project_boditech_vidas_a8000_v3
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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
aef6c931d2
commit
5fc1f504ef
9 changed files with 103 additions and 22 deletions
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  1. 3
      api/zi_motor.hpp
  2. 2
      api/zi_xymotor.hpp
  3. 12
      cmdid.hpp
  4. 11
      protocol_parser.cpp
  5. 14
      protocol_proxy.cpp
  6. 7
      protocol_proxy.hpp
  7. 12
      zmodule_device_manager.cpp
  8. 12
      zmodule_device_manager.hpp
  9. 10
      zmodule_device_script_cmder_paser.cpp

3
api/zi_motor.hpp
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@ -24,6 +24,9 @@ class ZIMotor {
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

2
api/zi_xymotor.hpp
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@ -14,5 +14,7 @@ class ZIXYMotor {
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; }
};
} // namespace iflytop

12
cmdid.hpp
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@ -33,11 +33,23 @@ typedef enum {
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
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kmotor_motor_move_to_zero_forward_and_calculated_shift = CMDID(2, 13), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
#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
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
kxymotor_move_to_zero = CMDID(3, 4), // para:{}, ack:{}
kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
} cmdid_t;

11
protocol_parser.cpp
View File

@ -145,6 +145,11 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
/*******************************************************************************
* motor *
*******************************************************************************/
#if 0
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; }
#endif
PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
PROCESS_PACKET_30(kmotor_move_by, ZIMotor, motor_move_by);
@ -157,6 +162,8 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_40(kmotor_move_to_zero_backward, ZIMotor, motor_move_to_zero_backward);
PROCESS_PACKET_01(kmotor_read_pos, ZIMotor, motor_read_pos);
PROCESS_PACKET_10(kmotor_set_current_pos_by_change_shift, ZIMotor, motor_set_current_pos_by_change_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_forward_and_calculated_shift, ZIMotor, motor_move_to_zero_forward_and_calculated_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, ZIMotor, motor_move_to_zero_backward_and_calculated_shift);
/*******************************************************************************
* xymotor *
@ -166,10 +173,14 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
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
PROCESS_PACKET_10(kxymotor_enable, ZIXYMotor, xymotor_enable);
PROCESS_PACKET_30(kxymotor_move_by, ZIXYMotor, xymotor_move_by);
PROCESS_PACKET_30(kxymotor_move_to, ZIXYMotor, xymotor_move_to);
PROCESS_PACKET_00(kxymotor_move_to_zero, ZIXYMotor, xymotor_move_to_zero);
PROCESS_PACKET_00(kxymotor_move_to_zero_and_calculated_shift, ZIXYMotor, xymotor_move_to_zero_and_calculated_shift);
PROCESS_PACKET_02(kxymotor_read_pos, ZIXYMotor, xymotor_read_pos);
}

14
protocol_proxy.cpp
View File

@ -113,10 +113,24 @@ int32_t ZIProtocolProxy::motor_move_to_zero_backward(int32_t para0, int32_t para
int32_t ZIProtocolProxy::motor_read_pos(int32_t *ack0) { PROXY_IMPL_01(kmotor_read_pos); }
int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) { PROXY_IMPL_10(kmotor_set_current_pos_by_change_shift); }
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); };
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); };
/*******************************************************************************
* 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 ZIProtocolProxy::xymotor_enable(int32_t para0) { PROXY_IMPL_10(kxymotor_enable); }
int32_t ZIProtocolProxy::xymotor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_by); }
int32_t ZIProtocolProxy::xymotor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kxymotor_move_to); }
int32_t ZIProtocolProxy::xymotor_move_to_zero() { PROXY_IMPL_00(kxymotor_move_to_zero); }
int32_t ZIProtocolProxy::xymotor_move_to_zero_and_calculated_shift() { PROXY_IMPL_00(kxymotor_move_to_zero_and_calculated_shift); }
int32_t ZIProtocolProxy::xymotor_read_pos(int32_t *ack0, int32_t *ack1) { PROXY_IMPL_02(kxymotor_read_pos); }

7
protocol_proxy.hpp
View File

@ -71,6 +71,9 @@ class ZIProtocolProxy : public ZIMotor, //
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;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
@ -79,11 +82,15 @@ class ZIProtocolProxy : public ZIMotor, //
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
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;
};
} // namespace iflytop

12
zmodule_device_manager.cpp
View File

@ -58,10 +58,22 @@ int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t fi
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); }
/*******************************************************************************
* 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); }

12
zmodule_device_manager.hpp
View File

@ -83,6 +83,11 @@ class ZModuleDeviceManager {
* ZIMotor *
*******************************************************************************/
#if 0
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;
#endif
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);
@ -95,6 +100,8 @@ class ZModuleDeviceManager {
int32_t motor_move_to_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);
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);
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);
/*******************************************************************************
* ZIXYMotor *
@ -104,11 +111,16 @@ class ZModuleDeviceManager {
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 xymotor_enable(uint16_t id, int32_t enable);
int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
int32_t xymotor_move_to_zero(uint16_t id);
int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id);
int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
private:
template <typename T>

10
zmodule_device_script_cmder_paser.cpp
View File

@ -89,7 +89,8 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
int32_t motor_move_to_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;
#endif
PROCESS_PACKET_10(module_stop, "module_stop (mid)");
@ -125,14 +126,21 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
PROCESS_PACKET_11(motor_read_pos, "motor_read_pos (mid)");
PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "motor_set_current_pos_by_change_shift (mid, pos)");
PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "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, "motor_move_to_zero_backward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
#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
PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");
PROCESS_PACKET_10(xymotor_move_to_zero, "xymotor_move_to_zero (mid)");
PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "xymotor_move_to_zero_and_calculated_shift (mid)");
PROCESS_PACKET_12(xymotor_read_pos, "xymotor_read_pos (mid)");
}
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