project_boditech_vidas_a8000_v3
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a8000_protocol
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Merge branch 'master' of 192.168.1.3:zprotocols/zcancmder_v2

change_pipette_api
zhaohe 2 years ago
parent
fd468d3919 49da2ad73b
commit
7ccc1333ef
9 changed files with 24 additions and 17 deletions
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  1. 12
      api/module_type_index.hpp
  2. 2
      api/zi_code_scaner.hpp
  3. 14
      api/zi_module.hpp
  4. 2
      protocol_parser.cpp
  5. 2
      protocol_proxy.cpp
  6. 3
      protocol_proxy.hpp
  7. 2
      zmodule_device_manager.cpp
  8. 2
      zmodule_device_manager.hpp
  9. 2
      zmodule_device_script_cmder_paser.cpp

12
api/module_type_index.hpp
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@ -3,10 +3,12 @@
namespace iflytop {
typedef enum {
kuniversal_module = 0,
khbot_module = 1,
kmotor_module = 2,
ktemperature_ctrl_module = 3,
kmini_servo_motor_module = 4,
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
} module_type_t;
}

2
api/zi_code_scaner.hpp
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@ -7,10 +7,12 @@
namespace iflytop {
using namespace std;
#if 0
class ZICodeScaner {
public:
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; }
};
#endif
} // namespace iflytop

14
api/zi_module.hpp
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@ -40,7 +40,7 @@ using namespace std;
PROCESS_REG(kreg_module_type, /* */ REG_GET(m_com_reg.module_type), ACTION_NONE); \
PROCESS_REG(kreg_module_status, /* */ module_get_status(&val), ACTION_NONE); \
PROCESS_REG(kreg_module_errorcode, /* */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE); \
PROCESS_REG(kreg_module_initflag, /* */ REG_GET(m_com_reg.module_initflag), REG_SET(m_com_reg.module_initflag)); \
PROCESS_REG(kreg_module_initflag, /* */ module_get_inited_flag(&val), module_set_inited_flag(val)); \
PROCESS_REG(kreg_module_errorbitflag0, /* */ REG_GET(m_com_reg.module_errorbitflag0), ACTION_NONE); \
PROCESS_REG(kreg_module_enableflag, /* */ REG_GET(m_com_reg.module_enable), ACTION_NONE); \
PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val)); \
@ -60,7 +60,6 @@ typedef struct {
int32_t module_version;
int32_t module_type;
int32_t module_errorcode;
int32_t module_initflag;
int32_t module_errorbitflag0;
int32_t module_enable;
@ -109,7 +108,7 @@ class ZIModule {
return id;
};
virtual int32_t module_ping() = 0;
virtual int32_t module_ping() { return 0; };
virtual int32_t module_stop() { return err::koperation_not_support; }
virtual int32_t module_break() { return err::koperation_not_support; }
@ -122,8 +121,10 @@ class ZIModule {
virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
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_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::koperation_not_support; }
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
virtual int32_t module_writeio(int32_t idindex, int32_t io) { return err::koperation_not_support; }
@ -173,5 +174,8 @@ class ZIModule {
val = regval / precision;
return 0;
}
public:
virtual int32_t do_action(int32_t actioncode) { return err::kmodule_not_support_action; };
};
} // namespace iflytop

2
protocol_parser.cpp
View File

@ -257,11 +257,11 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
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; }
#endif
PROCESS_PACKET_00(kcode_scaner_start_scan, ZICodeScaner, code_scaner_start_scan);
PROCESS_PACKET_00(kcode_scaner_stop_scan, ZICodeScaner, code_scaner_stop_scan);
PROCESS_BUF_REQUEST_1(kcode_scaner_read_scaner_result, ZICodeScaner, code_scaner_read_scaner_result);
#endif
#if 0
virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };

2
protocol_proxy.cpp
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@ -193,7 +193,6 @@ int32_t ZIProtocolProxy::xymotor_calculated_pos_by_move_to_zero() { PROXY_IMPL_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; }
#endif
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); }
@ -203,6 +202,7 @@ int32_t ZIProtocolProxy::code_scaner_read_scaner_result(int32_t para0, uint8_t *
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; };

3
protocol_proxy.hpp
View File

@ -9,7 +9,6 @@ namespace iflytop {
class ZIProtocolProxy : public ZIMotor, //
public ZIXYMotor, //
public ZIModule,
public ZICodeScaner,
public ZIPipetteCtrlModule,
public ZIA8000OpticalModule {
private:
@ -149,11 +148,11 @@ class ZIProtocolProxy : public ZIMotor, //
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; }
#endif
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; };

2
zmodule_device_manager.cpp
View File

@ -138,10 +138,10 @@ int32_t ZModuleDeviceManager::xymotor_calculated_pos_by_move_to_zero(uint16_t id
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
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; };

2
zmodule_device_manager.hpp
View File

@ -184,11 +184,11 @@ class ZModuleDeviceManager {
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; }
#endif
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; };

2
zmodule_device_script_cmder_paser.cpp
View File

@ -207,7 +207,6 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
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; }
#endif
PROCESS_PACKET_10(code_scaner_start_scan, "(mid)");
PROCESS_PACKET_10(code_scaner_stop_scan, "(mid)");
@ -220,6 +219,7 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
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; };

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