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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
b6d9daac76
commit
4635b296ae
4 changed files with 38 additions and 102 deletions
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  1. 6
      components/pipette_module/pipette_ctrl_module.cpp
  2. 4
      components/pipette_module/pipette_ctrl_module.hpp
  3. 128
      components/zcancmder_module/zcan_pipette_module.cpp
  4. 2
      components/zprotocols/zcancmder

6
components/pipette_module/pipette_ctrl_module.cpp
View File

@ -202,7 +202,7 @@ int32_t PipetteModule::move_to_with_lld( //
});
return 0;
}
int32_t PipetteModule::shake_volume(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) {
int32_t PipetteModule::shake(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) {
ZLOGI(TAG, "shake_volume %d %d", shake_times, shake_volume);
m_thread.stop();
m_thread.start([this, shake_times, shake_volume, status_cb]() {
@ -216,8 +216,8 @@ int32_t PipetteModule::shake_volume(s16 shake_times, s16 shake_volume, action_cb
});
return 0;
}
int32_t PipetteModule::take_and_split_liquid(s16 take_volume_mm, action_cb_status_t status_cb) {
ZLOGI(TAG, "take_and_split_liquid %d", take_volume_mm);
int32_t PipetteModule::pipette_move_to_ul(s16 take_volume_mm, action_cb_status_t status_cb) {
ZLOGI(TAG, "pipette_move_to_ul %d", take_volume_mm);
m_thread.stop();
m_thread.start([this, take_volume_mm, status_cb]() {
DO("m_stepMotor->move_to_block(nowpos)", m_smtp2->move_to_ul(take_volume_mm));

4
components/pipette_module/pipette_ctrl_module.hpp
View File

@ -43,8 +43,8 @@ class PipetteModule : public I_PipetteModule {
virtual int32_t move_to(s16 vel, s16 height_mm, action_cb_status_t status_cb) override;
virtual int32_t move_to_with_lld(s16 vel, s16 lld_cap_thr, s16 lld_max_hight_mm, s16 lld_rela_hight_mm, action_cb_status_t status_cb) override;
virtual int32_t shake_volume(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) override;
virtual int32_t take_and_split_liquid(s16 take_volume_mm, action_cb_status_t status_cb) override;
virtual int32_t shake(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) override;
virtual int32_t pipette_move_to_ul(s16 take_volume_mm, action_cb_status_t status_cb) override;
/*******************************************************************************
* ReadStatus *

