zcancmder/zcancmder_protocol.hpp

#pragma once
#include <stdint.h>

#include "api/basic_type.hpp"
#include "api/i_eeprom.hpp"
#include "api/i_mini_servo_module.hpp"
#include "api/i_pipette_module.hpp"
#include "api/i_step_motor_ctrl_module.hpp"
#include "api/i_xyrobot_ctrl_module.hpp"
#include "zcancmder_protocol_basic.hpp"
namespace iflytop {
namespace zcr {

typedef enum {
  kcmd_ping        = CMDID(0, 0),
  kcmd_read_io     = CMDID(1, 0),
  kcmd_set_io      = CMDID(2, 0),
  kcmd_readadc_raw = CMDID(3, 0),

  kcmd_m211887_operation             = CMDID(1000, 0),  // ά��������������
  kcmd_read_presure_sensor           = CMDID(1001, 0),  // ѹ��������
  kcmd_triple_warning_light_ctl      = CMDID(1002, 0),  // ��ɫ��ʾ�ƿ���
  kcmd_high_power_electrical_ctl     = CMDID(1003, 0),  // �����ʵ�Դ����
  kcmd_peristaltic_pump_ctl          = CMDID(1004, 0),  // Һ�ÿ���
  kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0),  // ����ѹ��������

  /*******************************************************************************
   *                            |Module_1006:XYRobot�����˿���ģ��                 *
   *******************************************************************************/
  kcmd_xy_robot_ctrl_enable                      = CMDID(1006, 0),  // ������ʹ��
  kcmd_xy_robot_ctrl_stop                        = CMDID(1006, 1),  // ������ֹͣ
  kcmd_xy_robot_ctrl_move_to_zero                = CMDID(1006, 2),  // �����˻���
  kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3),  // �����˻��㲢�궨
  kcmd_xy_robot_ctrl_move_to                     = CMDID(1006, 4),  // �������ƶ���ָ��λ��
  kcmd_xy_robot_ctrl_move_by                     = CMDID(1006, 5),  // �������ƶ�ָ������
  kcmd_xy_robot_ctrl_force_change_current_pos    = CMDID(1006, 6),  // ǿ���޸ĵ�ǰλ��
  kcmd_xy_robot_ctrl_move_by_no_limit            = CMDID(1006, 7),  // �����������ƶ���û������
  // kcmd_xy_robot_ctrl_read_pos_by_move2zero       = CMDID(1006, 8),  // ��������ִ�й��㶯����Ȼ����ȡλ��ƫ���������ʱ�������꣬Ȼ�����ƶ���һ��ʼ��λ�á�

  kcmd_xy_robot_ctrl_read_version         = CMDID(1006, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_xy_robot_ctrl_read_status          = CMDID(1006, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52),  // ��ȡģ����ϸ״̬��Ϣ
  // kcmd_xy_robot_ctrl_read_read_pos_by_move2zero_exec_state = CMDID(1006, 53),  // ��������ִ�й��㶯����Ȼ����ȡλ��ƫ���������ʱ�������꣬Ȼ�����ƶ���һ��ʼ��λ�á�

  kcmd_xy_robot_ctrl_set_base_param = CMDID(1006, 100),  // �������в���
  kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101),  // �������в���
  kcmd_xy_robot_ctrl_flush          = CMDID(1006, 110),  // �洢������flash��
  kcmd_xy_robot_ctrl_factory_reset  = CMDID(1006, 111),  // �ָ���������
  // kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101),  // ���ÿ������Ʋ���
  // kcmd_xy_robot_ctrl_set_run_to_zero_param   = CMDID(1006, 102),  // ���ù�������

  /*******************************************************************************
   *                            |Module_1007:������������ģ��                      *
   *******************************************************************************/
  kcmd_step_motor_ctrl_enable                      = CMDID(1007, 0),  // ʹ��
  kcmd_step_motor_ctrl_stop                        = CMDID(1007, 1),  // ֹͣ
  kcmd_step_motor_ctrl_move_to_zero                = CMDID(1007, 2),  // ����
  kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3),  // ���㲢У׼
  kcmd_step_motor_ctrl_move_to                     = CMDID(1007, 4),  // �ƶ���
  kcmd_step_motor_ctrl_move_by                     = CMDID(1007, 5),  // �����ƶ�
  kcmd_step_motor_ctrl_force_change_current_pos    = CMDID(1007, 6),  // �����ƶ�
  kcmd_step_motor_ctrl_rotate                      = CMDID(1007, 7),  // �����ƶ�
  kcmd_step_motor_ctrl_move_to_logic_point         = CMDID(1007, 8),  // �ƶ����߼���

