update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -394,7 +394,7 @@ void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   cfg.base_param.motor_one_circle_pulse             = 10000;
   cfg.base_param.motor_one_circle_pulse_denominator = 1;
   cfg.base_param.stepmotor_ihold                    = 1;
-  cfg.base_param.stepmotor_irun                     = 31;
+  cfg.base_param.stepmotor_irun                     = 15;
   cfg.base_param.stepmotor_iholddelay               = 100;
   cfg.base_param.stepmotor_iglobalscaler            = 1;
   cfg.base_param.motor_default_acc                  = 300;

components/zcancmder/zcan_protocol_parser.cpp

@@ -0,0 +1,414 @@
+#include "zcan_protocol_parser.hpp"
+#include "sdk/os/zos.hpp"
+
+#include <stdio.h>
+
+using namespace iflytop;
+using namespace std;
+#define TAG "PROTO"
+
+#define REGFN(fn) regCmdFn(k##fn, fn);
+
+void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
+  m_cancmder = cancmder;
+  m_cancmder->registerListener(this);
+
+  REGFN(module_ping);
+  REGFN(module_stop);
+  REGFN(module_break);
+  REGFN(module_get_last_exec_status);
+  REGFN(module_get_status);
+  REGFN(module_set_reg);
+  REGFN(module_get_reg);
+  REGFN(module_readio);
+  REGFN(module_writeio);
+  REGFN(module_read_adc);
+  REGFN(module_get_error);
+  REGFN(module_clear_error);
+  REGFN(module_set_inited_flag);
+  REGFN(module_get_inited_flag);
+  REGFN(module_factory_reset);
+  REGFN(module_flush_cfg);
+  REGFN(module_active_cfg);
+  REGFN(module_read_raw);
+  REGFN(module_enable);
+  REGFN(module_start);
+
+  REGFN(motor_enable);
+  REGFN(motor_rotate_with_torque);
+  REGFN(motor_calculated_pos_by_move_to_zero);
+  REGFN(motor_read_pos);
+  REGFN(motor_set_current_pos_by_change_shift);
+  REGFN(motor_easy_rotate);
+  REGFN(motor_easy_move_by);
+  REGFN(motor_easy_move_to);
+  REGFN(motor_easy_move_to_zero);
+  REGFN(motor_easy_set_current_pos);
+  REGFN(motor_easy_move_to_io);
+
+  REGFN(xymotor_enable);
+  REGFN(xymotor_move_by);
+  REGFN(xymotor_move_to);
+  REGFN(xymotor_move_to_zero);
+  REGFN(xymotor_move_to_zero_and_calculated_shift);
+  REGFN(xymotor_read_pos);
+  REGFN(xymotor_calculated_pos_by_move_to_zero);
+
+  REGFN(pipette_ctrl_init_device);
+  REGFN(pipette_ctrl_put_tip);
+  REGFN(pipette_ctrl_move_to_ul);
+
+  REGFN(a8000_optical_module_power_ctrl);
+  REGFN(a8000_optical_open_laser);
+  REGFN(a8000_optical_close_laser);
+  REGFN(a8000_optical_set_laster_gain);
+  REGFN(a8000_optical_set_scan_amp_gain);
+  REGFN(a8000_optical_read_scanner_adc_val);
+  REGFN(a8000_optical_read_laster_adc_val);
+  REGFN(a8000_optical_scan_current_point_amp_adc_val);
+}
+void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
+void ZCanProtocolParser::registerModule(ZIModule* module) {
+  int32_t moduleid = 0;
+  module->getid(&moduleid);
+  uint16_t id = moduleid;
+  _registerModule(id, module);
+}
+
+void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
+  // printf("onRceivePacket cmdid:%d subModuleid:%d cmdSubId:%d\n", rxcmd->cmdMainId, rxcmd->subModuleid, rxcmd->cmdSubId);
+  uint16_t subModuleid = rxcmd->subModuleid;
+  auto     it          = m_modulers.find(subModuleid);
+  if (it == m_modulers.end()) {
+    return;
+  }
+
+  ZIModule* module = it->second;
+  int32_t   cmdid  = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId);
+  _onRceivePacket(module, rxcmd, cmdid, data, len);
+}
+
+void ZCanProtocolParser::regCmdFn(int32_t cmdid, cmdcb_t cb) {
+  cmdfnlist[cmdfnNum].cmdid = cmdid;
+  cmdfnlist[cmdfnNum].cb    = cb;
+  cmdfnNum++;
+}
+ZCanProtocolParser::cmdfn_t* ZCanProtocolParser::findcmdfn(int32_t cmdid) {
+  for (int i = 0; i < cmdfnNum; i++) {
+    if (cmdfnlist[i].cmdid == cmdid) {
+      return &cmdfnlist[i];
+    }
+  }
+  return nullptr;
+}
+
+void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len) {
+  int      paramNum = (len) / sizeof(int32_t);
+  int32_t* ack      = (int32_t*)&ackbuf[0];
+
+  cmdfn_t* fn = findcmdfn(cmdid);
+  if (!fn) {
+    m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support);
+    return;
+  }
+  cmdcontxt_t cxt = {0};
+  cxt.module      = module;
+  cxt.rxcmd       = rxcmd;
+  cxt.cmdid       = cmdid;
+  cxt.param       = param;
+  cxt.paramlen    = len;
+  cxt.acklen      = 0;
+  cxt.ackbuf      = ackbuf;
+
+  int32_t ecode = fn->cb(&cxt);
+  if (ecode != 0) {
+    m_cancmder->sendErrorAck(rxcmd, ecode);
+  } else {
