update

2 years ago · 30f1fe6d1a
4 changed files with 269 additions and 1 deletions
--- a/components/pipette_module/pipette_ctrl_module.cpp
+++ b/components/pipette_module/pipette_ctrl_module.cpp
@ -2,6 +2,7 @@
 using namespace iflytop;
 using namespace std;
 #define TAG "PipetteModule"
+#if 0

 #define DO(infostr, ACTION)                                                     \
  {                                                                             \
@ -278,3 +279,4 @@ s16 PipetteModule::hight_trans(s16 targethith) {
 }

 void PipetteModule::call_status_cb(action_cb_status_t status_cb, int32_t status) { call_status_cb(status_cb, status); }
+#endif
--- a/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/components/pipette_module/pipette_ctrl_module_v2.cpp
@ -0,0 +1,185 @@
+#include "pipette_ctrl_module_v2.hpp"
+
+using namespace iflytop;
+
+#define TAG "PipetteModule"
+
+#define DO(infostr, ACTION)                                                     \
+  {                                                                             \
+    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);                              \
+      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);
+  m_id     = id;
+  m_config = *config;
+  m_smtp2.initialize(hardwaredcfg->uart, hardwaredcfg->hdma_rx, hardwaredcfg->hdma_tx);
+}
+
+int32_t PipetteModule::getid(int32_t *id) {
+  *id = m_id;
+  return 0;
+}
+/*******************************************************************************
+ *                                   Module                                    *
+ *******************************************************************************/
+
+int32_t PipetteModule::module_enable(int32_t enable) { return err::koperation_not_support; }
+
+int32_t PipetteModule::module_stop() {
+  ZLOGI(TAG, "pipette_ctrl_stop");
+  m_thread.stop();
+  return 0;
+}
+int32_t PipetteModule::module_break() {
+  ZLOGI(TAG, "pipette_ctrl_break");
+  m_thread.stop();
+  return 0;
+}
+
+int32_t PipetteModule::module_clear_error() { return err::koperation_not_support; }
+
+#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) {
+  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));
+
+    default:
+      return err::kmodule_not_find_config_index;
+      break;
+  }
+  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::read_status() {
+  if (read_error_status() != 0) {
+    m_thread.stop();
+    return 3;
+  }
+
+  if (m_thread.isworking()) {
+    return 1;
+  } else {
+    return 0;
+  }
+}
+
+/*******************************************************************************
+ *                                pipette_ctrl                                 *
+ *******************************************************************************/
+
+int32_t PipetteModule::pipette_ctrl_init_device() {
+  ZLOGI(TAG, "pipette_ctrl_init_device");
+  if (!m_smtp2.isOnline()) return err::kdevice_offline;
+  m_thread.stop();
+  m_thread.start([this]() {
+    DO("init_device_block", m_smtp2.init_device_block());
+    m_lastexec_status.set_exec_status(0);
+  });
+  return 0;
+};
+int32_t PipetteModule::pipette_ctrl_put_tip() {
+  ZLOGI(TAG, "pipette_ctrl_put_tip");
+  if (!m_smtp2.isOnline()) return err::kdevice_offline;
+  m_thread.stop();
+  m_thread.start([this]() {
+    DO("put_tip_block", m_smtp2.put_tip_block());
+    m_lastexec_status.set_exec_status(0);
+  });
+  return 0;
+};
+int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
+  ZLOGI(TAG, "pipette_ctrl_move_to_ul %d", ul);
+  if (ul > m_config.limit_ul) {
+    return err::kparam_out_of_range;
+  }
+
+  if (!m_smtp2.isOnline()) return err::kdevice_offline;
+  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);
+  });
+  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;
+}
+
+int32_t PipetteModule::read_tip_state() {
+  bool tipstate = false;
+  m_smtp2.read_tip_state(tipstate);
+  return tipstate;
+}
--- a/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/components/pipette_module/pipette_ctrl_module_v2.hpp
@ -0,0 +1,81 @@
+#pragma once
+//
+#include "sdk/os/zos.hpp"
+#include "sdk\components\sensors\smtp2\smtp2.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
+// #include "StepMotorCtrlModule"
+
+/**
+ * @brief 
+ * 
+ *  ²Î¿¼:https://iflytop1.feishu.cn/wiki/LTilwSyJwi6fJUkiIhzc2oRqnTb ¶ÔÉè±¸½øÐÐ³õÊ¼»¯
+ * 
+ */
+namespace iflytop {
+
+class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
+ public:
+  typedef struct {
+    UART_HandleTypeDef *uart;
+    DMA_HandleTypeDef  *hdma_rx;
+    DMA_HandleTypeDef  *hdma_tx;
+  } hardward_config_t;
+
+  typedef struct {
+    int32_t limit_ul;
+  } config_t;
+
+ private:
+  SMTP2   m_smtp2;
+  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);
+
+  virtual int32_t getid(int32_t *id);
+
+  /*******************************************************************************
+   *                                   Module                                    *
+   *******************************************************************************/
+
+  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_readio(int32_t *io);
+
+  virtual int32_t module_factory_reset();
+  virtual int32_t module_flush_cfg();
+  virtual int32_t module_active_cfg();
+
+  /*******************************************************************************
+   *                                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);
+
+ 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);
+};
+}  // namespace iflytop
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@ -1 +1 @@
-Subproject commit 0f9409ebe63d00be964d5573cb34dc79b94de24f
+Subproject commit ced01b81ca88792a9278c139be63faed5ef8efb1