project_boditech_vidas_a8000_v3
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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
d330270593
commit
46580c915d
12 changed files with 85 additions and 18 deletions
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  1. 1
      api/errorcode.hpp
  2. 8
      api/i_zcan_cmder.hpp
  3. 2
      api/packet_interface.hpp
  4. 8
      api/zi_motor.hpp
  5. 15
      cmdid.hpp
  6. 24
      protocol_parser.cpp
  7. 2
      protocol_parser.hpp
  8. 12
      protocol_proxy.cpp
  9. 7
      protocol_proxy.hpp
  10. 5
      zmodule_device_manager.cpp
  11. 7
      zmodule_device_manager.hpp
  12. 12
      zmodule_device_script_cmder_paser.cpp

1
api/errorcode.hpp
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@ -47,6 +47,7 @@ typedef enum {
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
/**
* @brief motor error

8
api/i_zcan_cmder.hpp
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@ -11,16 +11,16 @@ using namespace zcr;
class IZcanCmderListener {
public:
virtual void onRceivePacket(cmd_header_t *rxcmd, uint8_t *data, int32_t len) = 0;
virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, uint8_t *data, int32_t len) = 0;
};
class IZCanCmder {
public:
public:
virtual void registerListener(IZcanCmderListener *listener) = 0;
virtual void sendAck(cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0;
virtual void sendAck(cmd_header_t *rx_cmd_header, int32_t *ackvar, uint8_t nack) = 0;
virtual void sendErrorAck(cmd_header_t *rx_cmd_header, int32_t errorcode) = 0;
virtual void sendAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0;
virtual void sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, uint8_t nack) = 0;
virtual void sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) = 0;
};
} // namespace iflytop

2
api/packet_interface.hpp
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@ -11,7 +11,7 @@ typedef struct {
uint8_t packetType;
uint16_t submoduleid;
uint8_t data[];
} cmd_header_t;
} zcr_cmd_header_t;
#pragma pack(pop)
typedef enum {

8
api/zi_motor.hpp
View File

@ -14,8 +14,16 @@ class ZIMotor {
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_move_to_with_torque(int32_t pos, int32_t torque) { 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; }
// s32 pos, s32 speed, s32 torque,
};
} // namespace iflytop

15
cmdid.hpp
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@ -16,11 +16,16 @@ typedef enum {
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}

24
protocol_parser.cpp
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@ -6,18 +6,18 @@ using namespace std;
#define PROCESS_PACKET_BEGIN(var_cmdid, var_moduleType) \
int32_t* param __attribute__((__unused__)) = (int32_t*)data; \
int paramNum __attribute__((__unused__)) = (len - sizeof(cmd_header_t)) / sizeof(int32_t); \
int paramNum __attribute__((__unused__)) = (len - sizeof(zcr_cmd_header_t)) / sizeof(int32_t); \
if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \
}
#define CHECK_PARAM_NUM(num) \
if (paramNum != num) { \
#define CHECK_PARAM_NUM(num) \
if (paramNum != num) { \
m_cancmder->sendErrorAck(rxcmd, err::kcmd_param_num_error); \
return; \
return; \
}
#define PROCESS_PACKET_XX_END(ackNum) \
@ -58,12 +58,18 @@ using namespace std;
#define PROCESS_PACKET_32(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 3, 2, param[0], param[1], param[2], &ack[1], &ack[2])
#define PROCESS_PACKET_33(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 3, 3, param[0], param[1], param[2], &ack[1], &ack[2], &ack[3])
#define PROCESS_PACKET_40(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 0, param[0], param[1], param[2], param[3])
#define PROCESS_PACKET_41(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 1, param[0], param[1], param[2], param[3], &ack[1])
#define PROCESS_PACKET_42(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 2, param[0], param[1], param[2], param[3], &ack[1], &ack[2])
#define PROCESS_PACKET_43(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 3, param[0], param[1], param[2], param[3], &ack[1], &ack[2], &ack[3])
void ZIProtocolParser::initialize(IZCanCmder* cancmder) {
m_cancmder = cancmder;
m_cancmder->registerListener(this);
}
void ZIProtocolParser::registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZIProtocolParser::onRceivePacket(cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
uint16_t submoduleid = rxcmd->submoduleid;
auto it = m_modulers.find(submoduleid);
if (it == m_modulers.end()) {
@ -96,6 +102,12 @@ void ZIProtocolParser::onRceivePacket(cmd_header_t* rxcmd, uint8_t* data, int32_
PROCESS_PACKET_30(kmotor_move_by, ZIMotor, motor_move_by);
PROCESS_PACKET_30(kmotor_move_to, ZIMotor, motor_move_to);
PROCESS_PACKET_20(kmotor_move_to_with_torque, ZIMotor, motor_move_to_with_torque);
PROCESS_PACKET_30(kmotor_rotate_acctime, ZIMotor, motor_rotate_acctime);
PROCESS_PACKET_30(kmotor_move_by_acctime, ZIMotor, motor_move_by_acctime);
PROCESS_PACKET_30(kmotor_move_to_acctime, ZIMotor, motor_move_to_acctime);
PROCESS_PACKET_40(kmotor_move_to_zero_forward, ZIMotor, motor_move_to_zero_forward);
PROCESS_PACKET_40(kmotor_move_to_zero_backward, ZIMotor, motor_move_to_zero_backward);
/*******************************************************************************
* xymotor *
*******************************************************************************/