+    m_cancmder->sendBufAck(rxcmd, cxt.ackbuf, cxt.acklen);
+  }
+  return;
+}
+
+#define CHECK_AND_GET_MODULE(paraNum)                        \
+  auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module);   \
+  if (module == nullptr) return err::koperation_not_support; \
+  if (paraNum >= 0 && paraNum != cxt->paramlen / 4) return err::kcmd_param_num_error;
+
+#define MODULE_CLASS ZIModule
+int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_ping();
+}
+int32_t ZCanProtocolParser::module_stop(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_stop();
+}
+int32_t ZCanProtocolParser::module_break(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_break();
+}
+int32_t ZCanProtocolParser::module_get_last_exec_status(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_get_last_exec_status(&ack[0]);
+}
+int32_t ZCanProtocolParser::module_get_status(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_get_status(&ack[0]);
+}
+int32_t ZCanProtocolParser::module_set_reg(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->module_set_reg(cxt->param[0], cxt->param[1]);
+}
+int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_get_reg(cxt->param[0], &ack[0]);
+}
+int32_t ZCanProtocolParser::module_readio(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_readio(&ack[0]);
+}
+int32_t ZCanProtocolParser::module_writeio(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->module_writeio(cxt->param[0], cxt->param[1]);
+}
+int32_t ZCanProtocolParser::module_read_adc(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_read_adc(cxt->param[0], &ack[0]);
+}
+int32_t ZCanProtocolParser::module_get_error(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_get_error(&ack[0]);
+}
+int32_t ZCanProtocolParser::module_clear_error(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_clear_error();
+}
+int32_t ZCanProtocolParser::module_set_inited_flag(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->module_set_inited_flag(cxt->param[0]);
+}
+int32_t ZCanProtocolParser::module_get_inited_flag(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->module_get_inited_flag(&ack[0]);
+}
+int32_t ZCanProtocolParser::module_factory_reset(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_factory_reset();
+}
+int32_t ZCanProtocolParser::module_flush_cfg(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_flush_cfg();
+}
+int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_active_cfg();
+}
+int32_t ZCanProtocolParser::module_read_raw(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = ZCANCMD_READ_BUF_MAX_SIZE;
+  return module->module_read_raw(cxt->param[0], cxt->ackbuf, &cxt->acklen);
+}
+int32_t ZCanProtocolParser::module_enable(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->module_enable(cxt->param[0]);
+}
+int32_t ZCanProtocolParser::module_start(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->module_start();
+}
+#undef MODULE_CLASS
+
+/***********************************************************************************************************************
+ *                                                       ZIMotor                                                       *
+ ***********************************************************************************************************************/
+
+#define MODULE_CLASS ZIMotor
+
+int32_t ZCanProtocolParser::motor_enable(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_enable(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_rotate_with_torque(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->motor_rotate_with_torque(cxt->param[0], cxt->param[1]);
+}
+
+int32_t ZCanProtocolParser::motor_calculated_pos_by_move_to_zero(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->motor_calculated_pos_by_move_to_zero();
+}
+
+int32_t ZCanProtocolParser::motor_read_pos(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->motor_read_pos(&ack[0]);
+}
+
