From 508a8f8be82e5272ae21140cafbf7aee274f1367 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 22 Mar 2025 10:54:06 +0800 Subject: [PATCH] update protocol --- api/api.hpp | 23 +---------- api/apibasic/basic.hpp | 2 - api/apibasic/cmdid.cpp | 11 +----- api/apibasic/cmdid.hpp | 10 +---- api/apibasic/packet_interface.hpp | 1 + api/apibasic/protocol_constant.hpp | 1 - api/apibasic/reg_index.hpp | 15 -------- api/zi_a8000_idcard_reader.hpp | 25 ------------ api/zi_a8000_optical_module.hpp | 53 -------------------------- api/zi_board.hpp | 20 ---------- api/zi_code_scaner.hpp | 21 ---------- api/zi_event_bus.hpp | 14 ------- api/zi_fan_ctrl.hpp | 14 ------- api/zi_mini_servo.hpp | 28 -------------- api/zi_motor.hpp | 33 ---------------- api/zi_plate_code_scaner_module.hpp | 24 ------------ api/zi_water_cooling_temperature_controler.hpp | 21 ---------- api/zi_xymotor.hpp | 26 ------------- i_zcanreceiver.hpp | 25 ------------ protocol.hpp | 2 - 20 files changed, 4 insertions(+), 365 deletions(-) delete mode 100644 api/apibasic/protocol_constant.hpp delete mode 100644 api/zi_a8000_idcard_reader.hpp delete mode 100644 api/zi_a8000_optical_module.hpp delete mode 100644 api/zi_board.hpp delete mode 100644 api/zi_code_scaner.hpp delete mode 100644 api/zi_event_bus.hpp delete mode 100644 api/zi_fan_ctrl.hpp delete mode 100644 api/zi_mini_servo.hpp delete mode 100644 api/zi_plate_code_scaner_module.hpp delete mode 100644 api/zi_water_cooling_temperature_controler.hpp delete mode 100644 api/zi_xymotor.hpp delete mode 100644 i_zcanreceiver.hpp diff --git a/api/api.hpp b/api/api.hpp index 1064540..80ea86e 100644 --- a/api/api.hpp +++ b/api/api.hpp @@ -1,28 +1,7 @@ #pragma once #include "apibasic/basic.hpp" // - -// #include "zi_module.hpp" // #include "zi_motor.hpp" -// -#include "zi_xymotor.hpp" -// -#include "zi_event_bus.hpp" -// -#include "zi_a8000_optical_module.hpp" -// -#include "zi_mini_servo.hpp" -// -#include "zi_board.hpp" -// -#include "zi_code_scaner.hpp" -// -#include "zi_fan_ctrl.hpp" -// -#include "zi_water_cooling_temperature_controler.hpp" -// -#include "zi_a8000_idcard_reader.hpp" -// -#include "zi_plate_code_scaner_module.hpp" \ No newline at end of file +// \ No newline at end of file diff --git a/api/apibasic/basic.hpp b/api/apibasic/basic.hpp index 395c1d5..ad23287 100644 --- a/api/apibasic/basic.hpp +++ b/api/apibasic/basic.hpp @@ -8,7 +8,5 @@ // #include "module_type_index.hpp" // -#include "protocol_constant.hpp" -// #include "reg_index.hpp" // diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp index 89ac9b7..05f32ce 100644 --- a/api/apibasic/cmdid.cpp +++ b/api/apibasic/cmdid.cpp @@ -31,16 +31,7 @@ static cmdinfo_t table[] = { CMD_ITERM(kxymotor_motor_move_by_direct), CMD_ITERM(kxymotor_read_enc_direct), - CMD_ITERM(ka8000_optical_module_power_ctrl), - CMD_ITERM(ka8000_optical_open_laser), - CMD_ITERM(ka8000_optical_close_laser), - CMD_ITERM(ka8000_optical_set_laster_gain), - CMD_ITERM(ka8000_optical_set_scan_amp_gain), - CMD_ITERM(ka8000_optical_read_scanner_adc_val), - CMD_ITERM(ka8000_optical_read_laster_adc_val), - CMD_ITERM(ka8000_optical_scan_current_point_amp_adc_val), - CMD_ITERM(ka8000_optical_start_capture), - CMD_ITERM(ka8000_optical_read_raw), + CMD_ITERM(ka8k_opt_v2_t_start_scan), CMD_ITERM(ka8k_opt_v2_f_start_scan), diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 01e038f..ff4a932 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -32,15 +32,7 @@ typedef enum { kxymotor_motor_move_by_direct = 0x030a, // kxymotor_read_enc_direct = 0x030b, // - ka8000_optical_module_power_ctrl = 0x0600, // - ka8000_optical_open_laser = 0x0601, // - ka8000_optical_close_laser = 0x0602, // - ka8000_optical_set_laster_gain = 0x0603, // - ka8000_optical_set_scan_amp_gain = 0x0604, // - ka8000_optical_read_scanner_adc_val = 0x0605, // - ka8000_optical_read_laster_adc_val = 0x0606, // - ka8000_optical_scan_current_point_amp_adc_val = 0x0607, // - ka8000_optical_start_capture = 0x0608, // + ka8000_optical_read_raw = 0x0609, // ka8k_opt_v2_t_start_scan = 0x0700, //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain) diff --git a/api/apibasic/packet_interface.hpp b/api/apibasic/packet_interface.hpp index 0a32491..71d5353 100644 --- a/api/apibasic/packet_interface.hpp +++ b/api/apibasic/packet_interface.hpp @@ -1,5 +1,6 @@ #pragma once #include +#define ZCANCMD_PACKET_MAX_LEN 64 namespace iflytop { namespace zcr { diff --git a/api/apibasic/protocol_constant.hpp b/api/apibasic/protocol_constant.hpp deleted file mode 100644 index 0cac6ca..0000000 --- a/api/apibasic/protocol_constant.hpp +++ /dev/null @@ -1 +0,0 @@ -#define ZCANCMD_READ_BUF_MAX_SIZE 64 \ No newline at end of file diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index e4c5667..8c562a2 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -4,7 +4,6 @@ namespace iflytop { using namespace std; -#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex) typedef enum { /******************************************************************************* * 模块通用配置和状态 * @@ -47,20 +46,6 @@ typedef enum { kreg_pipette_capactitance_val = 4001, // 移液枪电容值 kreg_pipette_tip_state = 4002, // 移动液枪tip状态 - // kreg_pipette_limit_ul = 4051, // - // kreg_pipette_pump_acc = 4052, // - // kreg_pipette_pump_dec = 4053, // - // kreg_pipette_pump_vstart = 4054, // - // kreg_pipette_pump_vstop = 4055, // - // kreg_pipette_pump_vmax = 4056, // - // kreg_pipette_aspirate_pump_vel = 4057, // - // kreg_pipette_lld_pump_vel = 4058, // - // kreg_pipette_lld_motor_vel_rpm = 4059, // - // kreg_pipette_lld_detect_period_ms = 4060, // - // kreg_pipette_lld_prepare_pos = 4061, // - // kreg_pipette_lld_prepare_pre_distribut_ul = 4062, // - // kreg_pipette_lld_enable_record_data = 4063, // - // kreg_pipette_distribu_pump_vel = 4064, // kreg_pipette_zm_pos = 4101, kreg_pipette_zm_is_enable = 4102, diff --git a/api/zi_a8000_idcard_reader.hpp b/api/zi_a8000_idcard_reader.hpp deleted file mode 100644 index 0d8bce4..0000000 --- a/api/zi_a8000_idcard_reader.hpp +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIA8000IDCardReaderModule { - public: - typedef enum { - kf_optical = 0, - kt_optical = 1, - ktest_optical = 2, - } optical_type_t; - - public: - virtual ~ZIA8000IDCardReaderModule(){}; - virtual int32_t a8000_idcard_reader_read_raw(int32_t index, uint8_t* data, int32_t* len) = 0; - virtual int32_t a8000_idcard_write_raw(int32_t add, uint8_t* data, int32_t len) = 0; - virtual int32_t a8000_idcard_erase() = 0; - virtual int32_t a8000_idcard_earse_unlock() = 0; -}; -} // namespace iflytop diff --git a/api/zi_a8000_optical_module.hpp b/api/zi_a8000_optical_module.hpp deleted file mode 100644 index 5be9d1c..0000000 --- a/api/zi_a8000_optical_module.hpp +++ /dev/null @@ -1,53 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIA8000OpticalModule { - public: - typedef enum { - kf_optical = 0, - kt_optical = 1, - ktest_optical = 2, - } optical_type_t; - - public: - virtual ~ZIA8000OpticalModule(){}; - virtual int32_t a8000_optical_start_capture() { return err::kcmd_not_support; } - virtual int32_t a8000_optical_read_raw(int32_t index, uint8_t* data, int32_t* len) { return err::kcmd_not_support; } - - /******************************************************************************* - * TEST * - *******************************************************************************/ - /** - * @概述: - * 1. 