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change_pipette_api

change_pipette_api
zhaohe 8 months ago
parent
86de5f61c4
commit
d80b7654e9
6 changed files with 81 additions and 145 deletions
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  1. 157
      api/apibasic/cmdid.cpp
  2. 27
      api/apibasic/cmdid.hpp
  3. 1
      api/apibasic/errorcode.hpp
  4. 2
      api/apibasic/reg_index.cpp
  5. 2
      api/apibasic/reg_index.hpp
  6. 23
      api/zi_pipette_ctrl_module.hpp

157
api/apibasic/cmdid.cpp
View File

@ -11,25 +11,10 @@ static cmdinfo_t table[] = {
CMD_ITERM(kevent_bus_reg_change_report),
CMD_ITERM(kmodule_ping),
CMD_ITERM(kmodule_get_status),
CMD_ITERM(kmodule_stop),
CMD_ITERM(kmodule_set_reg),
CMD_ITERM(kmodule_get_reg),
CMD_ITERM(kmodule_get_error),
CMD_ITERM(kmodule_clear_error),
CMD_ITERM(kmodule_active_cfg),
CMD_ITERM(kxymotor_enable),
CMD_ITERM(kxymotor_move_by),
CMD_ITERM(kxymotor_move_to),
CMD_ITERM(kxymotor_move_to_zero),
CMD_ITERM(kxymotor_read_pos),
CMD_ITERM(kxymotor_read_inio_index_in_stm32),
CMD_ITERM(kxymotor_read_inio),
CMD_ITERM(kxymotor_set_pos),
CMD_ITERM(kxymotor_motor_move_by_direct),
CMD_ITERM(kxymotor_read_enc_direct),
CMD_ITERM(kmodule_ping), CMD_ITERM(kmodule_get_status), CMD_ITERM(kmodule_stop), CMD_ITERM(kmodule_set_reg), CMD_ITERM(kmodule_get_reg), CMD_ITERM(kmodule_get_error), CMD_ITERM(kmodule_clear_error), CMD_ITERM(kmodule_active_cfg),
CMD_ITERM(kxymotor_enable), CMD_ITERM(kxymotor_move_by), CMD_ITERM(kxymotor_move_to), CMD_ITERM(kxymotor_move_to_zero), CMD_ITERM(kxymotor_read_pos), CMD_ITERM(kxymotor_read_inio_index_in_stm32), CMD_ITERM(kxymotor_read_inio), CMD_ITERM(kxymotor_set_pos),
CMD_ITERM(kxymotor_motor_move_by_direct), CMD_ITERM(kxymotor_read_enc_direct),
// CMD_ITERM(kpipette_ctrl_init_device),
// CMD_ITERM(kpipette_ctrl_put_tip),
@ -51,103 +36,35 @@ static cmdinfo_t table[] = {
// CMD_ITERM(kpipette_distribut_llf),
// CMD_ITERM(kpipette_shake_up_llf),
CMD_ITERM(ka8000_optical_module_power_ctrl),
CMD_ITERM(ka8000_optical_open_laser),
CMD_ITERM(ka8000_optical_close_laser),
CMD_ITERM(ka8000_optical_set_laster_gain),
CMD_ITERM(ka8000_optical_set_scan_amp_gain),
CMD_ITERM(ka8000_optical_read_scanner_adc_val),
CMD_ITERM(ka8000_optical_read_laster_adc_val),
CMD_ITERM(ka8000_optical_scan_current_point_amp_adc_val),
CMD_ITERM(ka8000_optical_start_capture),
CMD_ITERM(ka8000_optical_read_raw),
CMD_ITERM(ka8k_opt_v2_t_start_scan),
CMD_ITERM(ka8k_opt_v2_f_start_scan),
