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a8000_protocol
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删除部分不必要代码

change_pipette_api
zhaohe 1 year ago
parent
a7f08c437c
commit
1de9d701ea
21 changed files with 49 additions and 1483 deletions
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  1. 11
      api/api.hpp
  2. 60
      api/config_index.hpp
  3. 94
      api/errorcode.cpp
  4. 68
      api/i_cmdparser.hpp
  5. 26
      api/i_zcan_cmder_master.hpp
  6. 7
      api/i_zcanreceiver.hpp
  7. 20
      api/module_type_index.hpp
  8. 4
      api/packet_interface.hpp
  9. 24
      api/reg_index_table.cpp
  10. 12
      api/state_index.hpp
  11. 4
      protocol_event_bus_sender.cpp
  12. 4
      protocol_event_bus_sender.hpp
  13. 2
      protocol_parser.cpp
  14. 6
      protocol_parser.hpp
  15. 239
      protocol_proxy.cpp
  16. 192
      protocol_proxy.hpp
  17. 181
      zmodule_device_manager.cpp
  18. 248
      zmodule_device_manager.hpp
  19. 257
      zmodule_device_script_cmder_paser.cpp
  20. 27
      zmodule_device_script_cmder_paser.hpp

11
api/api.hpp
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@ -1,5 +1,4 @@
#pragma once
#include "config_index.hpp"
//
#include "errorcode.hpp"
//
@ -11,13 +10,9 @@
//
#include "packet_interface.hpp"
//
#include "i_zcan_cmder.hpp"
//
#include "i_zcan_cmder_master.hpp"
//
#include "i_cmdparser.hpp"
//
#include "state_index.hpp"
#include "i_zcanreceiver.hpp"
//
#include "protocol_constant.hpp"
//

60
api/config_index.hpp
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@ -1,60 +0,0 @@
#pragma once
#include <stdint.h>
#if 0
namespace iflytop {
using namespace std;
#define CONFIG_CODE(type, subconfigindex) (type + subconfigindex)
typedef enum {
/*******************************************************************************
* 电机相关配置和状态 *
*******************************************************************************/
kcfg_motor_x_shift = CONFIG_CODE(100, 0), // x偏移
kcfg_motor_y_shift = CONFIG_CODE(100, 1), // y偏移
kcfg_motor_z_shift = CONFIG_CODE(100, 2), // z偏移
kcfg_motor_x_shaft = CONFIG_CODE(100, 3), // x轴是否反转
kcfg_motor_y_shaft = CONFIG_CODE(100, 4), // y轴是否反转
kcfg_motor_z_shaft = CONFIG_CODE(100, 5), // z轴是否反转
kcfg_motor_x_one_circle_pulse = CONFIG_CODE(100, 6), // x轴一圈脉冲数
kcfg_motor_y_one_circle_pulse = CONFIG_CODE(100, 7), // y轴一圈脉冲数
kcfg_motor_z_one_circle_pulse = CONFIG_CODE(100, 8), // z轴一圈脉冲数
kcfg_motor_default_velocity = CONFIG_CODE(100, 9), // 默认速度
kcfg_motor_default_acc = CONFIG_CODE(100, 10), // 默认加速度
kcfg_motor_default_dec = CONFIG_CODE(100, 11), // 默认减速度
kcfg_motor_default_break_dec = CONFIG_CODE(100, 12), // 默认减速度
/*******************************************************************************
* 电机找零相关配置 *
*******************************************************************************/
kcfg_motor_run_to_zero_max_x_d = CONFIG_CODE(150, 0), // x轴回零最大距离
kcfg_motor_run_to_zero_max_y_d = CONFIG_CODE(150, 1), // y轴回零最大距离
kcfg_motor_run_to_zero_max_z_d = CONFIG_CODE(150, 2), // z轴回零最大距离
kcfg_motor_look_zero_edge_max_x_d = CONFIG_CODE(150, 3), // x轴找零边缘最大距离
kcfg_motor_look_zero_edge_max_y_d = CONFIG_CODE(150, 4), // y轴找零边缘最大距离
kcfg_motor_look_zero_edge_max_z_d = CONFIG_CODE(150, 5), // z轴找零边缘最大距离
kcfg_motor_run_to_zero_speed = CONFIG_CODE(150, 6), // 回零速度
kcfg_motor_run_to_zero_dec = CONFIG_CODE(150, 7), // 回零减速度
kcfg_motor_look_zero_edge_speed = CONFIG_CODE(150, 8), // 找零边缘速度
kcfg_motor_look_zero_edge_dec = CONFIG_CODE(150, 9), // 找零边缘减速度
/*******************************************************************************
* 步进电机相关配置 *
*******************************************************************************/
k_cfg_stepmotor_ihold = CONFIG_CODE(200, 0),
k_cfg_stepmotor_irun = CONFIG_CODE(200, 1),
k_cfg_stepmotor_iholddelay = CONFIG_CODE(200, 2),
/*******************************************************************************
* XY_ROBOT_CONFIG *
*******************************************************************************/
k_cfg_xyrobot_robot_type = CONFIG_CODE(300, 0), // 机器人类型 0:hbot 1:corexy
} config_index_t;
} // namespace iflytop
#endif
/**
* @brief
*
* 模块通用配置和状态 0->1000
* Robot/Motor通用配置和状态 1000->2000
* Sensor通用配置和状态 2000->3000
* PID通用配置和状态 4000->4100
*/

