update

components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -9,15 +9,15 @@ using namespace iflytop;
     int exec_ret = ACTION;                                                      \
     if (exec_ret != 0) {                                                        \
       ZLOGE(TAG, "do " infostr "(line:%d) fail, ret = %d", __LINE__, exec_ret); \
-      m_lastexec_status.set_exec_status(exec_ret);                              \
+      _module_set_exec_status(exec_ret);                                        \
       return;                                                                   \
     }                                                                           \
     ZLOGI(TAG, "do " infostr " complete");                                      \
   }
 
 void PipetteModule::initialize(int32_t id, config_t *config, hardward_config_t *hardwaredcfg) {  //
-ZASSERT(config != nullptr);
-ZASSERT(hardwaredcfg != nullptr);
+  ZASSERT(config != nullptr);
+  ZASSERT(hardwaredcfg != nullptr);
   m_id     = id;
   m_config = *config;
   m_smtp2.initialize(hardwaredcfg->uart, hardwaredcfg->hdma_rx, hardwaredcfg->hdma_tx);
@@ -44,41 +44,18 @@ int32_t PipetteModule::module_break() {
   return 0;
 }
 
-int32_t PipetteModule::module_clear_error() { return err::koperation_not_support; }
+int32_t PipetteModule::module_readio(int32_t *io) { return 0; }
+int32_t PipetteModule::module_factory_reset() { return 0; }
+int32_t PipetteModule::module_flush_cfg() { return 0; }
+int32_t PipetteModule::module_active_cfg() { return 0; }
 
-#define ACTION_NULL ;
-#define REG(param_id, readaction, writeacton) \
-  case param_id: {                            \
-    if (read) {                               \
-      readaction;                             \
-    } else {                                  \
-      writeacton;                             \
-    }                                         \
-  }
-
-int32_t PipetteModule::module_process_reg_read_and_write(int32_t param_id, bool read, int32_t &val) {
+int32_t PipetteModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
   switch (param_id) {
-    REG(kreg_module_version, /*             */ val = 0, ACTION_NULL);
-    REG(kreg_module_type, /*                */ val = 0, ACTION_NULL);
-    REG(kreg_module_status, /*              */ val = read_status(), ACTION_NULL);
-    REG(kreg_module_errorcode, /*           */ val = read_error_status(), ACTION_NULL);
-    REG(kreg_module_initflag, /*            */ val = module_get_inited_flag(), ACTION_NULL);
-    REG(kreg_module_enableflag, /*          */ val = 1, ACTION_NULL);
-    REG(kreg_module_errorbitflag0, /*       */ val = 0, ACTION_NULL);
-    REG(kreg_module_errorbitflag1, /*       */ val = 0, ACTION_NULL);
-    REG(kreg_module_input_state, /*         */ val = read_input_status(), ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_status, /**/ val = m_lastexec_status.exec_status, ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val0, /*  */ val = m_lastexec_status.exec_val[0], ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val1, /*  */ val = m_lastexec_status.exec_val[1], ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val2, /*  */ val = m_lastexec_status.exec_val[2], ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val3, /*  */ val = m_lastexec_status.exec_val[3], ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val4, /*  */ val = m_lastexec_status.exec_val[4], ACTION_NULL);
-    REG(kreg_module_last_cmd_exec_val5, /*  */ val = m_lastexec_status.exec_val[5], ACTION_NULL);
-    REG(kreg_pipette_pos_ul, /*             */ val = read_pos_ul(), ACTION_NULL);
-    REG(kreg_pipette_capactitance_val, /*   */ val = read_capactitance(), ACTION_NULL);
-    REG(kreg_pipette_tip_state, /*          */ val = read_tip_state(), ACTION_NULL);
-    REG(kreg_pipette_limit_ul, /*          */ val = read_ul_limit(), write_ul_limit(val));
-
+    MODULE_COMMON_PROCESS_REG_CB();
+    PROCESS_REG(kreg_pipette_pos_ul, /*             */ read_pos_ul(&val), ACTION_NONE);
+    PROCESS_REG(kreg_pipette_capactitance_val, /*   */ read_capactitance(&val), ACTION_NONE);
+    PROCESS_REG(kreg_pipette_tip_state, /*          */ read_tip_state(&val), ACTION_NONE);
+    PROCESS_REG(kreg_pipette_limit_ul, /*          */ REG_GET(m_config.limit_ul), REG_SET(m_config.limit_ul));
     default:
       return err::kmodule_not_find_config_index;
       break;
@@ -86,48 +63,24 @@ int32_t PipetteModule::module_process_reg_read_and_write(int32_t param_id, bool
   return 0;
 }
 