CMD_ITERM(ka8k_opt_v2_t_open_laster),
CMD_ITERM(ka8k_opt_v2_t_close_laster),
CMD_ITERM(ka8k_opt_v2_t_readVal),
CMD_ITERM(ka8k_opt_v2_f_open_laster),
CMD_ITERM(ka8k_opt_v2_f_close_laster),
CMD_ITERM(ka8k_opt_v2_f_readVal),
CMD_ITERM(kstep_motor_enable),
CMD_ITERM(kstep_motor_read_pos),
CMD_ITERM(kstep_motor_easy_rotate),
CMD_ITERM(kstep_motor_easy_move_by),
CMD_ITERM(kstep_motor_easy_move_to),
CMD_ITERM(kstep_motor_easy_move_to_zero),
CMD_ITERM(kstep_motor_easy_set_current_pos),
CMD_ITERM(kstep_motor_easy_move_to_io),
CMD_ITERM(kstep_motor_stop),
CMD_ITERM(kstep_motor_active_cfg),
CMD_ITERM(kstep_motor_read_io_state),
CMD_ITERM(kstep_motor_easy_move_to_end_point),
CMD_ITERM(kstep_motor_read_tmc5130_status),
CMD_ITERM(kstep_motor_read_tmc5130_state),
CMD_ITERM(kstep_motor_read_io_index_in_stm32),
CMD_ITERM(kstep_motor_set_subdevice_reg),
CMD_ITERM(kstep_motor_get_subdevice_reg),
CMD_ITERM(kstep_motor_easy_reciprocating_motion),
CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick),
CMD_ITERM(kmini_servo_enable),
CMD_ITERM(kmini_servo_read_pos),
CMD_ITERM(kmini_servo_active_cfg),
CMD_ITERM(kmini_servo_stop),
CMD_ITERM(kmini_servo_set_mid_point),
CMD_ITERM(kmini_servo_read_io_state),
CMD_ITERM(kmini_servo_move_to),
CMD_ITERM(kmini_servo_rotate),
CMD_ITERM(kmini_servo_rotate_with_torque),
CMD_ITERM(kmini_servo_set_cur_pos),
CMD_ITERM(kextboard_read_inio),
CMD_ITERM(kextboard_write_outio),
CMD_ITERM(kextboard_read_muti_inio),
CMD_ITERM(kextboard_read_inio_index_in_stm32),
CMD_ITERM(kextboard_read_outio_index_in_stm32),
CMD_ITERM(kextboard_read_outio),
CMD_ITERM(kcode_scaner_start_scan),
CMD_ITERM(kcode_scaner_stop_scan),
CMD_ITERM(kcode_scaner_result_is_ready),
CMD_ITERM(kcode_scaner_read_scaner_result),
CMD_ITERM(kcode_scaner_get_result_length),
CMD_ITERM(ka8000_optical_module_power_ctrl), CMD_ITERM(ka8000_optical_open_laser), CMD_ITERM(ka8000_optical_close_laser), CMD_ITERM(ka8000_optical_set_laster_gain), CMD_ITERM(ka8000_optical_set_scan_amp_gain), CMD_ITERM(ka8000_optical_read_scanner_adc_val),
CMD_ITERM(ka8000_optical_read_laster_adc_val), CMD_ITERM(ka8000_optical_scan_current_point_amp_adc_val), CMD_ITERM(ka8000_optical_start_capture), CMD_ITERM(ka8000_optical_read_raw),
CMD_ITERM(ka8k_opt_v2_t_start_scan), CMD_ITERM(ka8k_opt_v2_f_start_scan), CMD_ITERM(ka8k_opt_v2_t_open_laster), CMD_ITERM(ka8k_opt_v2_t_close_laster), CMD_ITERM(ka8k_opt_v2_t_readVal), CMD_ITERM(ka8k_opt_v2_f_open_laster), CMD_ITERM(ka8k_opt_v2_f_close_laster), CMD_ITERM(ka8k_opt_v2_f_readVal),