94
api/errorcode.cpp
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@ -4,100 +4,6 @@
case code: \
return #code;
#if 0
ksucc = ERROR_CODE(0, 0),
kfail = ERROR_CODE(0, 1),
kparam_out_of_range = ERROR_CODE(0, 2), // 参数超出范围
koperation_not_support = ERROR_CODE(0, 3), // 操作不支持
kdevice_is_busy = ERROR_CODE(0, 4), // 设备忙
kdevice_is_offline = ERROR_CODE(0, 5), // 设备离线
kovertime = ERROR_CODE(0, 6),
knoack = ERROR_CODE(0, 7),
kerrorack = ERROR_CODE(0, 8),
kdevice_offline = ERROR_CODE(0, 9),
kparse_json_err = ERROR_CODE(0, 10),
ksubdevice_overtime = ERROR_CODE(0, 11),
kbuffer_not_enough = ERROR_CODE(0, 12),
kcmd_not_found = ERROR_CODE(0, 13),
kcmd_param_num_error = ERROR_CODE(0, 14),
kcheckcode_is_error = ERROR_CODE(0, 15),
kcatch_exception = ERROR_CODE(0, 16),
khwardware_error_fan_error = ERROR_CODE(0, 17),
/**
* @brief 系统错误
*/
ksys_error = ERROR_CODE(100, 0),
ksys_create_file_error = ERROR_CODE(100, 1),
ksys_create_dir_error = ERROR_CODE(100, 2),
ksys_open_file_error = ERROR_CODE(100, 3),
ksys_open_dir_error = ERROR_CODE(100, 4),
ksys_read_file_error = ERROR_CODE(100, 5),
ksys_write_file_error = ERROR_CODE(100, 6),
ksys_close_file_error = ERROR_CODE(100, 7),
ksys_close_dir_error = ERROR_CODE(100, 8),
ksys_delete_file_error = ERROR_CODE(100, 9),
ksys_delete_dir_error = ERROR_CODE(100, 10),
ksys_copy_file_error = ERROR_CODE(100, 11),
/**
* @brief module error
*/
kmodule_not_inited = ERROR_CODE(200, 0),
kmodule_not_found = ERROR_CODE(200, 1),
kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 用户中断
kmodule_error = ERROR_CODE(200, 3), // 未知错误
kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引
kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引
/**
* @brief motor error
*/
kmotor_not_found_zero_point = ERROR_CODE(300, 0), // 未找到零点
kmotor_did_not_go_zero = ERROR_CODE(300, 1), // 设备未归零
kmotor_over_temperature = ERROR_CODE(300, 2), // 过温
kmotor_over_voltage = ERROR_CODE(300, 3), // 过压
kxymotor_not_found_x_zero_point = ERROR_CODE(300, 4), // 未找到零点
kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 未找到零点
kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 离开零点失败
kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 离开零点失败
kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时
/**
* @brief STMP2错误
*/
kSMTP2_NoError = ERROR_CODE(400, 0), // 无错误
kSMTP2_InitFail = ERROR_CODE(400, 1), // 初始化失败
kSMTP2_InvalidCmd = ERROR_CODE(400, 2), // 无效命令
kSMTP2_InvalidArg = ERROR_CODE(400, 3), // 无效参数
kSMTP2_PressureSensorError = ERROR_CODE(400, 4), // 压力传感器故障
kSMTP2_OverPressure = ERROR_CODE(400, 5), // 超过压力
kSMTP2_LLDError = ERROR_CODE(400, 6), // LLD 错误
kSMTP2_DeviceNotInit = ERROR_CODE(400, 7), // 设备未初始化
kSMTP2_TipPopError = ERROR_CODE(400, 8), // Tip 弹出错误
kSMTP2_PumpOverload = ERROR_CODE(400, 9), // 泵过载
kSMTP2_TipDrop = ERROR_CODE(400, 10), // Tip 脱落
kSMTP2_CanBusError = ERROR_CODE(400, 11), // CAN 总线故障
kSMTP2_InvalidChecksum = ERROR_CODE(400, 12), // 无效校验和
kSMTP2_EEPROMError = ERROR_CODE(400, 13), // EEPROM 故障
kSMTP2_CmdBufferEmpty = ERROR_CODE(400, 14), // 命令缓冲区为空
kSMTP2_CmdBufferOverflow = ERROR_CODE(400, 15), // 命令溢出
kSMTP2_TipBlock = ERROR_CODE(400, 16), // Tip 堵塞
kSMTP2_AirSuction = ERROR_CODE(400, 17), // 吸入空气
kSMTP2_Bubble = ERROR_CODE(400, 18), // 液体中有气泡/泡沫
kSMTP2_VolumeError = ERROR_CODE(400, 19), // 吸取/分配量不准确
kSMTP2_TipAlreadyLoad = ERROR_CODE(400, 20), // Tip已经装载
kSMTP2_TipLoadFail = ERROR_CODE(400, 21),
/**
* @brief 单片机硬件错误
*/
kmicro_noErr = ERROR_CODE(500, 0), //
kmicro_uartSendFail = ERROR_CODE(500, 1), //
kmicro_uartRecvFail = ERROR_CODE(500, 2), //
#endif
namespace iflytop {
namespace err {
const char* error2str(int32_t code) {

68
api/i_cmdparser.hpp
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@ -1,68 +0,0 @@
//
// Created by zwsd
//
#pragma once
#include <functional>
#include "config_index.hpp"
#include "errorcode.hpp"
#include "packet_interface.hpp"
#include "protocol_constant.hpp"
namespace iflytop {
using namespace zcr;
class ICmdParserACK {
public:
typedef enum {
kAckType_none,
kAckType_int32,
kAckType_buf,
kAckType_str,
} ICmdParserACKType_t;
public:
int32_t ecode;
ICmdParserACKType_t acktype;
uint8_t rawdata[ZCANCMD_READ_BUF_MAX_SIZE + 100];
int32_t rawlen;
public:
void setInt32Ack(int32_t ecode, int32_t val) {
this->ecode = ecode;
acktype = kAckType_int32;
rawlen = sizeof(int32_t);
*((int32_t *)rawdata) = val;
}
void setNoneAck(int32_t ecode) {
this->ecode = ecode;
acktype = kAckType_none;
rawlen = 0;
rawdata[0] = 0;
}
int32_t *getAck(int index) {
if (index < 0 || index >= (int32_t)(sizeof(rawdata) / 4)) {
return nullptr;
}
return (int32_t *)rawdata + index;
}
int32_t getAckInt32Val(int index) {
if (index < 0 || index >= rawlen / (int)sizeof(int32_t)) {
return 0;
}
return *((int32_t *)rawdata + index);
}
int32_t getAckInt32Num() { return rawlen / (int)sizeof(int32_t); }
};
typedef function<void(int32_t paramN, const char **paraV, ICmdParserACK *ack)> ICmdFunction_t;
class ICmdParser {
public:
virtual void regCMD(const char *cmdname, const char *helpinfo, int paraNum, ICmdFunction_t cmdimpl) = 0;
};
} // namespace iflytop

26
api/i_zcan_cmder_master.hpp
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@ -1,26 +0,0 @@
//
// Created by zwsd
//
#pragma once
#include <functional>
#include "config_index.hpp"
#include "errorcode.hpp"
#include "packet_interface.hpp"
namespace iflytop {
using namespace std;
using namespace zcr;
typedef function<void(int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen)> onpacket_t;
class IZcanCmderMaster {
public:
virtual int32_t sendCmd(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) = 0;
virtual int32_t sendCmdAndReceiveBuf(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) = 0;
virtual void regEventPacketListener(onpacket_t on_event) = 0;
};
} // namespace iflytop

7
api/i_zcan_cmder.hpp → api/i_zcanreceiver.hpp
View File

@ -3,21 +3,20 @@
//
#pragma once
#include "config_index.hpp"
#include "errorcode.hpp"
#include "packet_interface.hpp"
namespace iflytop {
using namespace zcr;
class IZcanCmderListener {
class IZCanReceiverListener {
public:
virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, uint8_t *data, int32_t len) = 0;
};
class IZCanCmder {
class IZCanReceiver {
public:
public:
virtual void registerListener(IZcanCmderListener *listener) = 0;
virtual void registerListener(IZCanReceiverListener *listener) = 0;
virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0;
virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) = 0;
virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) = 0;