下面方法属于单步测试采样的方法，用于调试。一般手动移动光学模组，然后利用下面方法进行测试 - * 2. 正式逻辑不使用下面逻辑 - */ - virtual int32_t a8000_optical_module_power_ctrl(int32_t state) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_open_laser(int32_t type) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_close_laser(int32_t type) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) { return err::kcmd_not_support; } - virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) { return err::kcmd_not_support; } - 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) { return err::kcmd_not_support; } - - - - virtual int32_t a8k_opt_v2_t_start_scan(int32_t scanDirection, int32_t lasterGain, int32_t scanGain) { return err::kcmd_not_support; } - virtual int32_t a8k_opt_v2_f_start_scan(int32_t scanDirection, int32_t lasterGain, int32_t scanGain) { return err::kcmd_not_support; } - - virtual int32_t a8k_opt_v2_t_open_laster(int32_t lasterGain, int32_t scanGain) { return err::kcmd_not_support; } - virtual int32_t a8k_opt_v2_t_close_laster() { return err::kcmd_not_support; } - virtual int32_t a8k_opt_v2_t_readVal(int32_t* lasteradc, int32_t* scanadc) { return err::kcmd_not_support; } - - virtual int32_t a8k_opt_v2_f_open_laster(int32_t lasterGain, int32_t scanGain) { return err::kcmd_not_support; } - virtual int32_t a8k_opt_v2_f_close_laster() { return err::kcmd_not_support; } - virtual int32_t a8k_opt_v2_f_readVal(int32_t* lasteradc, int32_t* scanadc) { return err::kcmd_not_support; } -}; -} // namespace iflytop diff --git a/api/zi_board.hpp b/api/zi_board.hpp deleted file mode 100644 index 01987a2..0000000 --- a/api/zi_board.hpp +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIBoard { - public: - virtual ~ZIBoard() {} - virtual int32_t extboard_read_inio(int32_t ioindex, int32_t *val) = 0; - virtual int32_t kextboard_write_outio(int32_t ioindex, int32_t val) = 0; - virtual int32_t extboard_read_muti_inio(int32_t *val) = 0; - virtual int32_t extboard_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; - virtual int32_t extboard_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; - virtual int32_t extboard_read_outio(int32_t ioindex, int32_t *val) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/api/zi_code_scaner.hpp b/api/zi_code_scaner.hpp deleted file mode 100644 index 5854de7..0000000 --- a/api/zi_code_scaner.hpp +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -class ZICodeScaner { - public: - virtual ~ZICodeScaner() {} - - virtual int32_t code_scaner_start_scan() = 0; - virtual int32_t code_scaner_stop_scan() = 0; - virtual int32_t code_scaner_result_is_ready(int32_t* ready) = 0; - virtual int32_t code_scaner_get_result_length(int32_t* length) = 0; - virtual int32_t code_scaner_read_scaner_result(uint8_t* result, int32_t* len) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/api/zi_event_bus.hpp b/api/zi_event_bus.hpp deleted file mode 100644 index 52be2bc..0000000 --- a/api/zi_event_bus.