zprotocols
/
zcancmder
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
6eecdd008e
commit
25c741a63c
4 changed files with 46 additions and 28 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 22
      api/i_mini_servo_module.hpp
  2. 35
      api/i_pipette_module.hpp
  3. 3
      api/i_step_motor_ctrl_module.hpp
  4. 14
      zcancmder_protocol.hpp

22
api/i_mini_servo_module.hpp
View File

@ -12,30 +12,32 @@ class I_MiniServoModule {
public: public:
typedef enum { kNormalStop, kBreakStop } StopType_t; typedef enum { kNormalStop, kBreakStop } StopType_t;
#pragma pack(1) #pragma pack(1)
#if 0
typedef struct { typedef struct {
u8 exec_status;
s32 exec_status;
s32 has_run_time; s32 has_run_time;
} rotate_cb_status_t; } rotate_cb_status_t;
typedef struct { typedef struct {
u8 exec_status;
s32 exec_status;
s32 pos; s32 pos;
} move_to_cb_status_t; } move_to_cb_status_t;
typedef struct { typedef struct {
u8 exec_status;
s32 exec_status;
s32 dpos; s32 dpos;
} move_by_cb_status_t; } move_by_cb_status_t;
typedef struct { typedef struct {
u8 exec_status;
s32 exec_status;
s32 has_run_time; s32 has_run_time;
} run_with_torque_cb_status_t; } run_with_torque_cb_status_t;
typedef struct { typedef struct {
u8 exec_status;
s32 exec_status;
s32 pos; s32 pos;
} move_by_nolimit_cb_status_t; } move_by_nolimit_cb_status_t;
#endif
/******************************************************************************* /*******************************************************************************
* READ * * READ *
@ -94,11 +96,11 @@ class I_MiniServoModule {
virtual int32_t stop(u8 stop_type) = 0; virtual int32_t stop(u8 stop_type) = 0;
virtual int32_t position_calibrate(s32 calibrate_pos) = 0; virtual int32_t position_calibrate(s32 calibrate_pos) = 0;
virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb) = 0;
virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> status_cb) = 0;
virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, action_cb_status_t status_cb) = 0;
virtual int32_t move_to(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) = 0;
virtual int32_t move_by(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) = 0;
virtual int32_t run_with_torque(s32 torque, s32 run_time, action_cb_status_t status_cb) = 0;
virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) = 0;
virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 0; virtual int32_t read_status(status_t& status) = 0;

35
api/i_pipette_module.hpp
View File

@ -13,13 +13,15 @@ class I_PipetteModule {
public: public:
#pragma pack(1) #pragma pack(1)
ZSTRUCT(base_param_t, int16_t pad;);
ZSTRUCT(base_param_t, s16 pad;);
typedef struct { typedef struct {
uint8_t status; // 设备状态
uint8_t io_state; // IO0:z_zero_io/IO1:hastip/
int16_t zpos_mm; // z轴位置
int16_t pipette_ul; // 移液枪液量
u8 status; // 模块状态
u8 pipette_gun_status; // 移液枪状态
u8 io_state; // IO0:z_zero_io
u8 has_tip; // 是否有tip
s16 zpos_mm; // z轴位置，如果有tip,则自动加上tip高度
s16 pipette_ul; // 移液枪液量
} status_t; } status_t;
#pragma pack() #pragma pack()
@ -32,14 +34,25 @@ class I_PipetteModule {
virtual int32_t zero_pos_calibrate(action_cb_status_t status_cb) = 0; virtual int32_t zero_pos_calibrate(action_cb_status_t status_cb) = 0;
virtual int32_t reset_device(action_cb_status_t status_cb) = 0; virtual int32_t reset_device(action_cb_status_t status_cb) = 0;
virtual int32_t take_tip(action_cb_status_t status_cb) = 0;
virtual int32_t remove_tip(action_cb_status_t status_cb) = 0;
// 取液(平台参数，试管参数, 取样体积，取样高度，摇匀次数，摇匀体积)
virtual int32_t take_and_split_liquid(u8 tube_id, s16 liquid_volume, s16 zhight, s16 abs_zhight, s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) = 0;
virtual int32_t take_tip(s16 vel, s16 height_mm, s16 tip_hight_mm, action_cb_status_t status_cb) = 0;
virtual int32_t remove_tip(s16 vel, s16 height_mm, action_cb_status_t status_cb) = 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 int32_t move_to(s16 vel, s16 height_mm, action_cb_status_t status_cb) = 0;
virtual int32_t move_to_with_lld(s16 vel, s16 lld_cap_thr, s16 lld_max_hight_mm, s16 lld_rela_hight_mm, action_cb_status_t status_cb) = 0;
virtual int32_t shake_volume(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) = 0;
virtual int32_t take_and_split_liquid(s16 take_volume_mm, action_cb_status_t status_cb) = 0;
/*******************************************************************************
* ReadStatus *
*******************************************************************************/
virtual int32_t get_status(status_t &status) = 0; virtual int32_t get_status(status_t &status) = 0;
/*******************************************************************************
* SETTING *
*******************************************************************************/
virtual int32_t set_z_motor_para(const I_StepMotorCtrlModule::base_param_t &z_motor_param) = 0;
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;
}; };
} // namespace iflytop } // namespace iflytop

3
api/i_step_motor_ctrl_module.hpp
View File

@ -90,6 +90,9 @@ class I_StepMotorCtrlModule {
virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0; virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
virtual int32_t read_pos(int32_t& pos) = 0; virtual int32_t read_pos(int32_t& pos) = 0;
virtual int32_t read_pos() = 0;
virtual bool read_zero_io_state() = 0;
virtual int32_t set_base_param(const base_param_t& param) = 0; virtual int32_t set_base_param(const base_param_t& param) = 0;
virtual int32_t get_base_param(base_param_t& param) = 0; virtual int32_t get_base_param(base_param_t& param) = 0;

14
zcancmder_protocol.hpp
View File

@ -57,8 +57,8 @@ typedef enum {
kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息 kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
kcmd_step_motor_ctrl_read_detailed_status = 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_base_param = CMDID(1007, 100), // 设置运行参数
kcmd_step_motor_ctrl_get_base_param = CMDID(1007, 101), // 设置运行参数
kcmd_step_motor_ctrl_set_base_param = CMDID(1007, 100), // 设置运行参数
kcmd_step_motor_ctrl_get_base_param = CMDID(1007, 101), // 设置运行参数
/******************************************************************************* /*******************************************************************************
* |Module_1008:舵机 * * |Module_1008:舵机 *
@ -256,11 +256,11 @@ ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;)
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 id;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u8 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::rotate_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_to_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u8 id; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::run_with_torque_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_nolimit_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u8 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u8 id; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;));

Write Preview
Loading…
Cancel
Save