project_boditech_vidas_a8000_v3
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a8000_protocol
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update

change_pipette_api
zhaohe 2 years ago
parent
5fc1f504ef
commit
9aa75ad06a
5 changed files with 59 additions and 43 deletions
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  1. 15
      api/i_cmdparser.hpp
  2. 2
      api/zi_motor.hpp
  3. 2
      protocol_proxy.hpp
  4. 1
      zmodule_device_manager.cpp
  5. 82
      zmodule_device_script_cmder_paser.cpp

15
api/i_cmdparser.hpp
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@ -25,6 +25,21 @@ class ICmdParserACK {
uint8_t rawdata[512];
int32_t rawlen;
public:
void setInt32Ack(int32_t ecode, int32_t val) {
this->ecode = ecode;
acktype = kAckType_int32;
rawlen = sizeof(int32_t);
*((int32_t *)rawdata) = val;
}
void setNoneAck(int32_t ecode) {
this->ecode = ecode;
acktype = kAckType_none;
rawlen = 0;
rawdata[0] = 0;
}
int32_t *getAck(int index) {
if (index < 0 || index >= rawlen / (int)sizeof(int32_t)) {
return nullptr;

2
api/zi_motor.hpp
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@ -19,7 +19,7 @@ class ZIMotor {
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

2
protocol_proxy.hpp
View File

@ -59,7 +59,7 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) override;
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;

1
zmodule_device_manager.cpp
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@ -1,6 +1,7 @@
#include "zmodule_device_manager.hpp"
#include <assert.h>
#include <stdio.h>
using namespace iflytop;
using namespace std;

82
zmodule_device_script_cmder_paser.cpp
View File

@ -93,41 +93,41 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
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
PROCESS_PACKET_10(module_stop, "module_stop (mid)");
PROCESS_PACKET_10(module_break, "module_break (mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "module_get_last_exec_status (mid)");
PROCESS_PACKET_11(module_get_status, "module_get_status (mid)");
PROCESS_PACKET_30(module_set_param, "module_set_param (mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_param, "module_get_param (mid, param_id)");
PROCESS_PACKET_11(module_readio, "module_readio (mid)");
PROCESS_PACKET_20(module_writeio, "module_writeio (mid, io)");
PROCESS_PACKET_21(module_read_adc, "module_read_adc (mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "module_get_error (mid)");
PROCESS_PACKET_10(module_clear_error, "module_clear_error (mid)");
PROCESS_PACKET_20(module_set_inited_flag, "module_set_inited_flag (mid, flag)");
PROCESS_PACKET_11(module_get_inited_flag, "module_get_inited_flag (mid)");
PROCESS_PACKET_10(module_factory_reset, "module_factory_reset (mid)");
PROCESS_PACKET_10(module_flush_cfg, "module_flush_cfg (mid)");
PROCESS_PACKET_10(module_active_cfg, "module_active_cfg (mid)");
PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");
PROCESS_PACKET_40(motor_rotate_acctime, "motor_rotate_acctime (mid, direction, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_by_acctime, "motor_move_by_acctime (mid, distance, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_to_acctime, "motor_move_to_acctime (mid, position, motor_velocity, acctime)");
PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
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)");
PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "motor_move_to_zero_forward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "motor_move_to_zero_backward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_10(module_stop, "(mid)");
PROCESS_PACKET_10(module_break, "(mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "(mid)");
PROCESS_PACKET_11(module_get_status, "(mid)");
PROCESS_PACKET_30(module_set_param, "(mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_param, "(mid, param_id)");
PROCESS_PACKET_11(module_readio, "(mid)");
PROCESS_PACKET_20(module_writeio, "(mid, io)");
PROCESS_PACKET_21(module_read_adc, "(mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "(mid)");
PROCESS_PACKET_10(module_clear_error, "(mid)");
PROCESS_PACKET_20(module_set_inited_flag, "(mid, flag)");
PROCESS_PACKET_11(module_get_inited_flag, "(mid)");
PROCESS_PACKET_10(module_factory_reset, "(mid)");
PROCESS_PACKET_10(module_flush_cfg, "(mid)");
PROCESS_PACKET_10(module_active_cfg, "(mid)");
PROCESS_PACKET_20(motor_enable, "(mid, enable)");
PROCESS_PACKET_40(motor_rotate, "(mid, direction, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_by, "(mid, distance, motor_velocity, acc)");
PROCESS_PACKET_40(motor_move_to, "(mid, position, motor_velocity, acc)");
PROCESS_PACKET_40(motor_rotate_acctime, "(mid, direction, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_by_acctime, "(mid, distance, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_to_acctime, "(mid, position, motor_velocity, acctime)");
PROCESS_PACKET_30(motor_move_to_with_torque, "(mid, pos, torque)");
PROCESS_PACKET_50(motor_move_to_zero_forward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_11(motor_read_pos, "(mid)");
PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "(mid, pos)");
PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
#if 0
virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
@ -137,10 +137,10 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { 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)");
PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "xymotor_move_to_zero_and_calculated_shift (mid)");
PROCESS_PACKET_12(xymotor_read_pos, "xymotor_read_pos (mid)");
PROCESS_PACKET_20(xymotor_enable, "(mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "(mid, dx, dy, motor_velocity)");
PROCESS_PACKET_40(xymotor_move_to, "(mid, x, y, motor_velocity)");
PROCESS_PACKET_10(xymotor_move_to_zero, "(mid)");
PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "(mid)");
PROCESS_PACKET_12(xymotor_read_pos, "(mid)");
}
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