20
api/module_type_index.hpp
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@ -3,15 +3,15 @@
namespace iflytop {
typedef enum {
kuniversal_module = 0, // 通用模块
khbot_module = 1, // hbot模块
kmotor_module = 2, // 电机控制
ktemperature_ctrl_module = 3, // 温度控制
kmini_servo_motor_module = 4, // 舵机
kfan_ctrl_module = 5, // 风扇控制
kcode_scaner = 6, // 风扇控制
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
klaster_scaner_module = 9, // a8000光学模组
kuniversal_module = 0, // 通用模块
khbot_module = 1, // hbot模块
kmotor_module = 2, // 电机控制
ktemperature_ctrl_module = 3, // 温度控制
kmini_servo_motor_module = 4, // 舵机
kfan_ctrl_module = 5, // 风扇控制
kcode_scaner = 6, // 风扇控制
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
klaster_scaner_module = 9, // a8000光学模组
} module_type_t;
}

4
api/packet_interface.hpp
View File

@ -6,7 +6,7 @@ namespace zcr {
#pragma pack(push, 1)
typedef struct {
uint16_t packetindex;
uint16_t cmdMainId; // cmd main id
uint16_t cmdMainId; // cmd main id
uint8_t cmdSubId; // cmd sub id
uint8_t packetType; //
uint16_t subModuleid; // module id
@ -25,7 +25,7 @@ typedef enum {
} // namespace iflytop
#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
#define CMD_SUB_ID(cmdid) (cmdid & 0xff)
#define CMD_SUB_ID(cmdid) (cmdid & 0xff)
#define MODULE_CMDID(cmdid) (cmdid >> 8)
#define STEP_MOTOR_ID_OFF 100

24
api/reg_index_table.cpp
View File

@ -6,30 +6,6 @@
#include "reg_index.hpp"
using namespace iflytop;
// DUMP_CONFIG("reg_pwm0_ctrl",);
// DUMP_CONFIG("reg_pwm0_duty",);
// DUMP_CONFIG("reg_pwm0_freq",);
// DUMP_CONFIG("reg_pwm1_ctrl",);
// DUMP_CONFIG("reg_pwm1_duty",);
// DUMP_CONFIG("reg_pwm1_freq",);
// DUMP_CONFIG("reg_pwm2_ctrl",);
// DUMP_CONFIG("reg_pwm2_duty",);
// DUMP_CONFIG("reg_pwm2_freq",);
// DUMP_CONFIG("reg_pwm3_ctrl",);
// DUMP_CONFIG("reg_pwm3_duty",);
// DUMP_CONFIG("reg_pwm3_freq",);
// DUMP_CONFIG("reg_pwm4_ctrl",);
// DUMP_CONFIG("reg_pwm4_duty",);
// DUMP_CONFIG("reg_pwm4_freq",);
// DUMP_CONFIG("reg_pwm5_ctrl",);
// DUMP_CONFIG("reg_pwm5_duty",);
// DUMP_CONFIG("reg_pwm5_freq",);
// DUMP_CONFIG("reg_pwm6_ctrl",);
// DUMP_CONFIG("reg_pwm6_duty",);
// DUMP_CONFIG("reg_pwm6_freq",);
// DUMP_CONFIG("reg_pwm7_ctrl",);
// DUMP_CONFIG("reg_pwm7_duty",);
// DUMP_CONFIG("reg_pwm7_freq",);
static reg_index_table_iterm_t iterms[] = {
{"module_version", kreg_module_version},

12
api/state_index.hpp
View File

@ -1,12 +0,0 @@
#pragma once
#include <stdint.h>
namespace iflytop {
using namespace std;
#define STATE_INDEX(type, subconfigindex) (type + subconfigindex)
typedef enum {
} state_index_t;
} // namespace iflytop

4
protocol_event_bus_sender.cpp
View File

@ -5,7 +5,7 @@
namespace iflytop {
using namespace std;
void ProtocolEventBusSender::initialize(IZCanCmder* zcan_cmder) { m_zcan_cmder = zcan_cmder; }
void ProtocolEventBusSender::initialize(IZCanReceiver* zcanreceiver) { m_zcanreceiver = zcanreceiver; }
void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
zcr_cmd_header_t cmd_header = {0};
@ -18,7 +18,7 @@ void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32
data[1] = regindex;
data[2] = oldval;
data[3] = toval;
m_zcan_cmder->triggerEvent(&cmd_header, (uint8_t*)data, sizeof(data));
m_zcanreceiver->triggerEvent(&cmd_header, (uint8_t*)data, sizeof(data));
}
} // namespace iflytop

4
protocol_event_bus_sender.hpp
View File

@ -4,10 +4,10 @@ namespace iflytop {
using namespace std;
class ProtocolEventBusSender : public ZIEventBusSender {
IZCanCmder* m_zcan_cmder = nullptr;
IZCanReceiver* m_zcanreceiver = nullptr;
public:
void initialize(IZCanCmder* zcan_cmder);
void initialize(IZCanReceiver* zcanreceiver);
virtual void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) override;
};

2
protocol_parser.cpp
View File

@ -87,7 +87,7 @@ using namespace std;
#define PROCESS_BUF_REQUEST_1(var_cmdid, var_moduleType, var_funcname) PROCESS_BUF_REQUEST_X(var_cmdid, var_moduleType, var_funcname, 1, param[0], &ackbuf[0], &readbufsize)
void ZIProtocolParser::initialize(IZCanCmder* cancmder) {
void ZIProtocolParser::initialize(IZCanReceiver* cancmder) {
m_cancmder = cancmder;
m_cancmder->registerListener(this);
}

6
protocol_parser.hpp
View File

@ -5,15 +5,15 @@
#include "cmdid.hpp"
namespace iflytop {
class ZIProtocolParser : public IZcanCmderListener {
class ZIProtocolParser : public IZCanReceiverListener {
private:
IZCanCmder* m_cancmder = nullptr;
IZCanReceiver* m_cancmder = nullptr;
map<uint16_t, ZIModule*> m_modulers;
uint8_t ackbuf[ZCANCMD_READ_BUF_MAX_SIZE + 100];
public:
void initialize(IZCanCmder* cancmder);
void initialize(IZCanReceiver* cancmder);
virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
void registerModule(ZIModule* module);