-int32_t PipetteModule::module_set_reg(int32_t param_id, int32_t param_value) {
-  switch (param_id) {
-    default:
-      return err::kmodule_not_find_config_index;
-  }
-  return 0;
-}
-int32_t PipetteModule::module_get_reg(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
-
-int32_t PipetteModule::module_readio(int32_t *io) { return err::koperation_not_support; }
-
-int32_t PipetteModule::module_factory_reset() { return err::koperation_not_support; }
-int32_t PipetteModule::module_flush_cfg() { return err::koperation_not_support; }
-int32_t PipetteModule::module_active_cfg() { return err::koperation_not_support; }
-
-int32_t PipetteModule::read_error_status() {
-  bool         isbusy    = false;
-  err::error_t errorcode = err::ksucc;
-  int32_t      retecode  = m_smtp2.getState(isbusy, errorcode);
-  if (retecode != 0) {
-    return retecode;
-  }
-  if (errorcode != err::ksucc && errorcode != err::kSMTP2_NoError) {
-    return errorcode;
-  }
-
-  return 0;
-}
+int32_t PipetteModule::module_get_status(int32_t *status) {
+  int32_t ecode = 0;
+  ecode         = _read_error_status();
 
-int32_t PipetteModule::read_status() {
-  if (read_error_status() != 0) {
+  if (ecode != 0) {
+    m_com_reg.module_errorcode = ecode;
+    *status                    = 3;
     m_thread.stop();
-    return 3;
+    return 0;
   }
 
   if (m_thread.isworking()) {
-    return 1;
+    *status = 1;
   } else {
-    return 0;
+    *status = 0;
   }
-}
-
+  return 0;
+};
 /*******************************************************************************
  *                                pipette_ctrl                                 *
  *******************************************************************************/
@@ -138,7 +91,7 @@ int32_t PipetteModule::pipette_ctrl_init_device() {
   m_thread.stop();
   m_thread.start([this]() {
     DO("init_device_block", m_smtp2.init_device_block());
-    m_lastexec_status.set_exec_status(0);
+    _module_set_exec_status(0);
   });
   return 0;
 };
@@ -148,7 +101,7 @@ int32_t PipetteModule::pipette_ctrl_put_tip() {
   m_thread.stop();
   m_thread.start([this]() {
     DO("put_tip_block", m_smtp2.put_tip_block());
-    m_lastexec_status.set_exec_status(0);
+    _module_set_exec_status(0);
   });
   return 0;
 };
@@ -162,24 +115,32 @@ int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
   m_thread.stop();
   m_thread.start([this, ul]() {
     DO("move_to_ul_block", m_smtp2.move_to_ul_block(ul));
-    m_lastexec_status.set_exec_status(0);
+    _module_set_exec_status(0);
   });
   return 0;
 };
 
-int32_t PipetteModule::read_input_status() {  //
-  return 0;
-}
-
-int32_t PipetteModule::read_pos_ul() { return m_smtp2.read_pos_ul(); }
-int32_t PipetteModule::read_capactitance() {
-  int32_t val = 0;
-  m_smtp2.read_capacitance_val(val);
-  return val;
+/*******************************************************************************
+ *                                   PRIVATE                                   *
+ *******************************************************************************/
+int32_t PipetteModule::read_pos_ul(int32_t *val) { return m_smtp2.read_pos_ul(*val); }
+int32_t PipetteModule::read_capactitance(int32_t *val) { return m_smtp2.read_capacitance_val(*val); }
+int32_t PipetteModule::read_tip_state(int32_t *val) {
+  bool    tipstate = false;
+  int32_t ecode    = m_smtp2.read_tip_state(tipstate);
+  *val             = tipstate ? 1 : 0;
+  return ecode;
 }
+int32_t PipetteModule::_read_error_status() {
+  bool         isbusy    = false;
+  err::error_t errorcode = err::ksucc;
+  int32_t      retecode  = m_smtp2.getState(isbusy, errorcode);
+  if (retecode != 0) {
+    return retecode;
+  }
+  if (errorcode != err::ksucc && errorcode != err::kSMTP2_NoError) {
+    return errorcode;
+  }
 
-int32_t PipetteModule::read_tip_state() {
-  bool tipstate = false;
-  m_smtp2.read_tip_state(tipstate);
-  return tipstate;
-}
+  return 0;
+}

components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -6,14 +6,16 @@
 // #include "StepMotorCtrlModule"
 
 /**
- * @brief 
- * 
+ * @brief
+ *
  *  ²Î¿¼:https://iflytop1.feishu.cn/wiki/LTilwSyJwi6fJUkiIhzc2oRqnTb ¶ÔÉ豸½øÐгõʼ»¯
- * 
+ *
  */
 namespace iflytop {
 
 class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
+  ENABLE_MODULE(PipetteModule, kpipette_ctrl_module, 0x0001);
+
  public:
   typedef struct {
     UART_HandleTypeDef *uart;
@@ -30,53 +32,43 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
   ZThread m_thread;
 
   int32_t             m_id = 0;
-  ModuleCMDExecStatus m_lastexec_status;
-
   config_t m_config;
 
  public:
-  void initialize(int32_t id, config_t* config, hardward_config_t *cfg);
+  void initialize(int32_t id, config_t *config, hardward_config_t *cfg);
 
   virtual int32_t getid(int32_t *id);
 
