5 changed files with 213 additions and 106 deletions
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122components/pipette_module/pipette_ctrl_module.cpp
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37components/pipette_module/pipette_ctrl_module.hpp
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140components/zcancmder_module/zcan_pipette_module.cpp
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18components/zcancmder_module/zcan_pipette_module.hpp
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2components/zprotocols/zcancmder
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#include "zcan_pipette_module.hpp"
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using namespace iflytop; |
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#define TAG "ZcanPipetteModule"
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#if 1
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void ZcanPipetteModule::initialize(ZCanCmder* cancmder, int id, I_PipetteModule* module) { |
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m_cancmder = cancmder; |
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m_id = id; |
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m_module = module; |
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cancmder->registerListener(this); |
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} |
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void ZcanPipetteModule::onRceivePacket(CanPacketRxBuffer* rxcmd) { |
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// printf("ZcanPipetteModule::onRceivePacket %d %d\n", rxcmd->get_cmdheader()->cmdid, rxcmd->get_cmdheader()->subcmdid);
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#if 0
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kcmd_pipette_module_z_motor_enable = CMDID(1016, 0), // 使能
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kcmd_pipette_module_z_motor_move_to = CMDID(1016, 1), // 移动到
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kcmd_pipette_module_z_motor_move_to_zero = CMDID(1016, 2), // 归零
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kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3), // 归零并校准
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kcmd_pipette_module_z_motor_stop = CMDID(1016, 4), // 停止
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kcmd_pipette_module_take_liquid = CMDID(1016, 4), // 取液体
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kcmd_pipette_module_split_liquid = CMDID(1016, 5), // 吐液体
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kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
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kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
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kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
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kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
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kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
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kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
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kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
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kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
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#endif
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#if 0
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PROCESS_PACKET(kcmd_step_motor_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); } |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_stop, m_id) { errorcode = m_module->stop(cmd->stop_type); } |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_move_to_zero, m_id) { |
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errorcode = m_module->move_to_zero([this, cmdheader](int32_t status) { |
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osDelay(5); // 用来保证回执消息在前面
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kcmd_step_motor_ctrl_move_to_zero_report_t report = {0}; |
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ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to_zero exec_status:%d", status); |
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report.id = m_id; |
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report.exec_status = status; |
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report)); |
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}); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, m_id) { |
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errorcode = m_module->move_to_zero_with_calibrate(cmd->nowx, [this, cmdheader](int32_t status) { |
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osDelay(5); // 用来保证回执消息在前面
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kcmd_step_motor_ctrl_move_to_zero_with_calibrate_report_t report = {0}; |
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ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to_zero_with_calibrate exec_status:%d", status); |
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report.id = m_id; |
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report.exec_status = status; |
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report)); |
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}); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_move_to, m_id) { |
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errorcode = m_module->move_to(cmd->x, [this, cmdheader](int32_t status) { |
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osDelay(5); // 用来保证回执消息在前面
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kcmd_step_motor_ctrl_move_to_report_t report = {0}; |
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ZLOGI(TAG, "kcmd_step_motor_ctrl_move_to exec_status:%d ", status); |
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report.id = m_id; |
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report.exec_status = status; |
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report)); |
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}); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_move_by, m_id) { |
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errorcode = m_module->move_by(cmd->dx, [this, cmdheader](int32_t status) { |
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osDelay(5); // 用来保证回执消息在前面
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kcmd_step_motor_ctrl_move_by_report_t report = {0}; |
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// ZLOGI(TAG, "kcmd_step_motor_ctrl_move_by exec_status:%d %d", status.exec_status, status.dx);
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ZLOGI(TAG, "kcmd_step_motor_ctrl_move_by exec_status:%d ", status); |
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report.id = m_id; |
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report.exec_status = status; |
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report)); |
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}); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_force_change_current_pos, m_id) { errorcode = m_module->force_change_current_pos(cmd->x); } |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_rotate, m_id) { |
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errorcode = m_module->rotate(cmd->speed, cmd->run_time, [this, cmdheader](int32_t status) { |
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osDelay(5); // 用来保证回执消息在前面
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kcmd_step_motor_ctrl_rotate_report_t report = {0}; |
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// ZLOGI(TAG, "kcmd_step_motor_ctrl_rotate exec_status:%d %d", status.exec_status, status.lastforms);
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ZLOGI(TAG, "kcmd_step_motor_ctrl_rotate exec_status:%d ", status); |
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report.id = m_id; |
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report.exec_status = status; |
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m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report)); |
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}); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_read_version, m_id) { //
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errorcode = m_module->read_version(ack->ack); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_read_status, m_id) { //
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errorcode = m_module->read_status(ack->ack); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_read_detailed_status, m_id) { //
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errorcode = m_module->read_detailed_status(ack->ack); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_set_base_param, m_id) { //
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errorcode = m_module->set_base_param(cmd->param); |
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} |
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END_PP(); |
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PROCESS_PACKET(kcmd_step_motor_ctrl_get_base_param, m_id) { //
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errorcode = m_module->get_base_param(ack->ack); |
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} |
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END_PP(); |
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#endif
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} |
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#endif
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@ -0,0 +1,18 @@ |
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#pragma once
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// #include "sdk/components/zprotocols/zcancmder/api/i_step_motor_ctrl_module.hpp"
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#include "sdk/components/zprotocols/zcancmder/api/i_pipette_module.hpp"
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#include "sdk\components\zcancmder\zcanreceiver.hpp"
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namespace iflytop { |
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class ZcanPipetteModule : public ZCanCmderListener { |
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ZCanCmder* m_cancmder = nullptr; |
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int m_id = 0; |
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I_PipetteModule* m_module; |
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uint8_t m_txbuf[128] = {0}; |
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public: |
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void initialize(ZCanCmder* cancmder, int id, I_PipetteModule* module); |
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virtual void onRceivePacket(CanPacketRxBuffer* rxcmd); |
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}; |
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} // namespace iflytop
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@ -1 +1 @@ |
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Subproject commit fc4340666e8afc748a8adb759439c561b62afa5d |
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Subproject commit eff35f5c915ddaa15cced3796ce2ba7c93ea5029 |
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