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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
0800663754
commit
9581189118
2 changed files with 66 additions and 24 deletions
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  1. 4
      api/i_zcan_cmder_master.hpp
  2. 86
      zmodule_device_manager.cpp

4
api/i_zcan_cmder_master.hpp
View File

@ -13,12 +13,14 @@ namespace iflytop {
using namespace std;
using namespace zcr;
typedef function<void(int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen)> onpacket_t;
class IZcanCmderMaster {
public:
virtual int32_t sendCmd(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) = 0;
virtual int32_t sendCmdAndReceiveBuf(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) = 0;
virtual void regEventPacketListener(function<void(uint8_t *data, size_t len)> on_event) = 0;
virtual void regEventPacketListener(onpacket_t on_event) = 0;
};
} // namespace iflytop

86
zmodule_device_manager.cpp
View File

@ -17,10 +17,10 @@ void ZModuleDeviceManager::initialize(IZcanCmderMaster *cancmder) {
m_cancmder = cancmder;
assert(m_cancmder != nullptr);
m_cancmder->regEventPacketListener([this](uint8_t *data, size_t len) {
if (len < 4) return;
m_cancmder->regEventPacketListener([this](int32_t fromboard, zcr_cmd_header_t *packet, int32_t datalen) {
if (datalen < 4) return;
int32_t *pdata = (int32_t *)data;
int32_t *pdata = (int32_t *)packet->data;
int32_t event = pdata[0];
if (event == kreg_change_event) {
int32_t moduleid = pdata[1];
@ -45,8 +45,12 @@ int32_t ZModuleDeviceManager::module_stop(uint16_t id) { PROXY_IMPL(ZIModule, mo
int32_t ZModuleDeviceManager::module_break(uint16_t id) { PROXY_IMPL(ZIModule, module_break); }
int32_t ZModuleDeviceManager::module_get_last_exec_status(uint16_t id, int32_t *ack0) { PROXY_IMPL(ZIModule, module_get_last_exec_status, ack0); }
int32_t ZModuleDeviceManager::module_get_status(uint16_t id, int32_t *status) { PROXY_IMPL(ZIModule, module_get_status, status); }
int32_t ZModuleDeviceManager::module_set_reg(uint16_t id, int32_t param_id, int32_t param_value) { PROXY_IMPL(ZIModule, module_set_reg, param_id, param_value); }
int32_t ZModuleDeviceManager::module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value) { PROXY_IMPL(ZIModule, module_get_reg, param_id, param_value); }
int32_t ZModuleDeviceManager::module_set_reg(uint16_t id, int32_t param_id, int32_t param_value) {
PROXY_IMPL(ZIModule, module_set_reg, param_id, param_value);
}
int32_t ZModuleDeviceManager::module_get_reg(uint16_t id, int32_t param_id, int32_t *param_value) {
PROXY_IMPL(ZIModule, module_get_reg, param_id, param_value);
}
int32_t ZModuleDeviceManager::module_readio(uint16_t id, int32_t *io) { PROXY_IMPL(ZIModule, module_readio, io); }
int32_t ZModuleDeviceManager::module_writeio(uint16_t id, int32_t ioindex, int32_t io) { PROXY_IMPL(ZIModule, module_writeio, ioindex, io); }
int32_t ZModuleDeviceManager::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, module_read_adc, adcindex, adc); }
@ -57,7 +61,9 @@ int32_t ZModuleDeviceManager::module_get_inited_flag(uint16_t id, int32_t *flag)
int32_t ZModuleDeviceManager::module_factory_reset(uint16_t id) { PROXY_IMPL(ZIModule, module_factory_reset); }
int32_t ZModuleDeviceManager::module_flush_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_flush_cfg); }
int32_t ZModuleDeviceManager::module_active_cfg(uint16_t id) { PROXY_IMPL(ZIModule, module_active_cfg); }
int32_t ZModuleDeviceManager::module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) { PROXY_IMPL(ZIModule, module_read_raw, startadd, data, len); }
int32_t ZModuleDeviceManager::module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) {
PROXY_IMPL(ZIModule, module_read_raw, startadd, data, len);
}
int32_t ZModuleDeviceManager::module_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIModule, module_enable, enable); }
int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, module_start); }
@ -84,25 +90,53 @@ int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, m
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
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // һ�����ڶ��
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) { PROXY_IMPL(ZIMotor, motor_rotate_with_torque, direction, torque); }
int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward, findzerospeed, findzeroedge_speed, acc, overtime); }
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_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) {
PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) {
PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) {
PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc);
}
int32_t ZModuleDeviceManager::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) {
PROXY_IMPL(ZIMotor, motor_rotate_with_torque, direction, torque);
}
int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) {
PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) {
PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) {
PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime);
}
int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {
PROXY_IMPL(ZIMotor, motor_move_to_zero_forward, findzerospeed, findzeroedge_speed, acc, overtime);
}
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); }
int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime); }
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);
}
int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) {
PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime);
}
int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIMotor, motor_calculated_pos_by_move_to_zero); }
/*******************************************************************************
* ZIXYMotor *
@ -116,8 +150,12 @@ int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id)
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_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); }
@ -130,7 +168,9 @@ int32_t ZModuleDeviceManager::xymotor_calculated_pos_by_move_to_zero(uint16_t id
#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); }
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);
}
#if 0
virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };

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