CMD_ITERM(kstep_motor_enable), CMD_ITERM(kstep_motor_read_pos), CMD_ITERM(kstep_motor_easy_rotate), CMD_ITERM(kstep_motor_easy_move_by), CMD_ITERM(kstep_motor_easy_move_to), CMD_ITERM(kstep_motor_easy_move_to_zero), CMD_ITERM(kstep_motor_easy_set_current_pos),
CMD_ITERM(kstep_motor_easy_move_to_io), CMD_ITERM(kstep_motor_stop), CMD_ITERM(kstep_motor_active_cfg), CMD_ITERM(kstep_motor_read_io_state), CMD_ITERM(kstep_motor_easy_move_to_end_point), CMD_ITERM(kstep_motor_read_tmc5130_status), CMD_ITERM(kstep_motor_read_tmc5130_state),
CMD_ITERM(kstep_motor_read_io_index_in_stm32), CMD_ITERM(kstep_motor_set_subdevice_reg), CMD_ITERM(kstep_motor_get_subdevice_reg), CMD_ITERM(kstep_motor_easy_reciprocating_motion), CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick),
CMD_ITERM(kmini_servo_enable), CMD_ITERM(kmini_servo_read_pos), CMD_ITERM(kmini_servo_active_cfg), CMD_ITERM(kmini_servo_stop), CMD_ITERM(kmini_servo_set_mid_point), CMD_ITERM(kmini_servo_read_io_state),
CMD_ITERM(kmini_servo_move_to), CMD_ITERM(kmini_servo_rotate), CMD_ITERM(kmini_servo_rotate_with_torque), CMD_ITERM(kmini_servo_set_cur_pos),
CMD_ITERM(kextboard_read_inio), CMD_ITERM(kextboard_write_outio), CMD_ITERM(kextboard_read_muti_inio), CMD_ITERM(kextboard_read_inio_index_in_stm32), CMD_ITERM(kextboard_read_outio_index_in_stm32), CMD_ITERM(kextboard_read_outio),
CMD_ITERM(kcode_scaner_start_scan), CMD_ITERM(kcode_scaner_stop_scan), CMD_ITERM(kcode_scaner_result_is_ready), CMD_ITERM(kcode_scaner_read_scaner_result), CMD_ITERM(kcode_scaner_get_result_length),
CMD_ITERM(kfan_controler_set_speed),
CMD_ITERM(ktemp_controler_start_hearting),
CMD_ITERM(ktemp_controler_stop_hearting),
CMD_ITERM(ktemp_controler_set_peltier_power_level),
CMD_ITERM(ktemp_controler_set_pump_level),
CMD_ITERM(ktemp_controler_set_fan_level),
CMD_ITERM(ktemp_controler_enable_log),
CMD_ITERM(ka8000_idcard_reader_read_raw),
CMD_ITERM(ka8000_idcard_write_raw),
CMD_ITERM(ka8000_idcard_erase),
CMD_ITERM(ka8000_idcard_earse_unlock),
CMD_ITERM(kevent_a8000_idcard_online),
CMD_ITERM(kevent_a8000_idcard_offline),
CMD_ITERM(kplate_code_scaner_push_card_and_scan),
CMD_ITERM(kplate_code_scaner_stop_scan),
CMD_ITERM(kplate_code_scaner_read_result),
CMD_ITERM(kplate_code_scaner_read_result_point_num),
CMD_ITERM(kplate_code_scaner_read_code),
CMD_ITERM(kplate_code_scaner_adc_readraw),
CMD_ITERM(kplate_code_scaner_open_laser),
CMD_ITERM(kplate_code_scaner_close_laser),