239
protocol_proxy.cpp
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@ -1,239 +0,0 @@
#include "protocol_proxy.hpp"
using namespace iflytop;
#define PROXY_IMPL_0X_PARA()
#define PROXY_IMPL_1X_PARA() param[0] = para0;
#define PROXY_IMPL_2X_PARA() \
PROXY_IMPL_1X_PARA(); \
param[1] = para1;
#define PROXY_IMPL_3X_PARA() \
PROXY_IMPL_2X_PARA(); \
param[2] = para2;
#define PROXY_IMPL_4X_PARA() \
PROXY_IMPL_3X_PARA(); \
param[3] = para3;
#define PROXY_IMPL_5X_PARA() \
PROXY_IMPL_4X_PARA(); \
param[4] = para4;
#define PROXY_IMPL_X0_ACK()
#define PROXY_IMPL_X1_ACK() *ack0 = ack[0];
#define PROXY_IMPL_X2_ACK() \
PROXY_IMPL_X1_ACK(); \
*ack1 = ack[1];
#define PROXY_IMPL_X3_ACK() \
PROXY_IMPL_X2_ACK(); \
*ack2 = ack[2];
#define PROXY_IMPL_X4_ACK() \
PROXY_IMPL_X3_ACK(); \
*ack3 = ack[3]
#define PROXY_IMPL_X5_ACK() \
PROXY_IMPL_X4_ACK(); \
*ack4 = ack[4];
#define PROXY_IMPL_XX(cmdindex, paramnum, acknum, paraassign, ackassign, overtime) \
int32_t param[1 + paramnum] = {0}; \
int32_t ack[1 + acknum] = {0}; \
paraassign; \
int32_t ecode = m_cancmder->sendCmd(cmdindex, m_id, param, paramnum, ack, acknum, overtime); \
ackassign; \
return ecode;
#define PROXY_IMPL_00(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 0, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_01(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 1, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_02(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 2, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_03(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 3, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_04(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 0, 4, PROXY_IMPL_0X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_10(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 0, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_11(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 1, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_12(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 2, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_13(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 3, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_14(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 1, 4, PROXY_IMPL_1X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_20(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 0, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_21(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 1, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_22(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 2, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_23(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 3, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_24(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 2, 4, PROXY_IMPL_2X_PARA(), PROXY_IMPL_X4_ACK(), overtime);
#define PROXY_IMPL_30(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 0, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_31(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 1, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_32(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_33(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define PROXY_IMPL_40(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 0, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X0_ACK(), overtime);
#define PROXY_IMPL_41(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 1, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X1_ACK(), overtime);
#define PROXY_IMPL_42(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 2, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X2_ACK(), overtime);
#define PROXY_IMPL_43(cmdindex, overtime) PROXY_IMPL_XX(cmdindex, 4, 3, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X3_ACK(), overtime);
#define OVERTIME 300
int32_t ZIProtocolProxy::module_ping() { PROXY_IMPL_00(kmodule_ping, 30); }
int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop, OVERTIME); }
int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break, OVERTIME); }
int32_t ZIProtocolProxy::module_start() { PROXY_IMPL_00(kmodule_start, OVERTIME); }
int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status, OVERTIME); }
int32_t ZIProtocolProxy::module_get_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_status, OVERTIME); }
int32_t ZIProtocolProxy::module_set_reg(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_set_reg, OVERTIME); }
int32_t ZIProtocolProxy::module_get_reg(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_get_reg, OVERTIME); }
int32_t ZIProtocolProxy::module_readio(int32_t *ack0) { PROXY_IMPL_01(kmodule_readio, OVERTIME); }
int32_t ZIProtocolProxy::module_writeio(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmodule_writeio, OVERTIME); }
int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(kmodule_read_adc, OVERTIME); }
int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error, OVERTIME); }
int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error, OVERTIME); }
int32_t ZIProtocolProxy::module_set_inited_flag(int32_t para0) { PROXY_IMPL_10(kmodule_set_inited_flag, OVERTIME); };
int32_t ZIProtocolProxy::module_get_inited_flag(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_inited_flag, OVERTIME); };
int32_t ZIProtocolProxy::module_factory_reset() { PROXY_IMPL_00(kmodule_factory_reset, OVERTIME); }
int32_t ZIProtocolProxy::module_flush_cfg() { PROXY_IMPL_00(kmodule_flush_cfg, 5000); }
int32_t ZIProtocolProxy::module_active_cfg() { PROXY_IMPL_00(kmodule_active_cfg, OVERTIME); }
int32_t ZIProtocolProxy::module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) {
int32_t param[1 + 1] = {0};
param[0] = startadd;
int32_t ecode = m_cancmder->sendCmdAndReceiveBuf(kmodule_read_raw, m_id, param, 1, data, len, 100);
return ecode;
}
int32_t ZIProtocolProxy::module_enable(int32_t para0) { PROXY_IMPL_10(kmodule_enable, OVERTIME); }
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
#endif
int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable, OVERTIME); }
int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to, OVERTIME); }
int32_t ZIProtocolProxy::motor_rotate_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_rotate_with_torque, OVERTIME); }
int32_t ZIProtocolProxy::motor_rotate_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate_acctime, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_by_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by_acctime, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_to_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_acctime, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_to_zero_forward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_forward, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_to_zero_backward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_backward, OVERTIME); }
int32_t ZIProtocolProxy::motor_read_pos(int32_t *ack0) { PROXY_IMPL_01(kmotor_read_pos, OVERTIME); }
int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) { PROXY_IMPL_10(kmotor_set_current_pos_by_change_shift, OVERTIME); }
int32_t ZIProtocolProxy::motor_move_to_zero_forward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_forward_and_calculated_shift, OVERTIME); };
int32_t ZIProtocolProxy::motor_move_to_zero_backward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, OVERTIME); };
int32_t ZIProtocolProxy::motor_move_to_torque(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_torque, OVERTIME); }
int32_t ZIProtocolProxy::motor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kmotor_calculated_pos_by_move_to_zero, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_rotate(int32_t para0) { PROXY_IMPL_10(kmotor_easy_rotate, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_move_by(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_by, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_move_to(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_move_to_zero(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to_zero, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_set_current_pos(int32_t para0) { PROXY_IMPL_10(kmotor_easy_set_current_pos, OVERTIME); }
int32_t ZIProtocolProxy::motor_easy_move_to_io(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_easy_move_to_io, OVERTIME); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
#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
int32_t ZIProtocolProxy::xymotor_enable(int32_t para0) { PROXY_IMPL_10(kxymotor_enable, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_by, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_to, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_move_to_zero() { PROXY_IMPL_00(kxymotor_move_to_zero, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_move_to_zero_and_calculated_shift() { PROXY_IMPL_00(kxymotor_move_to_zero_and_calculated_shift, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_read_pos(int32_t *ack0, int32_t *ack1) { PROXY_IMPL_02(kxymotor_read_pos, OVERTIME); }
int32_t ZIProtocolProxy::xymotor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kxymotor_calculated_pos_by_move_to_zero, OVERTIME); }
#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; }
int32_t ZIProtocolProxy::code_scaner_start_scan() { PROXY_IMPL_00(kcode_scaner_start_scan, OVERTIME); }
int32_t ZIProtocolProxy::code_scaner_stop_scan() { PROXY_IMPL_00(kcode_scaner_stop_scan, OVERTIME); }
int32_t ZIProtocolProxy::code_scaner_read_scaner_result(int32_t para0, uint8_t *data, int32_t *len) {
int32_t param[1 + 1] = {0};
param[0] = para0;
int32_t ecode = m_cancmder->sendCmdAndReceiveBuf(kmodule_read_raw, m_id, param, 1, data, len, 100);
return ecode;
}
#endif
#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
int32_t ZIProtocolProxy::pipette_ctrl_init_device() { PROXY_IMPL_00(kpipette_ctrl_init_device, OVERTIME); };
int32_t ZIProtocolProxy::pipette_ctrl_put_tip() { PROXY_IMPL_00(kpipette_ctrl_put_tip, OVERTIME); };
int32_t ZIProtocolProxy::pipette_ctrl_move_to_ul(int32_t para0) { PROXY_IMPL_10(kpipette_ctrl_move_to_ul, OVERTIME); };
#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
int32_t ZIProtocolProxy::a8000_optical_module_power_ctrl(int32_t para0) { PROXY_IMPL_10(ka8000_optical_module_power_ctrl, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_open_laser(int32_t para0) { PROXY_IMPL_10(ka8000_optical_open_laser, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_close_laser(int32_t para0) { PROXY_IMPL_10(ka8000_optical_close_laser, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_set_laster_gain(int32_t para0, int32_t para1) { PROXY_IMPL_20(ka8000_optical_set_laster_gain, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_set_scan_amp_gain(int32_t para0, int32_t para1) { PROXY_IMPL_20(ka8000_optical_set_scan_amp_gain, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_read_scanner_adc_val(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(ka8000_optical_read_scanner_adc_val, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_read_laster_adc_val(int32_t para0, int32_t *ack0) { PROXY_IMPL_11(ka8000_optical_read_laster_adc_val, OVERTIME); }
int32_t ZIProtocolProxy::a8000_optical_scan_current_point_amp_adc_val(int32_t para0, int32_t para1, int32_t para2, int32_t *ack0, int32_t *ack1) { PROXY_IMPL_22(ka8000_optical_scan_current_point_amp_adc_val, OVERTIME); }

