project_boditech_vidas_a8000_v3
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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
87d1a547ef
commit
850402ceaf
9 changed files with 78 additions and 23 deletions
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  1. 36
      api/config_index.hpp
  2. 1
      api/zi_xymotor.hpp
  3. 7
      cmdid.hpp
  4. 8
      protocol_parser.cpp
  5. 3
      protocol_proxy.cpp
  6. 17
      protocol_proxy.hpp
  7. 3
      zmodule_device_manager.cpp
  8. 13
      zmodule_device_manager.hpp
  9. 13
      zmodule_device_script_cmder_paser.cpp

36
api/config_index.hpp
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@ -19,9 +19,39 @@ typedef enum {
kcfg_motor_y_one_circle_pulse = CONFIG_CODE(100, 7), // y轴一圈脉冲数
kcfg_motor_z_one_circle_pulse = CONFIG_CODE(100, 8), // z轴一圈脉冲数
k_cfg_stepmotor_ihold = CONFIG_CODE(100, 9),
k_cfg_stepmotor_irun = CONFIG_CODE(100, 10),
k_cfg_stepmotor_iholddelay = CONFIG_CODE(100, 11),
kcfg_motor_default_velocity = CONFIG_CODE(100, 9), // 默认速度
kcfg_motor_default_acc = CONFIG_CODE(100, 10), // 默认加速度
kcfg_motor_default_dec = CONFIG_CODE(100, 11), // 默认减速度
kcfg_motor_default_break_dec = CONFIG_CODE(100, 12), // 默认减速度
/*******************************************************************************
* 电机找零相关配置 *
*******************************************************************************/
kcfg_motor_run_to_zero_max_x_d = CONFIG_CODE(150, 0), // x轴回零最大距离
kcfg_motor_run_to_zero_max_y_d = CONFIG_CODE(150, 1), // y轴回零最大距离
kcfg_motor_run_to_zero_max_z_d = CONFIG_CODE(150, 2), // z轴回零最大距离
kcfg_motor_look_zero_edge_max_x_d = CONFIG_CODE(150, 3), // x轴找零边缘最大距离
kcfg_motor_look_zero_edge_max_y_d = CONFIG_CODE(150, 4), // y轴找零边缘最大距离
kcfg_motor_look_zero_edge_max_z_d = CONFIG_CODE(150, 5), // z轴找零边缘最大距离
kcfg_motor_run_to_zero_speed = CONFIG_CODE(150, 6), // 回零速度
kcfg_motor_run_to_zero_dec = CONFIG_CODE(150, 7), // 回零减速度
kcfg_motor_look_zero_edge_speed = CONFIG_CODE(150, 8), // 找零边缘速度
kcfg_motor_look_zero_edge_dec = CONFIG_CODE(150, 9), // 找零边缘减速度
/*******************************************************************************
* 步进电机相关配置 *
*******************************************************************************/
k_cfg_stepmotor_ihold = CONFIG_CODE(200, 0),
k_cfg_stepmotor_irun = CONFIG_CODE(200, 1),
k_cfg_stepmotor_iholddelay = CONFIG_CODE(200, 2),
/*******************************************************************************
* XY_ROBOT_CONFIG *
*******************************************************************************/
k_cfg_xyrobot_robot_type = CONFIG_CODE(300, 0), // 机器人类型 0:hbot 1:corexy
} config_index_t;

1
api/zi_xymotor.hpp
View File

@ -13,5 +13,6 @@ class ZIXYMotor {
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; }
};
} // namespace iflytop

7
cmdid.hpp
View File

@ -34,9 +34,10 @@ typedef enum {
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
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_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:{}
} cmdid_t;

8
protocol_parser.cpp
View File

@ -161,7 +161,15 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
/*******************************************************************************
* xymotor *
*******************************************************************************/
#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; }
#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);
}

3
protocol_proxy.cpp
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@ -118,4 +118,5 @@ int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) {
*******************************************************************************/
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(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); }

17
protocol_proxy.hpp
View File

@ -14,7 +14,7 @@ class ZIProtocolProxy : public ZIMotor, //
int32_t m_id = 0;
public:
void initialize(int32_t moduleId,IZcanCmderMaster *cancmder) {
void initialize(int32_t moduleId, IZcanCmderMaster *cancmder) {
m_cancmder = cancmder;
m_id = moduleId;
}
@ -51,8 +51,6 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t module_flush_cfg() override;
virtual int32_t module_active_cfg() override;
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
@ -73,12 +71,19 @@ 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;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
/*******************************************************************************
* 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; }
#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;
};
} // namespace iflytop

3
zmodule_device_manager.cpp
View File

@ -63,4 +63,5 @@ int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id,
*******************************************************************************/
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(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); }

13
zmodule_device_manager.hpp
View File

@ -96,12 +96,19 @@ class ZModuleDeviceManager {
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);
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
/*******************************************************************************
* 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; }
#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);
private:
template <typename T>

13
zmodule_device_script_cmder_paser.cpp
View File

@ -90,12 +90,6 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
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);
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
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);
#endif
PROCESS_PACKET_10(module_stop, "module_stop (mid)");
@ -131,7 +125,14 @@ 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)");
#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; }
#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)");
}
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