CMD_ITERM(kpipette_zmotor_enable),
CMD_ITERM(kpipette_zmotor_move_zero),
CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick),
CMD_ITERM(kpipette_zmotor_measure_distance),
CMD_ITERM(kpipette_zmotor_read_measure_distance_result),
CMD_ITERM(kpipette_zmotor_move_by),
CMD_ITERM(ktemp_controler_start_hearting), CMD_ITERM(ktemp_controler_stop_hearting), CMD_ITERM(ktemp_controler_set_peltier_power_level), CMD_ITERM(ktemp_controler_set_pump_level), CMD_ITERM(ktemp_controler_set_fan_level), CMD_ITERM(ktemp_controler_enable_log),
CMD_ITERM(ka8000_idcard_reader_read_raw), CMD_ITERM(ka8000_idcard_write_raw), CMD_ITERM(ka8000_idcard_erase), CMD_ITERM(ka8000_idcard_earse_unlock), CMD_ITERM(kevent_a8000_idcard_online), CMD_ITERM(kevent_a8000_idcard_offline),
CMD_ITERM(kplate_code_scaner_push_card_and_scan), CMD_ITERM(kplate_code_scaner_stop_scan), CMD_ITERM(kplate_code_scaner_read_result), CMD_ITERM(kplate_code_scaner_read_result_point_num), CMD_ITERM(kplate_code_scaner_read_code), CMD_ITERM(kplate_code_scaner_adc_readraw),
CMD_ITERM(kplate_code_scaner_open_laser), CMD_ITERM(kplate_code_scaner_close_laser),
CMD_ITERM(kpipette_zmotor_enable), CMD_ITERM(kpipette_zmotor_move_zero), CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick), CMD_ITERM(kpipette_zmotor_measure_distance), CMD_ITERM(kpipette_zmotor_read_measure_distance_result), CMD_ITERM(kpipette_zmotor_move_by),
CMD_ITERM(kpipette_zmotor_move_to),
#if 0
CMD_ITERM(kpipette_init_device),
CMD_ITERM(kpipette_put_tip),
CMD_ITERM(kpipette_lld_prepare),
@ -168,7 +85,6 @@ static cmdinfo_t table[] = {
CMD_ITERM(kpipette_get_sensor_sample_data_num),
CMD_ITERM(kpipette_zmotor_read_zero_point_state),
CMD_ITERM(kpipette_zmotor_read_dev_status_cache),
CMD_ITERM(kpipette_set_lld_startz),
CMD_ITERM(kpipette_set_lld_endz),
CMD_ITERM(kpipette_set_lld_type),
@ -177,8 +93,19 @@ static cmdinfo_t table[] = {
CMD_ITERM(kpipette_set_llf_startz),
CMD_ITERM(kpipette_set_llf_endz),
CMD_ITERM(kpipette_clear_hanging_liquid),
#endif
CMD_ITERM(kpipette_init_device), //
CMD_ITERM(kpipette_put_tip), //
CMD_ITERM(kpipette_pump_move_to), //
CMD_ITERM(kpipette_lld), //
CMD_ITERM(kpipette_aspirate), //
CMD_ITERM(kpipette_distribu), //
CMD_ITERM(kpipette_shake_up), //
CMD_ITERM(kpipette_get_sensor_sample_data), //
CMD_ITERM(kpipette_get_sensor_sample_data_num), //
CMD_ITERM(kpipette_zmotor_read_zero_point_state), //
CMD_ITERM(kpipette_zmotor_read_dev_status_cache), //
};
const char* cmdid2str(int32_t code) {