192
protocol_proxy.hpp
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@ -1,192 +0,0 @@
#pragma once
#include <map>
#include "api/api.hpp"
#include "api/i_zcan_cmder_master.hpp"
#include "cmdid.hpp"
namespace iflytop {
class ZIProtocolProxy : public ZIMotor, //
public ZIXYMotor, //
public ZIModule,
public ZIPipetteCtrlModule,
public ZIA8000OpticalModule {
private:
IZcanCmderMaster *m_cancmder;
int32_t m_id = 0;
public:
void initialize(int32_t moduleId, IZcanCmderMaster *cancmder) {
m_cancmder = cancmder;
m_id = moduleId;
}
virtual int32_t getid(int32_t *id) {
*id = m_id;
return 0;
};
/*******************************************************************************
* ZIModule *
*******************************************************************************/
#if 0
#endif
virtual int32_t module_ping() override;
virtual int32_t module_stop() override;
virtual int32_t module_break() override;
virtual int32_t module_start() override;
virtual int32_t module_get_last_exec_status(int32_t *status) override;
virtual int32_t module_get_status(int32_t *status) override;
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
virtual int32_t module_readio(int32_t *io) override;
virtual int32_t module_writeio(int32_t ioindex, int32_t io) override;
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
virtual int32_t module_get_error(int32_t *iserror) override;
virtual int32_t module_clear_error() override;
virtual int32_t module_set_inited_flag(int32_t flag) override;
virtual int32_t module_get_inited_flag(int32_t *flag) override;
virtual int32_t module_factory_reset() override;
virtual int32_t module_flush_cfg() override;
virtual int32_t module_active_cfg() override;
virtual int32_t module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) override;
virtual int32_t module_enable(int32_t enable) override;
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // 一锟斤拷锟斤拷锟节讹拷锟?
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
#endif
virtual int32_t motor_enable(int32_t enable) override;
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t *pos) override;
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override;
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
virtual int32_t motor_calculated_pos_by_move_to_zero() override;
virtual int32_t motor_easy_rotate(int32_t direction) override;
virtual int32_t motor_easy_move_by(int32_t distance) override;
virtual int32_t motor_easy_move_to(int32_t position) override;
virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
virtual int32_t motor_easy_set_current_pos(int32_t pos) override;
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
#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
virtual int32_t xymotor_enable(int32_t enable) override;
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override;
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override;
virtual int32_t xymotor_move_to_zero() override;
virtual int32_t xymotor_move_to_zero_and_calculated_shift() override;
virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override;
virtual int32_t xymotor_calculated_pos_by_move_to_zero() override;
/*******************************************************************************
* ZICodeScaner *
*******************************************************************************/
#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; }
virtual int32_t code_scaner_start_scan() override;
virtual int32_t code_scaner_stop_scan() override;
virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) override;
#endif
#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
virtual int32_t pipette_ctrl_init_device() override;
virtual int32_t pipette_ctrl_put_tip() override;
virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override;
#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
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) override;
virtual int32_t a8000_optical_open_laser(int32_t type) override;
virtual int32_t a8000_optical_close_laser(int32_t type) override;
virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) override;
virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) override;
virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t *adcval) override;
virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t *adcval) override;
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) override;
};
} // namespace iflytop