   /*******************************************************************************
    *                                   Module                                    *
    *******************************************************************************/
-  virtual int32_t module_ping() { return 0; };
-
-  virtual int32_t module_enable(int32_t enable);
-
-  virtual int32_t module_stop();
-  virtual int32_t module_break();
-
-  virtual int32_t module_clear_error();
 
-  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
-  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
+  virtual int32_t module_enable(int32_t enable) override;
+  virtual int32_t module_stop() override;
+  virtual int32_t module_break() override;
+  virtual int32_t module_readio(int32_t *io) override;
+  virtual int32_t module_factory_reset() override;
+  virtual int32_t module_flush_cfg() override;
+  virtual int32_t module_active_cfg() override;
 
-  virtual int32_t module_readio(int32_t *io);
-
-  virtual int32_t module_factory_reset();
-  virtual int32_t module_flush_cfg();
-  virtual int32_t module_active_cfg();
+  virtual int32_t module_get_status(int32_t *status) override;
 
   /*******************************************************************************
    *                                pipette_ctrl                                 *
    *******************************************************************************/
 
-  virtual int32_t pipette_ctrl_init_device();
-  virtual int32_t pipette_ctrl_put_tip();
-  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul);
+  virtual int32_t pipette_ctrl_init_device() override;
+  virtual int32_t pipette_ctrl_put_tip() override;
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override;
+
+ private:
+
+  int32_t read_pos_ul(int32_t *val);
+  int32_t read_capactitance(int32_t *val);
+  int32_t read_tip_state(int32_t *val);
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) override;
 
  private:
-  int32_t module_process_reg_read_and_write(int32_t param_id, bool read, int32_t &param_value);
-  int32_t read_status();
-  int32_t read_error_status();
-  int32_t read_input_status();
-  int32_t read_pos_ul();
-  int32_t read_capactitance();
-  int32_t read_tip_state();
-  int32_t read_ul_limit();
-  void    write_ul_limit(int32_t ul_limit);
+  int32_t _read_error_status();
 };
 }  // namespace iflytop

components/sensors/m3078/m3078_code_scaner.cpp

@@ -30,7 +30,7 @@ void M3078CodeScanner::initialize(int moduleid, hardware_config_t* hardwareconfi
   m_com_reg.module_enable = 1;
 }
 void M3078CodeScanner::trigger() {
-  m_codeisready = false;
+  clearIdinfo();
   m_triggerGpio.setState(0);
   zos_delay(3);
   m_uart.clearRxData();
@@ -59,6 +59,12 @@ int32_t M3078CodeScanner::module_start() {
   trigger();
   return 0;
 }
+
+int32_t M3078CodeScanner::module_get_status(int32_t* status) {
+  *status = read_status();
+  return 0;
+}
+
 int32_t M3078CodeScanner::module_read_raw(int32_t startadd, uint8_t* data, int32_t* len) {
   ZLOGI(TAG, "module_read_raw");
   if (codecachelen > *len) {

components/sensors/m3078/m3078_code_scaner.hpp

@@ -85,10 +85,11 @@ class M3078CodeScanner : public ZIModule {
     *id = this->id;
     return 0;
   }
-  virtual int32_t module_stop();
-  virtual int32_t module_break();
-  virtual int32_t module_start();
-  virtual int32_t module_read_raw(int32_t index, uint8_t* data, int32_t* len);
+  virtual int32_t module_stop() override;
+  virtual int32_t module_break() override;
+  virtual int32_t module_start() override;
+  virtual int32_t module_read_raw(int32_t index, uint8_t* data, int32_t* len) override;
+  virtual int32_t module_get_status(int32_t* status) override;
 
  private:
   virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;

components/zcancmder/zcan_board_module.cpp

@@ -54,6 +54,11 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
   return 0;
 }
 
+int32_t ZCanBoardModule::module_get_status(int32_t *status) {
+  *status = 0;
+  return 0;
+}
+
 int32_t ZCanBoardModule::module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
 int32_t ZCanBoardModule::module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
 

components/zcancmder/zcan_board_module.hpp

@@ -45,7 +45,7 @@ class ZCanBoardModule : public ZIModule {
  public:
   virtual ~ZCanBoardModule() {}
 
-  void initialize(int32_t moduleId, hardware_config_t *cfg);
+  void            initialize(int32_t moduleId, hardware_config_t *cfg);
   virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t *id) override;
@@ -55,6 +55,8 @@ class ZCanBoardModule : public ZIModule {
   virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
   virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
 
+  virtual int32_t module_get_status(int32_t *status);
+
  private:
   int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &param_value);
   int32_t readinput();

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit f20a0f5affb28e0f4ae6c6dddfea7c54b493fe54
+Subproject commit 87d2bfa20a22003f1731511b6c50f925330a5ebd