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#pragma once
#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
namespace iflytop {namespace zcr {typedef enum {#if 0
virtual int32_t board_reset() = 0;#endif
kboard_reset = CMDID(0, 0), // para:{}, ack:{}
kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{}
#if 0
virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; } virtual int32_t module_read_raw(int32_t startadd, int32_t *data, int32_t *len) { return err::koperation_not_support; } virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t module_start() { return err::koperation_not_support; }#endif
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
// kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
// kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
// kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
// kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
// kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
// kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
// kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
#if 0
virtual ~ZIXYMotor() {} 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; } virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }#endif
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
kxymotor_move_to_zero = CMDID(3, 4), // para:{}, ack:{}
kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7), // para:{}, ack:{}
#if 0
virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; } virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; } virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }#endif
kcode_scaner_start_scan = CMDID(4, 1), // para:{}, ack:{}
kcode_scaner_stop_scan = CMDID(4, 2), // para:{}, ack:{}
kcode_scaner_read_scaner_result = CMDID(4, 3), // para:{4,4}, ack:{4}
#if 0
virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; }; virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; }; virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };#endif
kpipette_ctrl_init_device = CMDID(5, 1), // para:{}, ack:{}
kpipette_ctrl_put_tip = CMDID(5, 2), // para:{}, ack:{}
kpipette_ctrl_move_to_ul = CMDID(5, 3), // para:{4}, ack:{}
#if 0
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) = 0; virtual int32_t a8000_optical_open_laser(int32_t type) = 0; virtual int32_t a8000_optical_close_laser(int32_t type) = 0; virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) = 0; virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) = 0; virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) = 0; virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) = 0; virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) = 0;#endif
ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{}
ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{}
ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{}
ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{}
ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{}
ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4}
ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
/***********************************************************************************************************************
* STEP_MOTOR * ***********************************************************************************************************************/
kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
kstep_motor_active_cfg = CMDID(2, 23), // para:{4,4}, ack:{}
kstep_motor_stop = CMDID(2, 24), // para:{4}, ack:{}
} cmdid_t;
} // namespace zcr
} // namespace iflytop
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