  kcmd_step_motor_ctrl_read_version         = CMDID(1007, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_step_motor_ctrl_read_status          = CMDID(1007, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_step_motor_ctrl_read_detailed_status = CMDID(1007, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_step_motor_ctrl_set_base_param  = CMDID(1007, 100),  // �������в���
  kcmd_step_motor_ctrl_get_base_param  = CMDID(1007, 101),  // �������в���
  kcmd_step_motor_ctrl_set_logic_point = CMDID(1007, 102),  // �����߼���
  kcmd_step_motor_ctrl_get_logic_point = CMDID(1007, 103),  // ��ȡ�߼���
  kcmd_step_motor_ctrl_flush           = CMDID(1007, 110),  // �洢������flash��
  kcmd_step_motor_ctrl_factory_reset   = CMDID(1007, 111),  // �ָ���������

  /*******************************************************************************
   *                            |Module_1008:����                                *
   *******************************************************************************/
  kcmd_mini_servo_ctrl_enable             = CMDID(1008, 0),  // ʹ��
  kcmd_mini_servo_ctrl_stop               = CMDID(1008, 1),  // ֹͣ
  kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2),  // У׼
  kcmd_mini_servo_ctrl_rotate             = CMDID(1008, 3),  // �ٶ�ģʽ
  kcmd_mini_servo_ctrl_move_to            = CMDID(1008, 4),  // λ��ģʽ����
  kcmd_mini_servo_ctrl_move_by            = CMDID(1008, 5),  // λ��ģʽ����
  kcmd_mini_servo_ctrl_run_with_torque    = CMDID(1008, 6),  // ����Ť��ģʽ
  kcmd_mini_servo_ctrl_move_by_nolimit    = CMDID(1008, 7),  // �����ƶ�,λ��ģʽ������,�ƶ���������λ�ú���Сλ�����ƣ����޷���ȡ����ǰλ��

  kcmd_mini_servo_ctrl_read_version         = CMDID(1008, 50),  // ��ȡģ���ͺŰ汾��Ϣ
  kcmd_mini_servo_ctrl_read_status          = CMDID(1008, 51),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_mini_servo_ctrl_read_detailed_status = CMDID(1008, 52),  // ��ȡģ����ϸ״̬��Ϣ

  kcmd_mini_servo_ctrl_set_run_param           = CMDID(1008, 100),
  kcmd_mini_servo_ctrl_get_run_param           = CMDID(1008, 101),
  kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 102),
  kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 103),
  kcmd_mini_servo_ctrl_set_basic_param         = CMDID(1008, 104),
  kcmd_mini_servo_ctrl_get_basic_param         = CMDID(1008, 105),

  /*******************************************************************************
   *                                  |Module_1009:EEPROM                       *
   *******************************************************************************/
  kcmd_eeprom_start_monitor_status = CMDID(1009, 0),  // ����EEPROM״̬
  kcmd_eeprom_stop_monitor_status  = CMDID(1009, 1),  // ֹͣ����EEPROM״̬
  kcmd_eeprom_read_block           = CMDID(1009, 2),  // ��ȡEEPROM
  kcmd_eeprom_write_block          = CMDID(1009, 3),  // д��EEPROM

  /*******************************************************************************
   *                                 |Module_1010:ɨ����                          *
   *******************************************************************************/
  kcmd_barcode_reader_start_scan = CMDID(1010, 0),  // ��ȡɨ����
  kcmd_barcode_reader_stop_scan  = CMDID(1010, 1),  // ֹͣ��ȡɨ����

  /*******************************************************************************
   *                                 |Module_1011:������-ˮ��-���ȿ���ϵͳ           *
   *******************************************************************************/
  // ����Ŀ���¶�
  kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0),  // ����Ŀ���¶�
  kcmd_heater_ctrl_module_stop_temperature       = CMDID(1011, 1),  // ��ȡֹͣ�¶�

  kcmd_heater_ctrl_module_read_status        = CMDID(1011, 50),  // ��ȡģ�龫��״̬��Ϣ
  kcmd_heater_ctrl_module_read_detail_status = CMDID(1011, 50),  // ��ȡģ�龫��״̬��Ϣ

  kcmd_heater_ctrl_module_set_base_param = CMDID(1011, 100),  // �������в���
  kcmd_heater_ctrl_module_get_base_param = CMDID(1011, 101),  // �������Ʋ���

