From 2393d97dec8c2e235087f1eaf239e5ad4ebb9f2f Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 30 Sep 2023 19:19:06 +0800 Subject: [PATCH] update --- api/i_mini_servo_module.hpp | 4 ++-- api/i_step_motor_ctrl_module.hpp | 4 ++-- api/i_xyrobot_ctrl_module.hpp | 4 ++-- zcancmder_protocol.hpp | 32 ++++++++++++++++---------------- 4 files changed, 22 insertions(+), 22 deletions(-) diff --git a/api/i_mini_servo_module.hpp b/api/i_mini_servo_module.hpp index 204f037..9b23ff1 100644 --- a/api/i_mini_servo_module.hpp +++ b/api/i_mini_servo_module.hpp @@ -68,7 +68,7 @@ class I_MiniServoModule { int16_t temperature; int16_t error_flag; - } debug_info_t; + } detailed_status_t; /******************************************************************************* * CFG * @@ -107,7 +107,7 @@ class I_MiniServoModule { virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(debug_info_t& debug_info) = 0; + virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(run_param_t& param) = 0; virtual int32_t set_basic_param(basic_param_t& param) = 0; diff --git a/api/i_step_motor_ctrl_module.hpp b/api/i_step_motor_ctrl_module.hpp index f8e139b..3ddc71c 100644 --- a/api/i_step_motor_ctrl_module.hpp +++ b/api/i_step_motor_ctrl_module.hpp @@ -58,7 +58,7 @@ class I_StepMotorCtrlModule { uint8_t status; uint8_t io_state; // x_zero_io x_end_io int32_t x; - } debug_info_t; + } detailed_status_t; /******************************************************************************* * CFG * @@ -102,7 +102,7 @@ class I_StepMotorCtrlModule { virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(debug_info_t& debug_info) = 0; + virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_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; diff --git a/api/i_xyrobot_ctrl_module.hpp b/api/i_xyrobot_ctrl_module.hpp index 2a77968..890383a 100644 --- a/api/i_xyrobot_ctrl_module.hpp +++ b/api/i_xyrobot_ctrl_module.hpp @@ -58,7 +58,7 @@ class I_XYRobotCtrlModule { int32_t x; int32_t y; u8 iostate; // x_zero_io y_zero_io - } debug_info_t; + } detailed_status_t; /******************************************************************************* * CFG * @@ -107,7 +107,7 @@ class I_XYRobotCtrlModule { virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(debug_info_t& debug_info) = 0; + virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_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; diff --git a/zcancmder_protocol.hpp b/zcancmder_protocol.hpp index 2fba8e7..171c531 100644 --- a/zcancmder_protocol.hpp +++ b/zcancmder_protocol.hpp @@ -34,7 +34,7 @@ typedef enum { kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息 kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息 - kcmd_xy_robot_ctrl_read_debug_info = CMDID(1006, 52), // 读取模块详细状态信息 + kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息 kcmd_xy_robot_ctrl_set_run_param = CMDID(1006, 100), // 设置运行参数 kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101), // 设置控制限制参数 @@ -54,7 +54,7 @@ typedef enum { kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息 kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息 - kcmd_step_motor_ctrl_read_debug_info = CMDID(1007, 52), // 读取模块详细状态信息 + kcmd_step_motor_ctrl_read_detailed_status = CMDID(1007, 52), // 读取模块详细状态信息 kcmd_step_motor_ctrl_set_run_param = CMDID(1007, 100), // 设置运行参数 kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101), // 设置警告限制参数 @@ -74,7 +74,7 @@ typedef enum { kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息 kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息 - kcmd_mini_servo_ctrl_read_debug_info = CMDID(1008, 52), // 读取模块详细状态信息 + kcmd_mini_servo_ctrl_read_detailed_status = CMDID(1008, 52), // 读取模块详细状态信息 kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100), kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101), @@ -102,7 +102,7 @@ typedef enum { kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息 kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息 - kcmd_heater_ctrl_module_read_debug_info = CMDID(1011, 52), // 读取模块详细状态信息 + kcmd_heater_ctrl_module_read_detailed_status = CMDID(1011, 52), // 读取模块详细状态信息 kcmd_heater_ctrl_module_set_run_param = CMDID(1011, 100), // 设置运行参数 kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101), // 设置限制参数 @@ -120,7 +120,7 @@ typedef enum { kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息 kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息 - kcmd_optical_barcode_reader_read_debug_info = CMDID(1012, 52), // 读取模块详细状态信息 + kcmd_optical_barcode_reader_read_detailed_status = CMDID(1012, 52), // 读取模块详细状态信息 kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数 kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101), // 设置限制参数 @@ -140,7 +140,7 @@ typedef enum { kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息 kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息 - kcmd_board_clamp_module_read_debug_info = CMDID(1013, 52), // 读取模块详细状态信息 + kcmd_board_clamp_module_read_detailed_status = CMDID(1013, 52), // 读取模块详细状态信息 kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数 kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101), // 设置限制参数 @@ -152,7 +152,7 @@ typedef enum { *******************************************************************************/ kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制 kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息 - kcmd_fan_module_fan_read_debug_info = CMDID(1014, 51), // 读取模块详细状态信息 + kcmd_fan_module_fan_read_detailed_status = CMDID(1014, 51), // 读取模块详细状态信息 // 串口透传 /******************************************************************************* @@ -181,7 +181,7 @@ typedef enum { kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息 kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息 - kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息 + kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息 kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数 kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数 @@ -221,7 +221,7 @@ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s // READ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::debug_info_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::detailed_status_t ack;)); // SET ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::run_param_t ack;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::warning_limit_param_t ack;)); @@ -242,7 +242,7 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u8 id; s32 speed; s3 // READ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::debug_info_t ack;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::detailed_status_t ack;)); // SET ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::run_param_t param;), ACK(u8 id; I_StepMotorCtrlModule::run_param_t ack;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_StepMotorCtrlModule::warning_limit_param_t ack;)); @@ -318,7 +318,7 @@ ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version, ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status, CMD(u8 id;), // ACK(u8 id; u8 status; s32 temperature;)); -ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_debug_info, +ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_detailed_status, CMD(u8 id;), // ACK(u8 id; u8 status; s32 temperature;)); ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param, @@ -360,7 +360,7 @@ ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version, ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];)); -ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_debug_info, +ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_detailed_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];)); ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_param, // @@ -407,7 +407,7 @@ ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version, ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];)); -ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_debug_info, +ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_detailed_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];)); ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_param, // @@ -429,7 +429,7 @@ ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl, ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 level;)); -ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info, +ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_detailed_status, CMD(u8 id;), // ACK(u8 id; u8 status; u8 level; int16_t fbcount;)); @@ -471,7 +471,7 @@ ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip, #if 0 kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息 - kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息 + kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息 kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数 kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数 @@ -484,7 +484,7 @@ ZPACKET_CMD_ACK(kcmd_pipette_module_read_version, ZPACKET_CMD_ACK(kcmd_pipette_module_read_status, CMD(u8 id;), // ACK(u8 id; u8 status; s32 pos[2];)); -ZPACKET_CMD_ACK(kcmd_pipette_module_read_debug_info, +ZPACKET_CMD_ACK(kcmd_pipette_module_read_detailed_status, CMD(u8 id;), // ACK(u8 id; u8 status; s32 pos[2]; s32 acc[2]; s32 speed[2];)); ZPACKET_CMD_ACK(kcmd_pipette_module_set_run_param,