128
components/zcancmder_module/zcan_pipette_module.cpp
View File

@ -10,131 +10,67 @@ void ZcanPipetteModule::initialize(ZCanCmder* cancmder, int id, I_PipetteModule*
cancmder->registerListener(this);
}
void ZcanPipetteModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
// printf("ZcanPipetteModule::onRceivePacket %d %d\n", rxcmd->get_cmdheader()->cmdid, rxcmd->get_cmdheader()->subcmdid);
#if 0
kcmd_pipette_module_z_motor_enable = CMDID(1016, 0), // 使能
kcmd_pipette_module_z_motor_move_to = CMDID(1016, 1), // 移动到
kcmd_pipette_module_z_motor_move_to_zero = CMDID(1016, 2), // 归零
kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3), // 归零并校准
kcmd_pipette_module_z_motor_stop = CMDID(1016, 4), // 停止
kcmd_pipette_module_take_liquid = CMDID(1016, 4), // 取液体
kcmd_pipette_module_split_liquid = CMDID(1016, 5), // 吐液体
kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
#endif
#if 0
PROCESS_PACKET(kcmd_step_motor_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
PROCESS_PACKET(kcmd_pipette_module_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_stop, m_id) { errorcode = m_module->stop(cmd->stop_type); }
PROCESS_PACKET(kcmd_pipette_module_stop, m_id) { errorcode = m_module->stop(cmd->stop_type); }
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_move_to_zero, m_id) {
errorcode = m_module->move_to_zero([this, cmdheader](int32_t status) {
osDelay(5); // 用来保证回执消息在前面
kcmd_step_motor_ctrl_move_to_zero_report_t report = {0};
ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to_zero exec_status:%d", status);
report.id = m_id;
report.exec_status = status;
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
});
PROCESS_PACKET(kcmd_pipette_module_zero_pos_calibrate, m_id) {
errorcode = m_module->zero_pos_calibrate([this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_zero_pos_calibrate); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, m_id) {
errorcode = m_module->move_to_zero_with_calibrate(cmd->nowx, [this, cmdheader](int32_t status) {
osDelay(5); // 用来保证回执消息在前面
kcmd_step_motor_ctrl_move_to_zero_with_calibrate_report_t report = {0};
ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to_zero_with_calibrate exec_status:%d", status);
report.id = m_id;
report.exec_status = status;
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
});
PROCESS_PACKET(kcmd_pipeete_module_zmotor_reset, m_id) {
errorcode = m_module->zmotor_reset([this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipeete_module_zmotor_reset); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_move_to, m_id) {
errorcode = m_module->move_to(cmd->x, [this, cmdheader](int32_t status) {
osDelay(5); // 用来保证回执消息在前面
kcmd_step_motor_ctrl_move_to_report_t report = {0};
ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to exec_status:%d ", status);
report.id = m_id;
report.exec_status = status;
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
});
PROCESS_PACKET(kcmd_pipeete_module_pipette_reset, m_id) {
errorcode = m_module->pipette_reset([this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipeete_module_pipette_reset); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_move_by, m_id) {
errorcode = m_module->move_by(cmd->dx, [this, cmdheader](int32_t status) {
osDelay(5); // 用来保证回执消息在前面
kcmd_step_motor_ctrl_move_by_report_t report = {0};
// ZLOGI(TAG, "kcmd_step_motor_ctrl_move_by exec_status:%d %d", status.exec_status, status.dx);
ZLOGI(TAG, "kcmd_step_motor_ctrl_move_by exec_status:%d ", status);
report.id = m_id;
report.exec_status = status;
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
});
PROCESS_PACKET(kcmd_pipette_module_take_tip, m_id) {
errorcode = m_module->take_tip(cmd->vel, cmd->height_mm, cmd->tip_hight_mm, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_take_tip); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_force_change_current_pos, m_id) { errorcode = m_module->force_change_current_pos(cmd->x); }
PROCESS_PACKET(kcmd_pipette_module_remove_tip, m_id) {
errorcode = m_module->remove_tip(cmd->vel, cmd->height_mm, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_remove_tip); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_rotate, m_id) {
errorcode = m_module->rotate(cmd->speed, cmd->run_time, [this, cmdheader](int32_t status) {
osDelay(5); // 用来保证回执消息在前面
kcmd_step_motor_ctrl_rotate_report_t report = {0};
// ZLOGI(TAG, "kcmd_step_motor_ctrl_rotate exec_status:%d %d", status.exec_status, status.lastforms);
ZLOGI(TAG, "kcmd_step_motor_ctrl_rotate exec_status:%d ", status);
report.id = m_id;
report.exec_status = status;
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
});
PROCESS_PACKET(kcmd_pipette_module_move_to, m_id) {
errorcode = m_module->move_to(cmd->vel, cmd->height_mm, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_move_to); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_read_version, m_id) { //
errorcode = m_module->read_version(ack->ack);
PROCESS_PACKET(kcmd_pipette_module_move_to_with_lld, m_id) {
errorcode = m_module->move_to_with_lld(cmd->vel, cmd->lld_cap_thr, cmd->lld_max_hight_mm, cmd->lld_rela_hight_mm, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_move_to_with_lld); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_read_status, m_id) { //
errorcode = m_module->read_status(ack->ack);
PROCESS_PACKET(kcmd_pipette_module_shake, m_id) {
errorcode = m_module->shake(cmd->shake_times, cmd->shake_volume, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_shake); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_read_detailed_status, m_id) { //
errorcode = m_module->read_detailed_status(ack->ack);
PROCESS_PACKET(kcmd_pipette_module_pipette_move_to_ul, m_id) {
errorcode = m_module->pipette_move_to_ul(cmd->take_volume_mm, [this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_pipette_module_pipette_move_to_ul); });
}
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_set_base_param, m_id) { //
errorcode = m_module->set_base_param(cmd->param);
}
PROCESS_PACKET(kcmd_pipette_module_get_status, m_id) { errorcode = m_module->get_status(ack->ack); }
END_PP();
PROCESS_PACKET(kcmd_step_motor_ctrl_get_base_param, m_id) { //
errorcode = m_module->get_base_param(ack->ack);
}
PROCESS_PACKET(kcmd_pipette_module_set_z_motor_para, m_id) { errorcode = m_module->set_z_motor_para(cmd->param); }
END_PP();
PROCESS_PACKET(kcmd_pipette_module_get_z_motor_para, m_id) { errorcode = m_module->get_z_motor_para(ack->ack); }
END_PP();
PROCESS_PACKET(kcmd_pipette_module_set_base_param, m_id) { errorcode = m_module->set_base_param(cmd->param); }
END_PP();
PROCESS_PACKET(kcmd_pipette_module_get_base_param, m_id) { errorcode = m_module->get_base_param(ack->ack); }
END_PP();
#endif
}
#endif

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit eff35f5c915ddaa15cced3796ce2ba7c93ea5029
Subproject commit 7be6aafbd44d3276331b77f49b1a04dcd65b2e12
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