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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
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1845c474e6
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4a3798784b
3 changed files with 31 additions and 29 deletions
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  1. 38
      components/pipette_module/pipette_ctrl_module_v2.cpp
  2. 10
      components/pipette_module/pipette_ctrl_module_v2.hpp
  3. 12
      components/zcancmder/zcan_protocol_parser.cpp

38
components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -25,6 +25,7 @@ using namespace iflytop;
} }
#define PIPETTE_PREPARE_POS 800 #define PIPETTE_PREPARE_POS 800
#define LLF_DPOS 1000
void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule *zmotor, hardward_config_t *hardwaredcfg) { // void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule *zmotor, hardward_config_t *hardwaredcfg) { //
ZASSERT(config != nullptr); ZASSERT(config != nullptr);
@ -146,12 +147,12 @@ int32_t PipetteModule::pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t
int32_t PipetteModule::pipette_aspirate(int32_t ul) { int32_t PipetteModule::pipette_aspirate(int32_t ul) {
ZLOGI(TAG, "pipette_aspirate %d", ul); ZLOGI(TAG, "pipette_aspirate %d", ul);
if (creg.module_status == 1) return err::kdevice_is_busy; if (creg.module_status == 1) return err::kdevice_is_busy;
return do_pipette_aspirate(ul, 0, 0);
return do_pipette_aspirate(ul, 0);
}; };
int32_t PipetteModule::pipette_distribut(int32_t ul) { int32_t PipetteModule::pipette_distribut(int32_t ul) {
ZLOGI(TAG, "pipette_distribut %d", ul); ZLOGI(TAG, "pipette_distribut %d", ul);
if (creg.module_status == 1) return err::kdevice_is_busy; if (creg.module_status == 1) return err::kdevice_is_busy;
return do_pipette_distribut(ul, 0, 0);
return do_pipette_distribut(ul, 0);
}; };
int32_t PipetteModule::pipette_shake_up(int32_t ul, int32_t times) { int32_t PipetteModule::pipette_shake_up(int32_t ul, int32_t times) {
ZLOGI(TAG, "pipette_shake_up %d %d", ul, times); ZLOGI(TAG, "pipette_shake_up %d %d", ul, times);
@ -164,18 +165,18 @@ int32_t PipetteModule::pipette_lld_is_detect_liquid(int32_t *detect_liquid) { /
return 0; return 0;
} }
int32_t PipetteModule::pipette_aspirate_llf(int32_t ul, int32_t dpos, int32_t zmotor_v) { //
ZLOGI(TAG, "pipette_aspirate_llf %d %d %d", ul, dpos, zmotor_v);
int32_t PipetteModule::pipette_aspirate_llf(int32_t ul, int32_t zmotor_v) { //
ZLOGI(TAG, "pipette_aspirate_llf %d %d %d", ul, zmotor_v);
if (creg.module_status == 1) return err::kdevice_is_busy; if (creg.module_status == 1) return err::kdevice_is_busy;
return do_pipette_aspirate(ul, dpos, zmotor_v);
return do_pipette_aspirate(ul, zmotor_v);
} }
int32_t PipetteModule::pipette_distribut_llf(int32_t ul, int32_t dpos, int32_t zmotor_v) { //
ZLOGI(TAG, "pipette_distribut_llf %d %d %d", ul, dpos, zmotor_v);
int32_t PipetteModule::pipette_distribut_llf(int32_t ul, int32_t zmotor_v) { //
ZLOGI(TAG, "pipette_distribut_llf %d %d %d", ul, zmotor_v);
if (creg.module_status == 1) return err::kdevice_is_busy; if (creg.module_status == 1) return err::kdevice_is_busy;
return do_pipette_distribut(ul, dpos, zmotor_v);
return do_pipette_distribut(ul, zmotor_v);
} }
int32_t PipetteModule::pipette_shake_up_llf(int32_t ul, int32_t dpos, int32_t zmotor_v, int32_t times) { //
ZLOGI(TAG, "pipette_shake_up_llf %d %d %d %d", ul, dpos, zmotor_v, times);
int32_t PipetteModule::pipette_shake_up_llf(int32_t ul, int32_t zmotor_v, int32_t times) { //
ZLOGI(TAG, "pipette_shake_up_llf %d %d %d %d", ul, zmotor_v, times);
return 0; return 0;
} }
@ -482,7 +483,7 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
); );
return 0; return 0;
} }
int32_t PipetteModule::do_pipette_aspirate(int32_t ul, int32_t dpos, int32_t zmotor_v) {
int32_t PipetteModule::do_pipette_aspirate(int32_t ul, int32_t zmotor_v) {
/** /**
* @brief * @brief
*/ */
@ -496,12 +497,12 @@ int32_t PipetteModule::do_pipette_aspirate(int32_t ul, int32_t dpos, int32_t zmo
m_thread.stop(); m_thread.stop();
creg.module_status = 1; creg.module_status = 1;
m_thread.start( m_thread.start(
[this, ul, dpos, zmotor_v]() { //
[this, ul, zmotor_v]() { //
auto submotor = m_zmotor->getMotor(); auto submotor = m_zmotor->getMotor();
DO_IN_THREAD(befor_run()); DO_IN_THREAD(befor_run());
if (dpos != 0) {
submotor->moveBy(dpos, zmotor_v);
if (zmotor_v != 0) {
submotor->moveBy(LLF_DPOS, zmotor_v);
} }
DO_IN_THREAD(m_smtp2.pump_aspirate(m_config.aspirate_distribut_pump_vel, ul)); DO_IN_THREAD(m_smtp2.pump_aspirate(m_config.aspirate_distribut_pump_vel, ul));
while (true) { while (true) {
@ -530,7 +531,7 @@ int32_t PipetteModule::do_pipette_aspirate(int32_t ul, int32_t dpos, int32_t zmo
); );
return 0; return 0;
} }
int32_t PipetteModule::do_pipette_distribut(int32_t ul, int32_t dpos, int32_t zmotor_v) {
int32_t PipetteModule::do_pipette_distribut(int32_t ul, int32_t zmotor_v) {
/** /**
* @brief * @brief
*/ */
@ -540,12 +541,13 @@ int32_t PipetteModule::do_pipette_distribut(int32_t ul, int32_t dpos, int32_t zm
m_thread.stop(); m_thread.stop();
creg.module_status = 1; creg.module_status = 1;
m_thread.start( m_thread.start(
[this, ul, dpos, zmotor_v]() { //
[this, ul, zmotor_v]() { //
auto submotor = m_zmotor->getMotor(); auto submotor = m_zmotor->getMotor();
DO_IN_THREAD(befor_run()); DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_distribut(m_config.aspirate_distribut_pump_vel, ul)); DO_IN_THREAD(m_smtp2.pump_distribut(m_config.aspirate_distribut_pump_vel, ul));
if (dpos != 0) {
submotor->moveBy(-dpos, zmotor_v);
if (zmotor_v != 0) {
submotor->moveBy(-LLF_DPOS, zmotor_v);
} }
while (true) { while (true) {
if (!check_when_run()) break; if (!check_when_run()) break;

