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a8000_protocol
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update

change_pipette_api
zhaohe 1 year ago
parent
00a25ecee5
commit
62e4b4e551
8 changed files with 5 additions and 501 deletions
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  1. 5
      api/apibasic/cmdid.hpp
  2. 128
      api/apibasic/temp_errorcode.hpp
  3. 20
      api/apibasic/temp_module_type_index.hpp
  4. 193
      api/apibasic/temp_reg_index.hpp
  5. 46
      api/temp_zi_a8000_optical_module.hpp
  6. 28
      api/temp_zi_event_bus.hpp
  7. 82
      api/temp_zi_module.hpp
  8. 4
      api/zi_module.hpp

5
api/apibasic/cmdid.hpp
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@ -18,10 +18,12 @@ typedef enum {
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
@ -48,8 +50,6 @@ typedef enum {
ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
/***********************************************************************************************************************************************
* NEW *
* NEW *
@ -58,7 +58,6 @@ typedef enum {
* NEW *
***********************************************************************************************************************************************/
/***********************************************************************************************************************
* STEP_MOTOR *
***********************************************************************************************************************/

128
api/apibasic/temp_errorcode.hpp
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@ -1,128 +0,0 @@
#pragma once
#include <stdint.h>
namespace iflytop {
namespace err {
using namespace std;
#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode)
typedef enum {
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),
khwardware_error = ERROR_CODE(0, 18),
/**
* @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
kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引
kmodule_not_find_reg = ERROR_CODE(200, 7), // 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
kmotor_not_enable = ERROR_CODE(300, 9), // 电机未使能
/**
* @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), //
kmicro_adcRecvFail = ERROR_CODE(500, 3), //
/**
* @brief step motor error
*/
kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点
kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零
kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温
kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压
kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时
kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能
kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围
/**
* @brief mini servo error
*/
kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点
} error_t;
const char* error2str(int32_t code);
} // namespace err
} // namespace iflytop

20
api/apibasic/temp_module_type_index.hpp
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@ -1,20 +0,0 @@
#pragma once
#include <stdint.h>
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
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
ktmc_step_motor = 10, // 步进电机
kmini_servo_motor_module = 11, // 舵机
kboard = 12, // 舵机
} module_type_t;
}

193
api/apibasic/temp_reg_index.hpp
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@ -1,193 +0,0 @@
#pragma once
#include <stdint.h>
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 *
*******************************************************************************/
kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
/*******************************************************************************
* SENSOR *
*******************************************************************************/
kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1
kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2
kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3
kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4
/*******************************************************************************
* 机械人通用配置 *
*******************************************************************************/
/*******************************************************************************
* MOTOR_X *
*******************************************************************************/
/*******************************************************************************
* PID控制器(3000->4000) *
*******************************************************************************/
kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
/*******************************************************************************
* 风扇控制 *
*******************************************************************************/
kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3
kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3
kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3
kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3
kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3
kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3
kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3
kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3
kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3
kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3
kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3
kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3
/*******************************************************************************
* 移液枪状态 *
*******************************************************************************/
kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置
kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制
/*******************************************************************************
* smartADC *
*******************************************************************************/
kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率
kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数
kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率
kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数
// scan action
kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1),
kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2),
kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3),
kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4),
kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5),
kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6),
kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7),
kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8),
kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9),
kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10),
kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11),
kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12),
kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13),
kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14),
//
kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1),
kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2),
kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3),
kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4),
kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5),
kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6),
kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12),
kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13),
kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
/***********************************************************************************************************************
* XYROBOT *
***********************************************************************************************************************/
kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0),
kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1),
kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2),
kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3),
kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4),
kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5),
kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6),
kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7),
kreg_xyrobot_ihold = REG_INDEX(100, 0, 8),
kreg_xyrobot_irun = REG_INDEX(100, 0, 9),
kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10),
kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy
kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移
kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移
kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转
kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转
kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数
kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数
kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离
kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离
kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离
kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离
kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
/***********************************************************************************************************************
* step_motor *
***********************************************************************************************************************/
kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度
kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
/***********************************************************************************************************************
* MINI_STEP_MOTOR *
***********************************************************************************************************************/
kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置
kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度
kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩
kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩
/***********************************************************************************************************************
* BOARD *
***********************************************************************************************************************/
} reg_index_t;
} // namespace iflytop