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once -#include - -#include -#include "apibasic/basic.hpp" - - - - - -namespace iflytop { -using namespace std; - -} // namespace iflytop diff --git a/api/zi_fan_ctrl.hpp b/api/zi_fan_ctrl.hpp deleted file mode 100644 index 6caf03a..0000000 --- a/api/zi_fan_ctrl.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIFanControler { - public: - virtual int32_t fan_controler_set_speed(int32_t targetTemperature) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/api/zi_mini_servo.hpp b/api/zi_mini_servo.hpp deleted file mode 100644 index f4e46ac..0000000 --- a/api/zi_mini_servo.hpp +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -class ZIMiniServo { - public: - virtual ~ZIMiniServo() {} - virtual int32_t mini_servo_enable(int32_t enable) = 0; - virtual int32_t mini_servo_read_pos(int32_t* pos) = 0; - virtual int32_t mini_servo_active_cfg() = 0; - virtual int32_t mini_servo_stop(int32_t breakstop) = 0; - - virtual int32_t mini_servo_move_to(int32_t pos3600) = 0; // 舵机模式 - virtual int32_t mini_servo_rotate(int32_t speed) = 0; // 速度模式 - virtual int32_t mini_servo_rotate_with_torque(int32_t torque) = 0; // 扭矩模式 - - virtual int32_t mini_servo_set_mid_point() = 0; - virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t* val) = 0; - virtual int32_t mini_servo_set_cur_pos(int32_t pos) = 0; // 设置当前位置 - -}; -} // namespace iflytop \ No newline at end of file diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp index ba83fc7..63dbd9b 100644 --- a/api/zi_motor.hpp +++ b/api/zi_motor.hpp @@ -121,36 +121,3 @@ typedef struct { uint32_t RST_EV : 1; // 复位被触发。 fatal error } TMC4361AMotorEventState_t; -namespace iflytop { -using namespace std; -class ZIStepMotor { - public: - virtual ~ZIStepMotor() {} - virtual int32_t step_motor_enable(int32_t enable) = 0; - virtual int32_t step_motor_stop(int32_t breakstop) = 0; - virtual int32_t step_motor_read_pos(int32_t* pos) = 0; - virtual int32_t step_motor_easy_rotate(int32_t direction) = 0; - virtual int32_t step_motor_easy_move_by(int32_t distance) = 0; - virtual int32_t step_motor_easy_move_to(int32_t position) = 0; - virtual int32_t step_motor_easy_move_to_zero() = 0; - virtual int32_t step_motor_easy_set_current_pos(int32_t pos) = 0; - virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0; - virtual int32_t step_motor_active_cfg() = 0; - virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) = 0; - virtual int32_t step_motor_easy_move_to_end_point() = 0; - - virtual int32_t step_motor_easy_move_to_zero_point_quick() = 0; - - virtual int32_t step_motor_easy_reciprocating_motion(int32_t startpos, int32_t endpos, int32_t times) = 0; - - - /*********************************************************************************************************************** - * DEBUG * - ***********************************************************************************************************************/ - virtual int32_t step_motor_read_tmc5130_status(int32_t* status) = 0; - virtual int32_t step_motor_read_tmc5130_state(int32_t* status) = 0; - virtual int32_t step_motor_read_io_index_in_stm32(int32_t ioindex, int32_t* index_in_stm32) = 0; - virtual int32_t step_motor_set_subdevice_reg(int32_t reg_addr, int32_t reg_val) = 0; - virtual int32_t step_motor_get_subdevice_reg(int32_t reg_addr, int32_t* reg_val) = 0; -}; -} // namespace iflytop diff --git a/api/zi_plate_code_scaner_module.hpp