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#pragma once
#include <stdint.h>
#include "api/basic_type.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 "api/i_eeprom.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), // ��������������
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_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_set_base_param = CMDID(1006, 100), // ���������
kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101), // ���������
// 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_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), // ���������
kcmd_step_motor_ctrl_get_base_param = CMDID(1007, 101), // ���������
/*******************************************************************************
* |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), // �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), // ���������
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), // ���������
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(u16 id;));ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u16 id;));// READ
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::version_t ack;));ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::status_t ack;));ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; 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(u16 id;));ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::base_param_t ack;));// 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(u16 id; 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(u16 id; 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(u16 id;));ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u16 id; s32 x; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u16 id; s32 dx; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u16 id; s32 x;), ACK(u16 id;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u16 id; s32 speed; s32 run_time;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));// READ
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::version_t ack;));ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::status_t ack;));ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::detailed_status_t ack;));// SET
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; u8 opt_type; I_StepMotorCtrlModule::base_param_t param;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::base_param_t ack;));
/*******************************************************************************
* |Module_1008:���� * *******************************************************************************/ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u16 id; s32 calibrate_pos;), ACK(u16 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u16 id; s32 speed; s32 torque; s32 run_time;), ACK(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_MiniServoModule::version_t ack;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_MiniServoModule::status_t ack;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; 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(u16 id; 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(u16 id; 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(u16 id; I_MiniServoModule::warning_limit_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::run_param_t ack;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::basic_param_t ack;));ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::warning_limit_param_t ack;));
/*******************************************************************************
* |Module_1009:EEPROM * *******************************************************************************/ZPACKET_CMD_ACK_AND_REPORT(kcmd_eeprom_start_monitor_status, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; I_EEPROMModule::eeprom_status_t status;));ZPACKET_CMD_ACK(kcmd_eeprom_stop_monitor_status, CMD(u16 id;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_eeprom_read_block, CMD(u16 id; u16 sector_index; u16 sector_size;), //
ACK(u16 id; zcancmder_read_ram_ack_t ack;));
/*******************************************************************************
* |Module_1010:ɨ���� * *******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan, CMD(u16 id;), //
ACK(u16 id;), //
REPORT(u16 id; u8 status; u16 barcodelen; u8 barcode[0];));ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan, CMD(u16 id;), //
ACK(u16 id;));/*******************************************************************************
* |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(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u16 id;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u16 id; u16 sector_index; u16 sector_size;), ACK(u16 id; zcancmder_read_ram_ack_t ack;));
/*******************************************************************************
* Module_1013:���в� * *******************************************************************************/
/*******************************************************************************
* |Module_1014:���� * *******************************************************************************//*******************************************************************************
* |Module_1016:��Һǹ���� * *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u16 id;), REPORT(u16 id; 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(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u16 id; s16 shake_times; s16 shake_volume;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u16 id; s16 take_volume_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u16 id;), ACK(u16 id; 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(u16 id;));ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u16 id;), ACK(u16 id; 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(u16 id;));ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u16 id;), ACK(u16 id; I_PipetteModule::base_param_t ack;));
#pragma pack(pop)
} // namespace zcr
} // namespace iflytop
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