181
zmodule_device_manager.cpp
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@ -1,181 +0,0 @@
#include "zmodule_device_manager.hpp"
#include <assert.h>
#include <stdio.h>
using namespace iflytop;
using namespace std;
#define PROXY_IMPL(type, functionName, ...) \
type *module = nullptr; \
int32_t ecode = findModule<type>(id, &module); \
if (ecode != 0) { \
return ecode; \
} \
return module->functionName(__VA_ARGS__);
void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) { regCanCmder(cancmder); }
void ZModuleDeviceManager::initialize() {}
void ZModuleDeviceManager::regCanCmder(IZcanCmderMaster *cancmder) {
m_cancmder = cancmder;
// assert(m_cancmder != nullptr);
if (m_cancmder) {
m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) {
if (CMDID(packet->cmdMainId, packet->cmdSubId) == zcr::kevent_bus_reg_change_report) {
int32_t *pdata = (int32_t *)packet->data;
int32_t regindex = pdata[0];
int32_t regold = pdata[1];
int32_t regnew = pdata[2];
callOnRegValChangeEvent(packet->subModuleid, regindex, regold, regnew);
}
});
}
}
void ZModuleDeviceManager::registerModule(ZIModule *module) {
assert(module != nullptr);
int32_t id = 0;
module->getid(&id);
uint16_t id16 = id;
m_modulers[id16] = module;
}
/*******************************************************************************
* ZIModule *
*******************************************************************************/
int32_t ZModuleDeviceManager::module_ping(uint16_t id) { PROXY_IMPL(ZIModule, module_ping); }
int32_t ZModuleDeviceManager::module_stop(uint16_t id) { PROXY_IMPL(ZIModule, module_stop); }
int32_t ZModuleDeviceManager::module_break(uint16_t id) { PROXY_IMPL(ZIModule, module_break); }
int32_t ZModuleDeviceManager::module_get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, module_get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::module_get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, module_get_status, status); }
int32_t ZModuleDeviceManager::module_set_reg(uint16_t id, int32_t param_id, int32_t param_value) { PROXY_IMPL(ZIModule, module_set_reg, param_id, param_value); }
int32_t ZModuleDeviceManager::module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value) { PROXY_IMPL(ZIModule, module_get_reg, param_id, param_value); }
int32_t ZModuleDeviceManager::module_readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, module_readio, io); }
int32_t ZModuleDeviceManager::module_writeio(uint16_t id, int32_t ioindex, int32_t io) { PROXY_IMPL(ZIModule, module_writeio, ioindex, io); }
int32_t ZModuleDeviceManager::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, module_read_adc, adcindex, adc); }
int32_t ZModuleDeviceManager::module_get_error(uint16_t id, int32_t *iserror) { PROXY_IMPL(ZIModule, module_get_error, iserror); }
int32_t ZModuleDeviceManager::module_clear_error(uint16_t id) { PROXY_IMPL(ZIModule, module_clear_error); }
int32_t ZModuleDeviceManager::module_set_inited_flag(uint16_t id, int32_t flag) { PROXY_IMPL(ZIModule, module_set_inited_flag, flag); }
int32_t ZModuleDeviceManager::module_get_inited_flag(uint16_t id, int32_t *flag) { PROXY_IMPL(ZIModule, module_get_inited_flag, flag); }
int32_t ZModuleDeviceManager::module_factory_reset(uint16_t id) { PROXY_IMPL(ZIModule, module_factory_reset); }
int32_t ZModuleDeviceManager::module_flush_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_flush_cfg); }
int32_t ZModuleDeviceManager::module_active_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_active_cfg); }
int32_t ZModuleDeviceManager::module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) { PROXY_IMPL(ZIModule, module_read_raw, startadd, data, len); }
int32_t ZModuleDeviceManager::module_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIModule, module_enable, enable); }
int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, module_start); }
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // 一锟斤拷锟斤拷锟节讹拷锟?
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
virtual int32_t motor_easy_move_to_zero(uint16_t id, int32_t direction);
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
#endif
int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) { PROXY_IMPL(ZIMotor, motor_rotate_with_torque, direction, torque); }
int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_read_pos(uint16_t id, int32_t *pos) { PROXY_IMPL(ZIMotor, motor_read_pos, pos); }
int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) { PROXY_IMPL(ZIMotor, motor_set_current_pos_by_change_shift, pos); }
int32_t ZModuleDeviceManager::motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime); }
int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIMotor, motor_calculated_pos_by_move_to_zero); }
int32_t ZModuleDeviceManager::motor_easy_rotate(uint16_t id, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_rotate, direction); }
int32_t ZModuleDeviceManager::motor_easy_move_by(uint16_t id, int32_t distance) { PROXY_IMPL(ZIMotor, motor_easy_move_by, distance); }
int32_t ZModuleDeviceManager::motor_easy_move_to(uint16_t id, int32_t position) { PROXY_IMPL(ZIMotor, motor_easy_move_to, position); }
int32_t ZModuleDeviceManager::motor_easy_move_to_zero(uint16_t id, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_move_to_zero, direction); }
int32_t ZModuleDeviceManager::motor_easy_set_current_pos(uint16_t id, int32_t pos) { PROXY_IMPL(ZIMotor, motor_easy_set_current_pos, pos); }
int32_t ZModuleDeviceManager::motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_move_to_io, ioindex, direction); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
#if 0
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; }
#endif
int32_t ZModuleDeviceManager::xymotor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIXYMotor, xymotor_enable, enable); }
int32_t ZModuleDeviceManager::xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity) { PROXY_IMPL(ZIXYMotor, xymotor_move_by, dx, dy, motor_velocity); }
int32_t ZModuleDeviceManager::xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity) { PROXY_IMPL(ZIXYMotor, xymotor_move_to, x, y, motor_velocity); }
int32_t ZModuleDeviceManager::xymotor_move_to_zero(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_move_to_zero); }
int32_t ZModuleDeviceManager::xymotor_move_to_zero_and_calculated_shift(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_move_to_zero_and_calculated_shift); }
int32_t ZModuleDeviceManager::xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y) { PROXY_IMPL(ZIXYMotor, xymotor_read_pos, x, y); }
int32_t ZModuleDeviceManager::xymotor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_calculated_pos_by_move_to_zero); }
#if 0
virtual int32_t code_scaner_start_scan(uint16_t id);
virtual int32_t code_scaner_stop_scan(uint16_t id);
virtual int32_t code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
int32_t ZModuleDeviceManager::code_scaner_start_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_start_scan); }
int32_t ZModuleDeviceManager::code_scaner_stop_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_stop_scan); }
int32_t ZModuleDeviceManager::code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) { PROXY_IMPL(ZICodeScaner, code_scaner_read_scaner_result, startadd, data, len); }
#endif
#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
int32_t ZModuleDeviceManager::pipette_ctrl_init_device(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_init_device); }
int32_t ZModuleDeviceManager::pipette_ctrl_put_tip(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_put_tip); }
int32_t ZModuleDeviceManager::pipette_ctrl_move_to_ul(uint16_t id, int32_t ul) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_move_to_ul, ul); }
#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
int32_t ZModuleDeviceManager::a8000_optical_module_power_ctrl(uint16_t id, int32_t state) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_module_power_ctrl, state); }
int32_t ZModuleDeviceManager::a8000_optical_open_laser(uint16_t id, int32_t type) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_open_laser, type); }
int32_t ZModuleDeviceManager::a8000_optical_close_laser(uint16_t id, int32_t type) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_close_laser, type); }
int32_t ZModuleDeviceManager::a8000_optical_set_laster_gain(uint16_t id, int32_t type, int32_t gain) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_set_laster_gain, type, gain); }
int32_t ZModuleDeviceManager::a8000_optical_set_scan_amp_gain(uint16_t id, int32_t type, int32_t gain) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_set_scan_amp_gain, type, gain); }
int32_t ZModuleDeviceManager::a8000_optical_read_scanner_adc_val(uint16_t id, int32_t type, int32_t *adcval) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_read_scanner_adc_val, type, adcval); }
int32_t ZModuleDeviceManager::a8000_optical_read_laster_adc_val(uint16_t id, int32_t type, int32_t *adcval) { PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_read_laster_adc_val, type, adcval); }
int32_t ZModuleDeviceManager::a8000_optical_scan_current_point_amp_adc_val(uint16_t id, int32_t type, int32_t lastergain, int32_t ampgain, int32_t *laster_fb_val, int32_t *adcval) {
PROXY_IMPL(ZIA8000OpticalModule, a8000_optical_scan_current_point_amp_adc_val, type, lastergain, ampgain, laster_fb_val, adcval);
}