b/api/zi_plate_code_scaner_module.hpp deleted file mode 100644 index 0d52f63..0000000 --- a/api/zi_plate_code_scaner_module.hpp +++ /dev/null @@ -1,24 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -class ZI_PlateCodeScanerModule { - public: - virtual ~ZI_PlateCodeScanerModule(){}; - virtual int32_t plate_code_scaner_push_card_and_scan(int32_t final_stop_pos) = 0; - virtual int32_t plate_code_scaner_stop_scan() = 0; - virtual int32_t plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) = 0; - virtual int32_t plate_code_scaner_read_result_point_num(int32_t* packetNum) = 0; - virtual int32_t plate_code_scaner_read_code(int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot) = 0; - - virtual int32_t plate_code_scaner_adc_readraw(int32_t* val) = 0; - virtual int32_t plate_code_scaner_open_laser() = 0; - virtual int32_t plate_code_scaner_close_laser() = 0; -}; -} // namespace iflytop diff --git a/api/zi_water_cooling_temperature_controler.hpp b/api/zi_water_cooling_temperature_controler.hpp deleted file mode 100644 index eec16a8..0000000 --- a/api/zi_water_cooling_temperature_controler.hpp +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZI_WaterCoolingTemperatureControler { - public: - virtual int32_t temp_controler_start_hearting(int32_t targetTemperature) = 0; - virtual int32_t temp_controler_stop_hearting() = 0; - - virtual int32_t temp_controler_set_peltier_power_level(int32_t level) = 0; // 测试使用 - virtual int32_t temp_controler_set_pump_level(int32_t level) = 0; // 测试使用 - virtual int32_t temp_controler_set_fan_level(int32_t level) = 0; // 测试使用 - virtual int32_t temp_controler_enable_log(int32_t level) = 0; // 测试使用 - -}; -} // namespace iflytop \ No newline at end of file diff --git a/api/zi_xymotor.hpp b/api/zi_xymotor.hpp deleted file mode 100644 index 8492a94..0000000 --- a/api/zi_xymotor.hpp +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIXYMotor { - public: - virtual ~ZIXYMotor() {} - virtual int32_t xymotor_enable(int32_t enable) = 0; - virtual int32_t xymotor_move_by(int32_t dx, int32_t dy) = 0; - virtual int32_t xymotor_move_to(int32_t x, int32_t y) = 0; - virtual int32_t xymotor_move_to_zero() = 0; - virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) = 0; - virtual int32_t xymotor_set_pos(int32_t x, int32_t y) = 0; - - virtual int32_t xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) = 0; - virtual int32_t xymotor_read_enc_direct(int32_t *enc1, int32_t *enc2) = 0; - - virtual int32_t xymotor_read_inio(int32_t ioindex, int32_t *val) = 0; - virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/i_zcanreceiver.hpp b/i_zcanreceiver.hpp deleted file mode 100644 index 30afed0..0000000 --- a/i_zcanreceiver.hpp +++ /dev/null @@ -1,25 +0,0 @@ -// -// Created by zwsd -// - -#pragma once -#include "api/api.hpp" -namespace iflytop { -using namespace zcr; - -class IZCanReceiverListener { - public: - virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, int32_t len) = 0; -}; - -class IZCanReceiver { - public: - public: - 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; - virtual int32_t triggerEvent(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0; -}; - -} // namespace iflytop \ No newline at end of file diff --git a/protocol.hpp b/protocol.hpp index 3d9d209..7de24a0 100644 --- a/protocol.hpp +++ b/protocol.hpp @@ -1,4 +1,2 @@ #pragma once #include "api/api.hpp" -// -#include "i_zcanreceiver.hpp" \ No newline at end of file