27
api/apibasic/cmdid.hpp
View File

@ -133,6 +133,8 @@ typedef enum {
kpipette_zmotor_read_measure_distance_result = 0x7404,
kpipette_zmotor_move_by = 0x7405,
kpipette_zmotor_move_to = 0x7406,
#if 0
kpipette_init_device = 0x7407,
kpipette_put_tip = 0x7408,
kpipette_lld_prepare = 0x7409,
@ -163,6 +165,31 @@ typedef enum {
kpipette_set_llf_startz = 0x7422,
kpipette_set_llf_endz = 0x7423,
kpipette_clear_hanging_liquid = 0x7424,
#endif
//
// virtual int32_t pipette_pump_move_to(int32_t pumpv, int32_t ul);
// virtual int32_t pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c_threshold, int32_t p_threshold);
// virtual int32_t pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul);
// virtual int32_t pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t ul);
// virtual int32_t pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t ul, int32_t times);
// pipette_get_sensor_sample_data
// pipette_get_sensor_sample_data_num
// pipette_zmotor_read_zero_point_state
// pipette_zmotor_read_dev_status_cache
kpipette_init_device = 0x7501,
kpipette_put_tip = 0x7502,
kpipette_pump_move_to = 0x7503,
kpipette_lld = 0x7504,
kpipette_aspirate = 0x7505,
kpipette_distribu = 0x7506,
kpipette_shake_up = 0x7507,
kpipette_get_sensor_sample_data = 0x7510,
kpipette_get_sensor_sample_data_num = 0x7511,
kpipette_zmotor_read_zero_point_state = 0x7512,
kpipette_zmotor_read_dev_status_cache = 0x7513,
} cmdid_t;

1
api/apibasic/errorcode.hpp
View File

@ -59,6 +59,7 @@ typedef enum {
kpipette_error_VolumeError = 1419,
kpipette_error_TipAlreadyLoad = 1420,
kpipette_error_TipLoadFail = 1421,
kpipette_error_no_tip_when_lld = 1422,
kpipette_error_uninited = 1501,
kpipette_error_not_lld_prepare = 1502,

2
api/apibasic/reg_index.cpp
View File

@ -49,6 +49,8 @@ static reginfo_t table[] = {
REG_ITERM(kreg_pipette_lld_detect_period_ms),
REG_ITERM(kreg_pipette_lld_prepare_pos),
REG_ITERM(kreg_pipette_lld_prepare_pre_distribut_ul),
REG_ITERM(kreg_pipette_lld_enable_record_data),
REG_ITERM(kreg_pipette_distribu_pump_vel),
REG_ITERM(kreg_pipette_zm_pos),
REG_ITERM(kreg_pipette_zm_is_enable),

2
api/apibasic/reg_index.hpp
View File

@ -59,6 +59,8 @@ typedef enum {
kreg_pipette_lld_detect_period_ms = 4060, //
kreg_pipette_lld_prepare_pos = 4061, //
kreg_pipette_lld_prepare_pre_distribut_ul = 4062, //
kreg_pipette_lld_enable_record_data = 4063, //
kreg_pipette_distribu_pump_vel = 4064, //
kreg_pipette_zm_pos = 4101,
kreg_pipette_zm_is_enable = 4102,

23
api/zi_pipette_ctrl_module.hpp
View File

@ -7,28 +7,5 @@
namespace iflytop {
using namespace std;
class ZIPipetteCtrlModule {
public:
virtual ~ZIPipetteCtrlModule() {}
virtual int32_t pipette_ctrl_init_device() = 0;
virtual int32_t pipette_ctrl_put_tip() = 0;
virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) = 0;
virtual int32_t pipette_lld_prepare() = 0;
virtual int32_t pipette_plld(int32_t zdpos, int32_t p_threshold) = 0;
virtual int32_t pipette_clld(int32_t zdpos, int32_t c_threshold) = 0;
virtual int32_t pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) = 0;
virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid) = 0;
virtual int32_t pipette_aspirate(int32_t ul) = 0;
virtual int32_t pipette_distribut(int32_t ul) = 0;
virtual int32_t pipette_shake_up(int32_t ul, int32_t times) = 0;
virtual int32_t pipette_aspirate_llf(int32_t ul, int32_t zmotor_v) = 0;
virtual int32_t pipette_distribut_llf(int32_t ul, int32_t zmotor_v) = 0;
virtual int32_t pipette_shake_up_llf(int32_t ul, int32_t zmotor_v, int32_t times) = 0;
virtual int32_t pipette_enable_zmotor(int32_t enable) = 0;
virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen) = 0;
virtual int32_t pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval) = 0;
virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num) = 0;
};
} // namespace iflytop
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