248
zmodule_device_manager.hpp
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#pragma once
#include <list>
#include <map>
#include "api/api.hpp"
#include "api/i_zcan_cmder_master.hpp"
#include "cmdid.hpp"
namespace iflytop {
using namespace std;
class ZModuleDeviceManager {
private:
map<uint16_t, ZIModule *> m_modulers;
IZcanCmderMaster *m_cancmder = nullptr;
typedef function<void(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval)> regval_change_event_t;
regval_change_event_t m_on_reg_val_change_event_cb;
list<regval_change_event_t> m_on_reg_val_change_event_cbs;
public:
void initialize(IZcanCmderMaster *m_cancmder);
void initialize();
void regCanCmder(IZcanCmderMaster *m_cancmder);
void registerModule(ZIModule *module);
void regOnRegValChangeEvent(regval_change_event_t on_regval_change_event) { m_on_reg_val_change_event_cbs.push_back(on_regval_change_event); }
void callOnRegValChangeEvent(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
for (auto &cb : m_on_reg_val_change_event_cbs)
if (cb) cb(moduleid, regindex, oldval, toval);
}
void for_each_module(function<void(int32_t moduleid)> cb) {
for (auto &it : m_modulers) {
if (cb) cb(it.first);
}
}
/*******************************************************************************
* ZIModule *
*******************************************************************************/
#if 0
virtual ~ZIModule() {}
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t module_stop() = 0;
virtual int32_t module_break() = 0;
virtual int32_t module_get_last_exec_status(int32_t *status) = 0;
virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_get_error(int32_t *iserror) = 0;
virtual int32_t module_clear_error() = 0;
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
virtual int32_t module_writeio(int32_t io) { return err::koperation_not_support; }
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
virtual int32_t module_set_inited_flag(int32_t flag) {
m_inited_flag = flag;
return 0;
}
virtual int32_t module_get_inited_flag(int32_t *flag) {
*flag = m_inited_flag;
return 0;
}
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
virtual int32_t module_factory_reset() { return err::koperation_not_support; }
virtual int32_t module_flush_cfg() { return err::koperation_not_support; }
virtual int32_t module_active_cfg() { return err::koperation_not_support; }
virtual int32_t module_enable(int32_t enable) override;
#endif
virtual int32_t module_ping(uint16_t id);
virtual int32_t module_stop(uint16_t id);
virtual int32_t module_break(uint16_t id);
virtual int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
virtual int32_t module_get_status(uint16_t id, int32_t *status);
virtual int32_t module_set_reg(uint16_t id, int32_t param_id, int32_t param_value);
virtual int32_t module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value);
virtual int32_t module_readio(uint16_t id, int32_t *io);
virtual int32_t module_writeio(uint16_t id, int32_t ioindex, int32_t io);
virtual int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);
virtual int32_t module_get_error(uint16_t id, int32_t *iserror);
virtual int32_t module_clear_error(uint16_t id);
virtual int32_t module_set_inited_flag(uint16_t id, int32_t flag);
virtual int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
virtual int32_t module_factory_reset(uint16_t id);
virtual int32_t module_flush_cfg(uint16_t id);
virtual int32_t module_active_cfg(uint16_t id);
virtual int32_t module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
virtual int32_t module_enable(uint16_t id, int32_t enable);
virtual int32_t module_start(uint16_t id);
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // 一锟斤拷锟斤拷锟节讹拷锟?
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
#endif
virtual int32_t motor_enable(uint16_t id, int32_t enable);
virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque);
virtual int32_t motor_read_pos(uint16_t id, int32_t *pos);
virtual int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
virtual int32_t motor_calculated_pos_by_move_to_zero(uint16_t id);
virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
virtual int32_t motor_easy_move_to_zero(uint16_t id, int32_t direction);
virtual int32_t motor_easy_set_current_pos(uint16_t id, int32_t pos);
virtual int32_t motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction);
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
#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
virtual int32_t xymotor_enable(uint16_t id, int32_t enable);
virtual int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
virtual int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
virtual int32_t xymotor_move_to_zero(uint16_t id);
virtual int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id);
virtual int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
virtual int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);
#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; }
virtual int32_t code_scaner_start_scan(uint16_t id);
virtual int32_t code_scaner_stop_scan(uint16_t id);
virtual int32_t code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
#endif
#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
virtual int32_t pipette_ctrl_init_device(uint16_t id);
virtual int32_t pipette_ctrl_put_tip(uint16_t id);
virtual int32_t pipette_ctrl_move_to_ul(uint16_t id, int32_t ul);
#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
virtual int32_t a8000_optical_module_power_ctrl(uint16_t id, int32_t state);
virtual int32_t a8000_optical_open_laser(uint16_t id, int32_t type);
virtual int32_t a8000_optical_close_laser(uint16_t id, int32_t type);
virtual int32_t a8000_optical_set_laster_gain(uint16_t id, int32_t type, int32_t gain);
virtual int32_t a8000_optical_set_scan_amp_gain(uint16_t id, int32_t type, int32_t gain);
virtual int32_t a8000_optical_read_scanner_adc_val(uint16_t id, int32_t type, int32_t *adcval);
virtual int32_t a8000_optical_read_laster_adc_val(uint16_t id, int32_t type, int32_t *adcval);
virtual int32_t a8000_optical_scan_current_point_amp_adc_val(uint16_t id, int32_t type, int32_t lastergain, int32_t ampgain, int32_t *laster_fb_val, int32_t *adcval);
virtual ~ZModuleDeviceManager() {}
private:
template <typename T>
int32_t findModule(uint16_t id, T **module) {
auto it = m_modulers.find(id);
if (it == m_modulers.end()) {
return err::kmodule_not_found;
}
T *_module = dynamic_cast<T *>(it->second);
if (_module == nullptr) {
return err::koperation_not_support;
}
*module = _module;
return 0;
}
};
} // namespace iflytop