  /*******************************************************************************
   *                                 |Module_1012:��������ɨ����                   *
   *******************************************************************************/
  kcmd_motor_laser_code_scanner_scan            = CMDID(1012, 1),  // ��ʼɨ��
  kcmd_motor_laser_code_scanner_stop_scan       = CMDID(1012, 2),  // ֹͣɨ��
  kcmd_motor_laser_code_scanner_get_scan_result = CMDID(1012, 3),  // ��ȡɨ������

  /*******************************************************************************
   *                                 |Module_1013:���в�                            *
   *******************************************************************************/

  // ����
  /*******************************************************************************
   *                                 |Module_1014:����                            *
   *******************************************************************************/
  kcmd_fan_module_fan_ctrl        = CMDID(1014, 0),   // ���ȿ���
  kcmd_fan_module_fan_read_status = CMDID(1014, 50),  // ��ȡģ�龫��״̬��Ϣ
#if 0
  // ����͸��
  /*******************************************************************************
   *                                 |Module_1015:����͸��                        *
   *******************************************************************************/
  kcmd_serial_module_send_data       = CMDID(1015, 0),    // ����͸����������
  kcmd_serial_module_start_read_data = CMDID(1015, 1),    // ����͸����ȡ����
  kcmd_serial_module_start_stop_data = CMDID(1015, 2),    // ����͸��ֹͣ��ȡ����
  kcmd_serial_module_read_status     = CMDID(1015, 50),   // ��ȡģ��״̬��Ϣ
  kcmd_serial_module_set_cfg         = CMDID(1015, 100),  // ����͸����������
#endif

  // ��Һǹ����
  /*******************************************************************************
   *                                 |Module_1016:��Һǹ����                        *
   *******************************************************************************/
  kcmd_pipette_module_enable = CMDID(1016, 0),  // ʹ��
  kcmd_pipette_module_stop   = CMDID(1016, 1),  // ֹͣ

  kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2),  // ���㲢У׼

  kcmd_pipeete_module_zmotor_reset  = CMDID(1016, 3),  // Z�Ḵλ
  kcmd_pipeete_module_pipette_reset = CMDID(1016, 4),  // ��Һǹ��λ

  kcmd_pipette_module_take_tip   = CMDID(1016, 5),  // ȡtip
  kcmd_pipette_module_remove_tip = CMDID(1016, 6),  // �Ƴ�tip

  kcmd_pipette_module_move_to            = CMDID(1016, 7),   // �ƶ���
  kcmd_pipette_module_move_to_with_lld   = CMDID(1016, 8),   // �ƶ���
  kcmd_pipette_module_shake              = CMDID(1016, 9),   // ����ҡ��
  kcmd_pipette_module_pipette_move_to_ul = CMDID(1016, 10),  // ȡҺ

  kcmd_pipette_module_get_status = CMDID(1016, 50),  // ��ȡģ�龫��״̬��Ϣ

  kcmd_pipette_module_set_z_motor_para = CMDID(1016, 100),  // ����Z����������
  kcmd_pipette_module_get_z_motor_para = CMDID(1016, 101),  // ��ȡZ����������
  kcmd_pipette_module_set_base_param   = CMDID(1016, 102),  // �������в���
  kcmd_pipette_module_get_base_param   = CMDID(1016, 103),  // ��ȡ���в���

} CmdID_t;

#pragma pack(push, 1)

ZPACKET_CMD_ACK(kcmd_ping,         //
                CMD(u8 boardid;),  //
                ACK(u8 boardid;));

ZPACKET_CMD_ACK(kcmd_read_io,   //
                CMD(u8 ioid;),  //
                ACK(u8 ioid; u8 val;));

ZPACKET_CMD_ACK(kcmd_set_io,            //
                CMD(u8 ioid; u8 val;),  //
                ACK(u8 ioid; u8 val;));

ZPACKET_CMD_ACK(kcmd_readadc_raw,   //
                CMD(u8 sensorid;),  //
                ACK(u8 sensorid; s32 val;));

/*******************************************************************************
 *                            |Module_1006:XYRobot�����˿���ģ��                 *
 *******************************************************************************/
// ACTION
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u16 id; s32 x; s32 y; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by_no_limit, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));

ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u8 pad;));
// READ
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u16 id;), ACK(I_XYRobotCtrlModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u16 id;), ACK(I_XYRobotCtrlModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_XYRobotCtrlModule::detailed_status_t ack;));
// SET
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u16 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u16 id;), ACK(I_XYRobotCtrlModule::base_param_t ack;));

ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_flush, CMD(u16 id;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_factory_reset, CMD(u16 id;), ACK(u8 pad;));

// ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK( I_XYRobotCtrlModule::warning_limit_param_t ack;));
// ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::run_to_zero_param_t param;), ACK( I_XYRobotCtrlModule::run_to_zero_param_t ack;));

/*******************************************************************************
 *                            |Module_1007:������������ģ��                      *
 *******************************************************************************/

ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 x;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u16 id; s32 x; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u16 id; s32 dx; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u16 id; s32 x;), ACK(u8 pad;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u16 id; s32 speed; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_logic_point, CMD(u16 id; u8 logic_point_num;), ACK(u8 pad;), REPORT(int32_t exec_status;));
// READ
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u16 id;), ACK(I_StepMotorCtrlModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u16 id;), ACK(I_StepMotorCtrlModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_StepMotorCtrlModule::detailed_status_t ack;));
// SET
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u16 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_logic_point, CMD(u16 id; u8 index; s32 acc; s32 dec; s32 velocity; s32 x;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_logic_point, CMD(u16 id; u8 logic_point_num;), ACK(I_StepMotorCtrlModule::logic_point_t ack;));

ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_flush, CMD(u16 id;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_factory_reset, CMD(u16 id;), ACK(u8 pad;));

/*******************************************************************************
 *                              |Module_1008:����                              *
 *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u16 id; s32 calibrate_pos;), ACK(u8 pad;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u16 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u16 id; s32 torque; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;));

ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u16 id;), ACK(I_MiniServoModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u16 id;), ACK(I_MiniServoModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_MiniServoModule::detailed_status_t ack;));

ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(I_MiniServoModule::warning_limit_param_t ack;));

ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::warning_limit_param_t ack;));

/*******************************************************************************
 *                             |Module_1009:EEPROM                             *
 *******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_eeprom_start_monitor_status, CMD(u16 id;), ACK(u8 pad;), REPORT(I_EEPROMModule::eeprom_status_t status;));
ZPACKET_CMD_ACK(kcmd_eeprom_stop_monitor_status, CMD(u16 id;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
                CMD(u16 id; u16 sector_index; u16 sector_size;),  //
                ACK(zcancmder_read_ram_ack_t ack;));

/*******************************************************************************
 *                             |Module_1010:ɨ����                             *
 *******************************************************************************/

ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
                           CMD(u16 id;),  //
                           ACK(u8 pad;),  //
                           REPORT(u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
                CMD(u16 id;),  //
                ACK(u8 pad;));
/*******************************************************************************
 *                    |Module_1011:������-ˮ��-���ȿ���ϵͳ                    *
 *******************************************************************************/

/*******************************************************************************
 *                         |Module_1012:��������ɨ����                          *
 *******************************************************************************/

ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan,
                           CMD(u8  id;                               //
                               s32 moveby_distance;                  //
                               s32 scan_interval_distance;           //
                               s32 each_sample_times;                //
                               s32 transmitting_tube_amplification;  // 0.001
                               s32 receiving_tube_amplification;     // 0.001
                               ),
                           ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u16 id;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u16 id; u16 sector_index; u16 sector_size;), ACK(zcancmder_read_ram_ack_t ack;));

/*******************************************************************************
 *                             Module_1013:���в�                              *
 *******************************************************************************/

/*******************************************************************************
 *                              |Module_1014:����                              *
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/*******************************************************************************
 *                           |Module_1016:��Һǹ����                           *
 *******************************************************************************/

ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u16 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;));

ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to_with_lld, CMD(u16 id; s16 vel; s16 lld_cap_thr; s16 lld_max_hight_mm; s16 lld_rela_hight_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u16 id; s16 shake_times; s16 shake_volume;), ACK(u8 pad;), REPORT(int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u16 id; s16 take_volume_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;));

ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u16 id;), ACK(I_PipetteModule::status_t ack;));

ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u16 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u16 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u16 id; I_PipetteModule::base_param_t param;), ACK(u8 pad;));
ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u16 id;), ACK(I_PipetteModule::base_param_t ack;));

#pragma pack(pop)

}  // namespace zcr
}  // namespace iflytop