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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
f62a5bd178
commit
84c9be4317
3 changed files with 43 additions and 41 deletions
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  1. 1
      api/errorcode.cpp
  2. 1
      api/errorcode.hpp
  3. 82
      zmodule_device_manager.hpp

1
api/errorcode.cpp
View File

@ -113,6 +113,7 @@ const char* error2str(int32_t code) {
ERR2STR(kcmd_not_found); ERR2STR(kcmd_not_found);
ERR2STR(kcmd_param_num_error); ERR2STR(kcmd_param_num_error);
ERR2STR(kcheckcode_is_error); ERR2STR(kcheckcode_is_error);
ERR2STR(kcatch_exception);
ERR2STR(ksys_error); ERR2STR(ksys_error);
ERR2STR(ksys_create_file_error); ERR2STR(ksys_create_file_error);
ERR2STR(ksys_create_dir_error); ERR2STR(ksys_create_dir_error);

1
api/errorcode.hpp
View File

@ -24,6 +24,7 @@ typedef enum {
kcmd_not_found = ERROR_CODE(0, 13), kcmd_not_found = ERROR_CODE(0, 13),
kcmd_param_num_error = ERROR_CODE(0, 14), kcmd_param_num_error = ERROR_CODE(0, 14),
kcheckcode_is_error = ERROR_CODE(0, 15), kcheckcode_is_error = ERROR_CODE(0, 15),
kcatch_exception = ERROR_CODE(0, 16),
/** /**
* @brief 系统错误 * @brief 系统错误

82
zmodule_device_manager.hpp
View File

@ -18,7 +18,6 @@ class ZModuleDeviceManager {
* ZIModule * * ZIModule *
*******************************************************************************/ *******************************************************************************/
#if 0 #if 0
virtual ~ZIModule() {} virtual ~ZIModule() {}
@ -58,32 +57,32 @@ class ZModuleDeviceManager {
virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; } virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; }
virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; } virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
#endif #endif
int32_t module_stop(uint16_t id);
int32_t module_break(uint16_t id);
virtual int32_t module_stop(uint16_t id);
virtual int32_t module_break(uint16_t id);
int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
int32_t module_get_status(uint16_t id, int32_t *status);
virtual int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
virtual int32_t module_get_status(uint16_t id, int32_t *status);
int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);
virtual int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
virtual int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);
int32_t module_readio(uint16_t id, int32_t *io);
int32_t module_writeio(uint16_t id, int32_t io);
virtual int32_t module_readio(uint16_t id, int32_t *io);
virtual int32_t module_writeio(uint16_t id, int32_t io);
int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);
virtual 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);
virtual int32_t module_get_error(uint16_t id, int32_t *iserror);
virtual int32_t module_clear_error(uint16_t id);
int32_t module_set_inited_flag(uint16_t id, int32_t flag);
int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
virtual int32_t module_set_inited_flag(uint16_t id, int32_t flag);
virtual int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
int32_t module_factory_reset(uint16_t id);
int32_t module_flush_cfg(uint16_t id);
int32_t module_active_cfg(uint16_t id);
virtual int32_t module_factory_reset(uint16_t id);
virtual int32_t module_flush_cfg(uint16_t id);
virtual int32_t module_active_cfg(uint16_t id);
int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value);
int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value);
virtual int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value);
virtual int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value);
/******************************************************************************* /*******************************************************************************
* ZIMotor * * ZIMotor *
@ -94,20 +93,20 @@ class ZModuleDeviceManager {
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; 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 #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);
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 direction, 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);
virtual int32_t motor_enable(uint16_t id, int32_t enable);
virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_with_torque(uint16_t id, int32_t direction, int32_t torque);
virtual int32_t motor_read_pos(uint16_t id, int32_t *pos);
virtual 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(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual 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 * * ZIXYMotor *
@ -122,14 +121,15 @@ class ZModuleDeviceManager {
virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; } virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; } virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif #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);
int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);
virtual int32_t xymotor_enable(uint16_t id, int32_t enable);
virtual int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
virtual int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
virtual int32_t xymotor_move_to_zero(uint16_t id);
virtual int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id);
virtual int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
virtual int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);
virtual ~ZModuleDeviceManager() {}
private: private:
template <typename T> template <typename T>

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