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update

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zhaohe 2 years ago
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d3a61bcf93
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59be09e6b8
2 changed files with 70 additions and 74 deletions
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  1. 142
      zcancmder_protocol.hpp
  2. 2
      zcancmder_protocol_basic.hpp

142
zcancmder_protocol.hpp
View File

@ -2,13 +2,12 @@
#include <stdint.h> #include <stdint.h>
#include "api/basic_type.hpp" #include "api/basic_type.hpp"
#include "api/i_eeprom.hpp"
#include "api/i_mini_servo_module.hpp" #include "api/i_mini_servo_module.hpp"
#include "api/i_pipette_module.hpp" #include "api/i_pipette_module.hpp"
#include "api/i_step_motor_ctrl_module.hpp" #include "api/i_step_motor_ctrl_module.hpp"
#include "api/i_xyrobot_ctrl_module.hpp" #include "api/i_xyrobot_ctrl_module.hpp"
#include "api/i_eeprom.hpp"
#include "zcancmder_protocol_basic.hpp" #include "zcancmder_protocol_basic.hpp"
namespace iflytop { namespace iflytop {
namespace zcr { namespace zcr {
@ -194,77 +193,76 @@ ZPACKET_CMD_ACK(kcmd_readadc_raw, //
* |Module_1006:XYRobot机器人控制模组 * * |Module_1006:XYRobot机器人控制模组 *
*******************************************************************************/ *******************************************************************************/
// ACTION // 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;));
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(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u8 pad;));
// READ // 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;));
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 // 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;));
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_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:步进电机控制模组 * * |Module_1007:步进电机控制模组 *
*******************************************************************************/ *******************************************************************************/
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;));
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 nowx; s32 nowy;), 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;));
// READ // 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;));
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 // 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;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; u8 opt_type; 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;));
/******************************************************************************* /*******************************************************************************
* |Module_1008:舵机 * * |Module_1008:舵机 *
*******************************************************************************/ *******************************************************************************/
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(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(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_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(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_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(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_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(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;));
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 * * |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_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, ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
CMD(u16 id; u16 sector_index; u16 sector_size;), // CMD(u16 id; u16 sector_index; u16 sector_size;), //
ACK(u16 id; zcancmder_read_ram_ack_t ack;));
ACK(zcancmder_read_ram_ack_t ack;));
/******************************************************************************* /*******************************************************************************
* |Module_1010:扫码器 * * |Module_1010:扫码器 *
@ -272,11 +270,11 @@ ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan, ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
CMD(u16 id;), // CMD(u16 id;), //
ACK(u16 id;), //
REPORT(u16 id; u8 status; u16 barcodelen; u8 barcode[0];));
ACK(u8 pad;), //
REPORT(u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan, ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
CMD(u16 id;), // CMD(u16 id;), //
ACK(u16 id;));
ACK(u8 pad;));
/******************************************************************************* /*******************************************************************************
* |Module_1011:帕尔贴-水泵-风扇控温系统 * * |Module_1011:帕尔贴-水泵-风扇控温系统 *
*******************************************************************************/ *******************************************************************************/
@ -293,9 +291,9 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan,
s32 transmitting_tube_amplification; // 0.001 s32 transmitting_tube_amplification; // 0.001
s32 receiving_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;));
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:板夹仓 * * Module_1013:板夹仓 *
@ -308,26 +306,26 @@ ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u16 id; u16 s
* |Module_1016:移液枪控制 * * |Module_1016:移液枪控制 *
*******************************************************************************/ *******************************************************************************/
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(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(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_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(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_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(u16 id; I_PipetteModule::status_t ack;));
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(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;));
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) #pragma pack(pop)

2
zcancmder_protocol_basic.hpp
View File

@ -33,14 +33,12 @@
auto __attribute__((unused)) cmdheader = rxcmd->get_cmdheader(); \ auto __attribute__((unused)) cmdheader = rxcmd->get_cmdheader(); \
uint32_t errorcode = 0; \ uint32_t errorcode = 0; \
if (cmd->id == varid) { \ if (cmd->id == varid) { \
ack->id = cmd->id;
#define PROCESS_REPORT(type) \ #define PROCESS_REPORT(type) \
zlock_guard l(m_lock); \ zlock_guard l(m_lock); \
auto* report = (type##_report_t*)m_txbuf; \ auto* report = (type##_report_t*)m_txbuf; \
static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large"); \ static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large"); \
ZLOGI(TAG, #type " exec_status:%d", status); \ ZLOGI(TAG, #type " exec_status:%d", status); \
report->id = m_id; \
report->exec_status = status; \ report->exec_status = status; \
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)report, sizeof(*report)); m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)report, sizeof(*report));

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