;),  //
                           ACK(u8 id;),                            //
                           REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_moter_stop,
                CMD(u8 id; u8 motor_id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version,
                CMD(u8 id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_debug_info,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_param,                                                               //
                CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];),  //
                ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_warning_limit_param,
                CMD(u8 id; u8 opt_type; s32 pad;),  //
                ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_to_zero_param,
                CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];),  //
                ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));

/*******************************************************************************
 *                              |Module_1014:����                              *
 *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl,
                CMD(u8 id; u8 level;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 level;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; u8 level; int16_t fbcount;));

/*******************************************************************************
 *                           |Module_1016:��Һǹ����                           *
 *******************************************************************************/

ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
                CMD(u8 id; u8 enable;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to,
                           CMD(u8 id; u8 motor_id; s32 pos; s32 speed;),  //
                           ACK(u8 id;),                                   //
                           REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero,
                           CMD(u8 id; u8 motor_id;),  //
                           ACK(u8 id;),               //
                           REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero_with_calibrate,
                           CMD(u8 id; u8 motor_id; s32 now_pos;),  //
                           ACK(u8 id;),                            //
                           REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_stop,
                CMD(u8 id; u8 motor_id;),  //
                ACK(u8 id;));

ZPACKET_CMD_ACK(kcmd_pipette_module_take_liquid,
                CMD(u8 id; u8 motor_id; s32 speed; s32 pos;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_split_liquid,
                CMD(u8 id; u8 motor_id; s32 speed; s32 pos;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_take_tip,
                CMD(u8 id; u8 motor_id; s32 speed; s32 pos;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip,
                CMD(u8 id; u8 motor_id; s32 speed; s32 pos;),  //
                ACK(u8 id;));

#if 0
  kcmd_pipette_module_read_status     = CMDID(1016, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_pipette_module_read_debug_info = CMDID(1016, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_pipette_module_set_run_param           = CMDID(1016, 100),  // �������в���
  kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101),  // �������Ʋ���
  kcmd_pipette_module_set_run_to_zero_param   = CMDID(1016, 102),  // ���ù�������
#endif

ZPACKET_CMD_ACK(kcmd_pipette_module_read_version,
                CMD(u8 id;),  //
                ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_status,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_debug_info,
                CMD(u8 id;),  //
                ACK(u8 id; u8 status; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_run_param,
                CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];),  //
                ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_warning_limit_param,
                CMD(u8 id; u8 opt_type; s32 pad;),  //
                ACK(u8 id; u8 opt_type; s32 pad;));

#pragma pack(pop)

}  // namespace zcr
}  // namespace iflytop