2
protocol_parser.hpp
View File

@ -12,7 +12,7 @@ class ZIProtocolParser : public IZcanCmderListener {
public:
void initialize(IZCanCmder* cancmder);
virtual void onRceivePacket(cmd_header_t* rxcmd, uint8_t* data, int32_t len);
virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
void registerModule(uint16_t id, ZIModule* module);
};

12
protocol_proxy.cpp
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@ -68,6 +68,11 @@ using namespace iflytop;
#define PROXY_IMPL_32(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 2, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_33(cmdindex) PROXY_IMPL_XX(cmdindex, 3, 3, PROXY_IMPL_3X_PARA(), PROXY_IMPL_X3_ACK());
#define PROXY_IMPL_40(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 0, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X0_ACK());
#define PROXY_IMPL_41(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 1, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X1_ACK());
#define PROXY_IMPL_42(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 2, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X2_ACK());
#define PROXY_IMPL_43(cmdindex) PROXY_IMPL_XX(cmdindex, 4, 3, PROXY_IMPL_4X_PARA(), PROXY_IMPL_X3_ACK());
int32_t ZIProtocolProxy::module_stop() { PROXY_IMPL_00(kmodule_stop); }
int32_t ZIProtocolProxy::module_break() { PROXY_IMPL_00(kmodule_break); }
int32_t ZIProtocolProxy::module_get_last_exec_status(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_last_exec_status); }
@ -92,6 +97,13 @@ int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t par
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to); }
int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); }
int32_t ZIProtocolProxy::motor_rotate_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate_acctime); }
int32_t ZIProtocolProxy::motor_move_by_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by_acctime); }
int32_t ZIProtocolProxy::motor_move_to_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_acctime); }
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); }
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); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

7
protocol_proxy.hpp
View File

@ -50,6 +50,13 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t pos, 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;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

5
zmodule_device_manager.cpp
View File

@ -31,6 +31,11 @@ int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32
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_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, pos, 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); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

7
zmodule_device_manager.hpp
View File

@ -29,7 +29,7 @@ class ZModuleDeviceManager {
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, int adcindex, int32_t *adc);
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);
@ -42,6 +42,11 @@ class ZModuleDeviceManager {
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_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
/*******************************************************************************

12
zmodule_device_script_cmder_paser.cpp
View File

@ -38,6 +38,11 @@ using namespace std;
#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) {
PROCESS_PACKET_10(module_stop, "stop (mid)");
PROCESS_PACKET_10(module_break, "module_break (mid)");
@ -55,7 +60,14 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");
PROCESS_PACKET_40(motor_rotate_acctime, "motor_rotate_acctime (mid, direction, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_by_acctime, "motor_move_by_acctime (mid, distance, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_to_acctime, "motor_move_to_acctime (mid, position, motor_velocity, acctime)");
PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");

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