46
api/temp_zi_a8000_optical_module.hpp
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@ -1,46 +0,0 @@
#pragma once
#include <stdint.h>
#include <functional>
#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(){};
/*******************************************************************************
* 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::kmodule_not_support_action; }
virtual int32_t a8000_optical_open_laser(int32_t type) { return err::kmodule_not_support_action; }
virtual int32_t a8000_optical_close_laser(int32_t type) { return err::kmodule_not_support_action; }
virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; }
virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) { return err::kmodule_not_support_action; }
virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; }
virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) { return err::kmodule_not_support_action; }
/**
* @brief 打开闪光灯读取当前这一点的采样信息
*
* @param type
* @param adcval
* @return int32_t
*/
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::kmodule_not_support_action; }
};
} // namespace iflytop

28
api/temp_zi_event_bus.hpp
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@ -1,28 +0,0 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
// typedef enum {
// kreg_change_event = 1,
// } event_type_t;
class ZIEventBusSender {
public:
virtual ~ZIEventBusSender() {}
/**
* @brief 模块状态发生改变,具体的状态上位机通过查询指令进行确定
*
* @param moduleid
*/
virtual void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) = 0;
};
} // namespace iflytop

82
api/temp_zi_module.hpp
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@ -1,82 +0,0 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
#define REG_SET(reg, ...) _module_set_reg(param_id, &reg, val, ##__VA_ARGS__)
#define REG_GET(reg) _module_get_reg(param_id, reg, val)
#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, &reg, val, precision, ##__VA_ARGS__)
#define REG_GET_FLOAT(reg, precision) _module_get_reg_float(param_id, reg, val, precision)
#define ACTION_NONE 0
#define PROCESS_REG(param_id, readaction, writeacton) \
case param_id: { \
if (read) { \
return readaction; \
} else { \
return writeacton; \
} \
} break;
#define ENABLE_MODULE(name, type, version) \
public: \
virtual int32_t module_get_version(int32_t *val) { \
*val = version; \
return 0; \
} \
virtual int32_t module_get_type(int32_t *val) { \
*val = type; \
return 0; \
}
#define MODULE_COMMON_PROCESS_REG_CB()
typedef struct {
int32_t module_errorcode;
int32_t module_errorbitflag0;
int32_t m_module_status;
} module_common_reg_t;
class ZIModule {
int32_t m_inited_flag = 0;
protected:
module_common_reg_t creg;
public:
virtual ~ZIModule() {}
public:
virtual int32_t getid();
virtual int32_t module_ping();
virtual int32_t module_get_error(int32_t *iserror);
virtual int32_t module_clear_error();
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
virtual int32_t module_get_status(int32_t *status);
virtual int32_t module_get_version(int32_t *val) = 0;
virtual int32_t module_get_type(int32_t *val) = 0;
/***********************************************************************************************************************
* 用户实现 *
***********************************************************************************************************************/
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0;
protected:
virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val);
virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision);
virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val);
public:
public:
};
} // namespace iflytop

4
api/zi_module.hpp
View File

@ -62,9 +62,11 @@ class ZIModule {
virtual int32_t module_get_status(int32_t *status);
virtual int32_t module_get_version(int32_t *val) = 0;
virtual int32_t module_get_type(int32_t *val) = 0;
virtual int32_t module_stop() { return 0; }
virtual int32_t module_active_cfg() { return 0; }
/***********************************************************************************************************************
* Óû§ÊµÏÖ *
* 用户实现 *
***********************************************************************************************************************/
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0;

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