a8000_protocol/api/apibasic/cmdid.hpp

#pragma once
#include <stdint.h>

#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)

#define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + 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:{}

  kmodule_ping        = CMDID(1, 0),
  kmodule_get_status  = CMDID(1, 4),
  kmodule_stop        = CMDID(1, 1),
  kmodule_set_reg     = CMDID(1, 5),
  kmodule_get_reg     = CMDID(1, 6),
  kmodule_get_error   = CMDID(1, 10),
  kmodule_clear_error = CMDID(1, 11),
  kmodule_active_cfg  = CMDID(1, 16),

  kxymotor_enable                            = CMDID(3, 1),
  kxymotor_move_by                           = CMDID(3, 2),
  kxymotor_move_to                           = CMDID(3, 3),
  kxymotor_move_to_zero                      = CMDID(3, 4),
  kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5),
  kxymotor_read_pos                          = CMDID(3, 6),
  kxymotor_calculated_pos_by_move_to_zero    = CMDID(3, 7),

  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:{}

  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_stop                 = CMDID(2, 40),  // para:{4}, ack:{}
  kstep_motor_active_cfg           = CMDID(2, 41),  // para:{4}, ack:{}
  kstep_motor_read_io_state        = CMDID(2, 42),  // para:{4}, ack:{}
  kstep_motor_read_tmc5130_status  = CMDID(2, 43),  //

  /***********************************************************************************************************************
   *                                                     MINI_SERVO                                                      *
   ***********************************************************************************************************************/
  kmini_servo_enable        = CMDID(102, 1),
  kmini_servo_read_pos      = CMDID(102, 2),
  kmini_servo_active_cfg    = CMDID(102, 3),
  kmini_servo_stop          = CMDID(102, 4),
  kmini_servo_set_mid_point = CMDID(102, 7),
  kmini_servo_read_io_state = CMDID(102, 8),

  kmini_servo_move_to            = CMDID(102, 9),
  kmini_servo_rotate             = CMDID(102, 10),
  kmini_servo_rotate_with_torque = CMDID(102, 11),

  /***********************************************************************************************************************
   *                                                        BOARD                                                        *
   ***********************************************************************************************************************/
  kboard_read_ext_io  = CMDID(103, 1),  // para:{}, ack:{4}
  kboard_write_ext_io = CMDID(103, 2),  // para:{}, ack:{4}
  kboard_read_muti_io = CMDID(103, 3),  // para:{}, ack:{4}

  /***********************************************************************************************************************
   *                                                        CODE_SCANER                                                   *
   ***********************************************************************************************************************/
  kcode_scaner_start_scan         = CMDID(104, 1),  // para:{}, ack:{}
  kcode_scaner_stop_scan          = CMDID(104, 2),  // para:{}, ack:{}
  kcode_scaner_result_is_ready    = CMDID(104, 3),  // para:{}, ack:{}
  kcode_scaner_read_scaner_result = CMDID(104, 4),  // para:{}, ack:{X}
  kcode_scaner_get_result_length  = CMDID(104, 5),  // para:{}, ack:{X}

} cmdid_t;

typedef struct {
  int         index;
  const char* fnname;
} cmdinfo_t;

const char* cmdid2str(int32_t code);
cmdinfo_t*  cmdid_get_table();
int         cmdid_get_table_size();

}  // namespace zcr
}  // namespace iflytop