+int32_t ZCanProtocolParser::motor_set_current_pos_by_change_shift(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_set_current_pos_by_change_shift(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_rotate(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_easy_rotate(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_move_by(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_easy_move_by(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_move_to(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_easy_move_to(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_move_to_zero(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_easy_move_to_zero(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_set_current_pos(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->motor_easy_set_current_pos(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::motor_easy_move_to_io(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->motor_easy_move_to_io(cxt->param[0], cxt->param[1]);
+}
+
+#undef MODULE_CLASS
+
+#define MODULE_CLASS ZIXYMotor
+int32_t ZCanProtocolParser::xymotor_enable(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->xymotor_enable(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::xymotor_move_by(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(3);
+  return module->xymotor_move_by(cxt->param[0], cxt->param[1], cxt->param[2]);
+}
+
+int32_t ZCanProtocolParser::xymotor_move_to(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(3);
+  return module->xymotor_move_to(cxt->param[0], cxt->param[1], cxt->param[2]);
+}
+
+int32_t ZCanProtocolParser::xymotor_move_to_zero(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->xymotor_move_to_zero();
+}
+
+int32_t ZCanProtocolParser::xymotor_move_to_zero_and_calculated_shift(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->xymotor_move_to_zero_and_calculated_shift();
+}
+
+int32_t ZCanProtocolParser::xymotor_read_pos(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 8;
+  return module->xymotor_read_pos(&ack[0], &ack[1]);
+}
+
+int32_t ZCanProtocolParser::xymotor_calculated_pos_by_move_to_zero(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->xymotor_calculated_pos_by_move_to_zero();
+}
+
+#undef MODULE_CLASS
+
+/***********************************************************************************************************************
+ *                                                 ZIPipetteCtrlModule                                                 *
+ ***********************************************************************************************************************/
+
+#define MODULE_CLASS ZIPipetteCtrlModule
+int32_t ZCanProtocolParser::pipette_ctrl_init_device(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->pipette_ctrl_init_device();
+}
+
+int32_t ZCanProtocolParser::pipette_ctrl_put_tip(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->pipette_ctrl_put_tip();
+}
+
+int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->pipette_ctrl_move_to_ul(cxt->param[0]);
+}
+
+#undef MODULE_CLASS
+
+/***********************************************************************************************************************
+ *                                                ZIA8000OpticalModule                                                 *
+ ***********************************************************************************************************************/
+
+#define MODULE_CLASS ZIA8000OpticalModule
+int32_t ZCanProtocolParser::a8000_optical_module_power_ctrl(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->a8000_optical_module_power_ctrl(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_open_laser(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->a8000_optical_open_laser(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_close_laser(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->a8000_optical_close_laser(cxt->param[0]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_set_laster_gain(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->a8000_optical_set_laster_gain(cxt->param[0], cxt->param[1]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_set_scan_amp_gain(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->a8000_optical_set_scan_amp_gain(cxt->param[0], cxt->param[1]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_read_scanner_adc_val(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->a8000_optical_read_scanner_adc_val(cxt->param[0], &ack[0]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_read_laster_adc_val(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->a8000_optical_read_laster_adc_val(cxt->param[0], &ack[0]);
+}
+
+int32_t ZCanProtocolParser::a8000_optical_scan_current_point_amp_adc_val(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(4);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 8;
