update

api/i_eeprom.hpp

@@ -0,0 +1,28 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "basic_type.hpp"
+//
+
+namespace iflytop {
+using namespace std;
+class I_EEPROMModule {
+ public:
+#pragma pack(1)
+
+  typedef struct {
+    s32 connected;
+  } eeprom_status_t;
+
+#pragma pack()
+
+ public:
+  virtual int32_t start_monitor_status(function<void(eeprom_status_t& status)> cb)       = 0;
+  virtual int32_t stop_monitor_status()                                                  = 0;
+  virtual int32_t read(u16 sector_index, u16 sector_size, zcancmder_read_ram_ack_t& ack) = 0;
+
+  virtual ~I_EEPROMModule() {}
+};
+}  // namespace iflytop

api/i_mini_servo_module.hpp

@@ -113,5 +113,7 @@ class I_MiniServoModule {
   virtual int32_t get_run_param(run_param_t& param)                     = 0;
   virtual int32_t get_basic_param(basic_param_t& param)                 = 0;
   virtual int32_t get_warning_limit_param(warning_limit_param_t& param) = 0;
+
+  virtual ~I_MiniServoModule() {}
 };
 }  // namespace iflytop

api/i_motor_laser_code_scanner.hpp

@@ -42,6 +42,8 @@ class I_MotorLaserCodeScanner {
    * @return int32_t
    */
   virtual int32_t get_scan_result(u16 sector_index, u16 sector_size, zcancmder_read_ram_ack_t& ack) = 0;
+
+  virtual ~I_MotorLaserCodeScanner() {}
 };
 
 }  // namespace iflytop

api/i_pipette_module.hpp

@@ -58,5 +58,7 @@ class I_PipetteModule {
   virtual int32_t get_z_motor_para(I_StepMotorCtrlModule::base_param_t &z_motor_param)       = 0;
   virtual int32_t set_base_param(const base_param_t &base_param)                             = 0;
   virtual int32_t get_base_param(base_param_t &base_param)                                   = 0;
+
+  virtual ~I_PipetteModule() {}
 };
 }  // namespace iflytop

api/i_step_motor_ctrl_module.hpp

@@ -96,5 +96,7 @@ class I_StepMotorCtrlModule {
 
   virtual int32_t set_base_param(const base_param_t& param) = 0;
   virtual int32_t get_base_param(base_param_t& param)       = 0;
+
+  ~I_StepMotorCtrlModule() {}
 };
 }  // namespace iflytop

api/i_xyrobot_ctrl_module.hpp

@@ -93,5 +93,7 @@ class I_XYRobotCtrlModule {
   virtual int32_t get_base_param(base_param_t& ack)         = 0;
   // virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack)       = 0;
   // virtual int32_t set_warning_limit_param(uint8_t operation, const warning_limit_param_t& param, warning_limit_param_t& ack) = 0;
+
+  virtual ~I_XYRobotCtrlModule() {}
 };
 }  // namespace iflytop

zcancmder_protocol.hpp

@@ -6,6 +6,7 @@
 #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 {
@@ -88,8 +89,10 @@ typedef enum {
   /*******************************************************************************
    *                                  |Module_1009:EEPROM                       *
    *******************************************************************************/
-  kcmd_eeprom_read_block  = CMDID(1009, 0),  // 读取EEPROM
-  kcmd_eeprom_write_block = CMDID(1009, 1),  // 写入EEPROM
+  kcmd_eeprom_start_monitor_status = CMDID(1009, 0),  // 监控EEPROM状态
+  kcmd_eeprom_stop_monitor_status  = CMDID(1009, 1),  // 停止监控EEPROM状态
+  kcmd_eeprom_read_block           = CMDID(1009, 2),  // 读取EEPROM
+  kcmd_eeprom_write_block          = CMDID(1009, 3),  // 写入EEPROM
 
   /*******************************************************************************
    *                                 |Module_1010:扫码器                          *
@@ -255,13 +258,26 @@ ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt
 /*******************************************************************************
  *                             |Module_1009:EEPROM                             *
  *******************************************************************************/
+// kcmd_eeprom_start_monitor_status
+// kcmd_eeprom_stop_monitor_status
+// kcmd_eeprom_read_block
+// kcmd_eeprom_write_block
 
+#if 0
+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;));
+#endif
+
+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 addr; u16 len;),  //
-                ACK(u16 id; u16 addr; u16 len; u8 data[0];));
+                CMD(u16 id; u16 sector_index; u16 sector_size;),  //
+                ACK(u16 id; zcancmder_read_ram_ack_t ack;));
+
+#if 0
 ZPACKET_CMD_ACK(kcmd_eeprom_write_block,
                 CMD(u16 id; u16 addr; u16 len; u8 data[0];),  //
                 ACK(u16 id; u16 addr; u16 len;));
+#endif
 /*******************************************************************************
  *                             |Module_1010:扫码器                             *
  *******************************************************************************/

zcancmder_protocol_basic.hpp

@@ -76,6 +76,7 @@ typedef enum {
   kpt_ack                    = 1,
   kpt_error_ack              = 2,
   kpt_cmd_exec_status_report = 3,
+  kpt_report                 = 4,
 } PacketType_t;
 
 #define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)