update

api/apibasic/cmdid.cpp

@@ -25,9 +25,9 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kxymotor_move_by),
     CMD_ITERM(kxymotor_move_to),
     CMD_ITERM(kxymotor_move_to_zero),
-    // CMD_ITERM(kxymotor_move_to_zero_and_calculated_shift),
     CMD_ITERM(kxymotor_read_pos),
-    // CMD_ITERM(kxymotor_calculated_pos_by_move_to_zero),
+    CMD_ITERM(kxymotor_read_inio_index_in_stm32),
+    CMD_ITERM(kxymotor_read_inio),
 
     CMD_ITERM(kpipette_ctrl_init_device),
     CMD_ITERM(kpipette_ctrl_put_tip),

api/apibasic/cmdid.hpp

@@ -31,6 +31,8 @@ typedef enum {
   kxymotor_move_to                  = CMDID(3, 3),
   kxymotor_move_to_zero             = CMDID(3, 4),
   kxymotor_read_pos                 = CMDID(3, 6),
+  kxymotor_read_inio_index_in_stm32 = CMDID(3, 7),
+  kxymotor_read_inio                = CMDID(3, 8),
 
   /***********************************************************************************************************************
    *                                                      光学模组                                                       *

api/zi_xymotor.hpp

@@ -2,21 +2,21 @@
 #include <stdint.h>
 
 #include <functional>
-#include "apibasic/basic.hpp"
-
 
+#include "apibasic/basic.hpp"
 
 namespace iflytop {
 using namespace std;
 class ZIXYMotor {
  public:
   virtual ~ZIXYMotor() {}
-  virtual int32_t xymotor_enable(int32_t enable) { return err::kcmd_not_support; }
-  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::kcmd_not_support; }
-  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::kcmd_not_support; }
-  virtual int32_t xymotor_move_to_zero() { return err::kcmd_not_support; }
-  virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::kcmd_not_support; }
-  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::kcmd_not_support; }
-  virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::kcmd_not_support; }
+  virtual int32_t xymotor_enable(int32_t enable)                                  = 0;
+  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) = 0;
+  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity)   = 0;
+  virtual int32_t xymotor_move_to_zero()                                          = 0;
+  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y)                        = 0;
+
+  virtual int32_t xymotor_read_inio(int32_t ioindex, int32_t *val)                = 0;
+  virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0;
 };
 }  // namespace iflytop