+  return module->a8000_optical_scan_current_point_amp_adc_val(cxt->param[0], cxt->param[1], cxt->param[2], &ack[0], &ack[1]);
+}
+
+#undef MODULE_CLASS

components/zcancmder/zcan_protocol_parser.hpp

@@ -0,0 +1,103 @@
+#pragma once
+#include <map>
+#include "a8000_protocol\api\api.hpp"
+#include "a8000_protocol\cmdid.hpp"
+
+namespace iflytop {
+class ZCanProtocolParser : public IZCanReceiverListener {
+ public:
+  typedef struct {
+    ZIModule*         module;
+    zcr_cmd_header_t* rxcmd;
+    int32_t           cmdid;
+    uint8_t*          param;
+    int32_t           paramlen;
+    int32_t           acklen;
+    uint8_t*          ackbuf;
+  } cmdcontxt_t;
+
+  typedef int32_t (*cmdcb_t)(cmdcontxt_t* cxt);
+
+  typedef struct {
+    int32_t cmdid;
+    cmdcb_t cb;
+  } cmdfn_t;
+
+ private:
+  IZCanReceiver*           m_cancmder = nullptr;
+  map<uint16_t, ZIModule*> m_modulers;
+
+  uint8_t ackbuf[ZCANCMD_READ_BUF_MAX_SIZE + 100];
+  int32_t acklen = 0;
+
+  cmdfn_t cmdfnlist[100];
+  int32_t cmdfnNum = 0;
+
+ public:
+  void         initialize(IZCanReceiver* cancmder);
+  virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
+  void         registerModule(ZIModule* module);
+
+ private:
+  void     _registerModule(uint16_t id, ZIModule* module);
+  void     _onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len);
+  void     regCmdFn(int32_t cmdid, cmdcb_t cb);
+  cmdfn_t* findcmdfn(int32_t cmdid);
+
+ private:
+  static int32_t module_ping(cmdcontxt_t* cxt);
+  static int32_t module_stop(cmdcontxt_t* cxt);
+  static int32_t module_break(cmdcontxt_t* cxt);
+  static int32_t module_get_last_exec_status(cmdcontxt_t* cxt);
+  static int32_t module_get_status(cmdcontxt_t* cxt);
+  static int32_t module_set_reg(cmdcontxt_t* cxt);
+  static int32_t module_get_reg(cmdcontxt_t* cxt);
+  static int32_t module_readio(cmdcontxt_t* cxt);
+  static int32_t module_writeio(cmdcontxt_t* cxt);
+  static int32_t module_read_adc(cmdcontxt_t* cxt);
+  static int32_t module_get_error(cmdcontxt_t* cxt);
+  static int32_t module_clear_error(cmdcontxt_t* cxt);
+  static int32_t module_set_inited_flag(cmdcontxt_t* cxt);
+  static int32_t module_get_inited_flag(cmdcontxt_t* cxt);
+  static int32_t module_factory_reset(cmdcontxt_t* cxt);
+  static int32_t module_flush_cfg(cmdcontxt_t* cxt);
+  static int32_t module_active_cfg(cmdcontxt_t* cxt);
+  static int32_t module_read_raw(cmdcontxt_t* cxt);
+  static int32_t module_enable(cmdcontxt_t* cxt);
+  static int32_t module_start(cmdcontxt_t* cxt);
+
+  static int32_t motor_enable(cmdcontxt_t* cxt);
+  static int32_t motor_rotate_with_torque(cmdcontxt_t* cxt);
+  static int32_t motor_calculated_pos_by_move_to_zero(cmdcontxt_t* cxt);
+  static int32_t motor_read_pos(cmdcontxt_t* cxt);
+  static int32_t motor_set_current_pos_by_change_shift(cmdcontxt_t* cxt);
+  static int32_t motor_easy_rotate(cmdcontxt_t* cxt);
+  static int32_t motor_easy_move_by(cmdcontxt_t* cxt);
+  static int32_t motor_easy_move_to(cmdcontxt_t* cxt);
+  static int32_t motor_easy_move_to_zero(cmdcontxt_t* cxt);
+  static int32_t motor_easy_set_current_pos(cmdcontxt_t* cxt);
+  static int32_t motor_easy_move_to_io(cmdcontxt_t* cxt);
+
+  static int32_t xymotor_enable(cmdcontxt_t* cxt);
+  static int32_t xymotor_move_by(cmdcontxt_t* cxt);
+  static int32_t xymotor_move_to(cmdcontxt_t* cxt);
+  static int32_t xymotor_move_to_zero(cmdcontxt_t* cxt);
+  static int32_t xymotor_move_to_zero_and_calculated_shift(cmdcontxt_t* cxt);
+  static int32_t xymotor_read_pos(cmdcontxt_t* cxt);
+  static int32_t xymotor_calculated_pos_by_move_to_zero(cmdcontxt_t* cxt);
+
+  static int32_t pipette_ctrl_init_device(cmdcontxt_t* cxt);
+  static int32_t pipette_ctrl_put_tip(cmdcontxt_t* cxt);
+  static int32_t pipette_ctrl_move_to_ul(cmdcontxt_t* cxt);
+
+  static int32_t a8000_optical_module_power_ctrl(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_open_laser(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_close_laser(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_set_laster_gain(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_set_scan_amp_gain(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_read_scanner_adc_val(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_read_laster_adc_val(cmdcontxt_t* cxt);
+  static int32_t a8000_optical_scan_current_point_amp_adc_val(cmdcontxt_t* cxt);
+};
+
+}  // namespace iflytop