257
zmodule_device_script_cmder_paser.cpp
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@ -1,257 +0,0 @@
#include "zmodule_device_script_cmder_paser.hpp"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
using namespace iflytop;
using namespace std;
#define PROCESS_PACKET_XX(var_funcname, cmdhelp, XP, XACK, ...) \
m_cmdParser->regCMD(#var_funcname, cmdhelp, XP, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { \
ack->ecode = m_deviceManager->var_funcname(__VA_ARGS__); \
ack->acktype = ICmdParserACK::kAckType_int32; \
ack->rawlen = XACK * 4; \
});
#define PROCESS_PACKET_00(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 0)
#define PROCESS_PACKET_01(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 1, ack->getAck(0))
#define PROCESS_PACKET_02(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 2, ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_03(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 0, 3, ack->getAck(0), ack->getAck(1), ack->getAck(2))
#define PROCESS_PACKET_10(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 0, atoi(paraV[0]))
#define PROCESS_PACKET_11(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 1, atoi(paraV[0]), ack->getAck(0))
#define PROCESS_PACKET_12(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 2, atoi(paraV[0]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_13(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 1, 3, atoi(paraV[0]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
#define PROCESS_PACKET_20(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 0, atoi(paraV[0]), atoi(paraV[1]))
#define PROCESS_PACKET_21(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 1, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0))
#define PROCESS_PACKET_22(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 2, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_23(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 2, 3, atoi(paraV[0]), atoi(paraV[1]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
#define PROCESS_PACKET_30(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]))
#define PROCESS_PACKET_31(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0))
#define PROCESS_PACKET_32(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_33(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 3, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
#define PROCESS_PACKET_40(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]))
#define PROCESS_PACKET_41(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0))
#define PROCESS_PACKET_42(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_43(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 4, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
#define PROCESS_PACKET_50(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 0, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]))
#define PROCESS_PACKET_51(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 1, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0))
#define PROCESS_PACKET_52(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 2, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1))
#define PROCESS_PACKET_53(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
m_cmdParser = cancmder;
m_deviceManager = deviceManager;
regfn();
}
void ZModuleDeviceScriptCmderPaser::regfn() {
#if 0
/*******************************************************************************
* ZIModule *
*******************************************************************************/
int32_t module_stop(uint16_t id);
int32_t module_break(uint16_t id);
int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
int32_t module_get_status(uint16_t id, int32_t *status);
int32_t module_set_reg(uint16_t id, int32_t param_id, int32_t param_value);
int32_t module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value);
int32_t module_readio(uint16_t id, int32_t *io);
int32_t module_writeio(uint16_t id, int32_t io);
int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);
int32_t module_get_error(uint16_t id, int32_t *iserror);
int32_t module_clear_error(uint16_t id);
int32_t module_set_inited_flag(uint16_t id, int32_t flag);
int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
int32_t module_factory_reset(uint16_t id);
int32_t module_flush_cfg(uint16_t id);
int32_t module_active_cfg(uint16_t id);
virtual int32_t module_read_raw(uint16_t id, int32_t startadd, int32_t readlen, uint8_t *data, int32_t *len);
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
int32_t motor_enable(uint16_t id, int32_t enable);
int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_rotate_with_torque(uint16_t id, int32_t pos, int32_t torque);
int32_t motor_read_pos(uint16_t id, int32_t *pos);
int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t module_enable(uint16_t id, int32_t enable);
#endif
PROCESS_PACKET_10(module_ping, "(mid)");
PROCESS_PACKET_10(module_stop, "(mid)");
PROCESS_PACKET_10(module_start, "(mid)");
PROCESS_PACKET_10(module_break, "(mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "(mid)");
PROCESS_PACKET_11(module_get_status, "(mid)");
PROCESS_PACKET_30(module_set_reg, "(mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_reg, "(mid, param_id)");
PROCESS_PACKET_11(module_readio, "(mid)");
PROCESS_PACKET_30(module_writeio, "(mid,ioindex,io)");
PROCESS_PACKET_21(module_read_adc, "(mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "(mid)");
PROCESS_PACKET_10(module_clear_error, "(mid)");
PROCESS_PACKET_20(module_set_inited_flag, "(mid, flag)");
PROCESS_PACKET_11(module_get_inited_flag, "(mid)");
PROCESS_PACKET_10(module_factory_reset, "(mid)");
PROCESS_PACKET_10(module_flush_cfg, "(mid)");
PROCESS_PACKET_10(module_active_cfg, "(mid)");
m_cmdParser->regCMD("module_read_raw", "(mid, startindex)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
if (atoi(paraV[2]) > (int32_t)sizeof(ack->rawdata)) {
ack->ecode = err::kbuffer_not_enough;
return;
}
ack->rawlen = sizeof(ack->rawdata);
ack->ecode = m_deviceManager->module_read_raw(atoi(paraV[0]), atoi(paraV[1]), ack->rawdata, &ack->rawlen);
ack->acktype = ICmdParserACK::kAckType_buf;
});
PROCESS_PACKET_20(module_enable, "(mid, enable)");
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction);
#endif
PROCESS_PACKET_20(motor_enable, "(mid, enable)");
PROCESS_PACKET_40(motor_rotate, "(mid, direction, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_by, "(mid, distance, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_to, "(mid, position, motor_velocity, acc)");
PROCESS_PACKET_40(motor_rotate_acctime, "(mid, direction, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_by_acctime, "(mid, distance, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_to_acctime, "(mid, position, motor_velocity, acctime)");
PROCESS_PACKET_30(motor_rotate_with_torque, "(mid, pos, torque)");
PROCESS_PACKET_40(motor_move_to_torque, "(mid, pos, torque, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_forward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_11(motor_read_pos, "(mid)");
PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "(mid, pos)");
PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_10(motor_calculated_pos_by_move_to_zero, "(mid)");
PROCESS_PACKET_20(motor_easy_rotate, "(mid, direction)");
PROCESS_PACKET_20(motor_easy_move_by, "(mid, distance)");
PROCESS_PACKET_20(motor_easy_move_to, "(mid, position)");
PROCESS_PACKET_20(motor_easy_move_to_zero, "(mid, direction)");
PROCESS_PACKET_20(motor_easy_set_current_pos, "(mid, pos)");
PROCESS_PACKET_30(motor_easy_move_to_io, "(mid, ioindex, direction)");
#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
PROCESS_PACKET_20(xymotor_enable, "(mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "(mid, dx, dy, motor_velocity)");
PROCESS_PACKET_40(xymotor_move_to, "(mid, x, y, motor_velocity)");
PROCESS_PACKET_10(xymotor_move_to_zero, "(mid)");
PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "(mid)");
PROCESS_PACKET_12(xymotor_read_pos, "(mid)");
PROCESS_PACKET_10(xymotor_calculated_pos_by_move_to_zero, "(mid)");
#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; }
PROCESS_PACKET_10(code_scaner_start_scan, "(mid)");
PROCESS_PACKET_10(code_scaner_stop_scan, "(mid)");
m_cmdParser->regCMD("code_scaner_read_scaner_result", "(mid, pad0)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
if (atoi(paraV[2]) > (int32_t)sizeof(ack->rawdata)) {
ack->ecode = err::kbuffer_not_enough;
return;
}
ack->rawlen = sizeof(ack->rawdata);
ack->ecode = m_deviceManager->module_read_raw(atoi(paraV[0]), atoi(paraV[1]), ack->rawdata, &ack->rawlen);
ack->acktype = ICmdParserACK::kAckType_buf;
});
#endif
#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
PROCESS_PACKET_10(pipette_ctrl_init_device, "(mid)");
PROCESS_PACKET_10(pipette_ctrl_put_tip, "(mid)");
PROCESS_PACKET_20(pipette_ctrl_move_to_ul, "(mid, ul)");
#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
PROCESS_PACKET_20(a8000_optical_module_power_ctrl, "(mid,state)");
PROCESS_PACKET_20(a8000_optical_open_laser, "(mid,type)");
PROCESS_PACKET_20(a8000_optical_close_laser, "(mid,type)");
PROCESS_PACKET_30(a8000_optical_set_laster_gain, "(type,mid,gain)");
PROCESS_PACKET_30(a8000_optical_set_scan_amp_gain, "(type,mid,gain)");
PROCESS_PACKET_21(a8000_optical_read_scanner_adc_val, "(type,mid)");
PROCESS_PACKET_21(a8000_optical_read_laster_adc_val, "(type,mid)");
PROCESS_PACKET_42(a8000_optical_scan_current_point_amp_adc_val, "(type,mid,lastergain,ampgain)");
}

27
zmodule_device_script_cmder_paser.hpp
View File

@ -1,27 +0,0 @@
#pragma once
#include <list>
#include "api/api.hpp"
#include "api/i_cmdparser.hpp"
#include "cmdid.hpp"
#include "zmodule_device_manager.hpp"
namespace iflytop {
using namespace std;
class ZModuleDeviceScriptCmderPaser {
private:
ICmdParser* m_cmdParser = nullptr;
ZModuleDeviceManager* m_deviceManager;
public:
void initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager);
ICmdParser* getCmdParser() { return m_cmdParser; }
ZModuleDeviceManager* getDeviceManager() { return m_deviceManager; }
private:
void regfn();
};
} // namespace iflytop
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