10
components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -146,9 +146,9 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
virtual int32_t pipette_distribut(int32_t ul) override; virtual int32_t pipette_distribut(int32_t ul) override;
virtual int32_t pipette_shake_up(int32_t ul, int32_t times) override; virtual int32_t pipette_shake_up(int32_t ul, int32_t times) override;
virtual int32_t pipette_aspirate_llf(int32_t ul, int32_t dpos, int32_t zmotor_v) override;
virtual int32_t pipette_distribut_llf(int32_t ul, int32_t dpos, int32_t zmotor_v) override;
virtual int32_t pipette_shake_up_llf(int32_t ul, int32_t dpos, int32_t zmotor_v, int32_t times) override;
virtual int32_t pipette_aspirate_llf(int32_t ul, int32_t zmotor_v) override;
virtual int32_t pipette_distribut_llf(int32_t ul, int32_t zmotor_v) override;
virtual int32_t pipette_shake_up_llf(int32_t ul, int32_t zmotor_v, int32_t times) override;
virtual int32_t pipette_enable_zmotor(int32_t enable); virtual int32_t pipette_enable_zmotor(int32_t enable);
virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen) override; virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen) override;
@ -162,8 +162,8 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
int32_t do_pipette_lld_prepare(); int32_t do_pipette_lld_prepare();
int32_t do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_threshold, int32_t p_threshold); int32_t do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
int32_t do_pipette_aspirate(int32_t ul, int32_t dpos, int32_t zmotor_v);
int32_t do_pipette_distribut(int32_t ul, int32_t dpos, int32_t zmotor_v);
int32_t do_pipette_aspirate(int32_t ul, int32_t zmotor_v);
int32_t do_pipette_distribut(int32_t ul, int32_t zmotor_v);
private: private:
int32_t befor_run(); int32_t befor_run();

12
components/zcancmder/zcan_protocol_parser.cpp
View File

@ -542,18 +542,18 @@ int32_t ZCanProtocolParser::pipette_shake_up(cmdcontxt_t* cxt) {
} }
int32_t ZCanProtocolParser::pipette_aspirate_llf(cmdcontxt_t* cxt) { int32_t ZCanProtocolParser::pipette_aspirate_llf(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(3);
return module->pipette_aspirate_llf(cxt->params[0], cxt->params[1], cxt->params[2]);
CHECK_AND_GET_MODULE(2);
return module->pipette_aspirate_llf(cxt->params[0], cxt->params[1]);
} }
int32_t ZCanProtocolParser::pipette_distribut_llf(cmdcontxt_t* cxt) { int32_t ZCanProtocolParser::pipette_distribut_llf(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(3);
return module->pipette_distribut_llf(cxt->params[0], cxt->params[1], cxt->params[2]);
CHECK_AND_GET_MODULE(2);
return module->pipette_distribut_llf(cxt->params[0], cxt->params[1]);
} }
int32_t ZCanProtocolParser::pipette_shake_up_llf(cmdcontxt_t* cxt) { int32_t ZCanProtocolParser::pipette_shake_up_llf(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(4);
return module->pipette_shake_up_llf(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3]);
CHECK_AND_GET_MODULE(3);
return module->pipette_shake_up_llf(cxt->params[0], cxt->params[1], cxt->params[2]);
} }
int32_t ZCanProtocolParser::pipette_enable_zmotor(cmdcontxt_t* cxt) { int32_t ZCanProtocolParser::pipette_enable_zmotor(cmdcontxt_t* cxt) {

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