update

api/i_motor_laser_code_scanner.hpp

@@ -5,13 +5,43 @@ using namespace std;
 
 class I_MotorLaserCodeScanner {
  public:
-  //   virtual void
+#pragma pack(push, 1)
+  typedef struct {
+    int32_t each_scan_result_len;
+    int32_t scan_reult_nums;
+    uint8_t scan_result[];
+  } scan_result_t;
+#pragma pack(pop)
 
+ public:
+  /**
+   * @brief 启动扫码
+   *
+   * @param moveby_distance                  移动距离
+   * @param scan_interval_distance           每次扫描间隔距离
+   * @param each_sample_times                每次采样次数
+   * @param transmitting_tube_amplification  发光管放大倍数
+   * @param receiving_tube_amplification     接收管放大倍数
+   */
+  virtual int32_t start_scan(s32 moveby_distance,                  //
+                             s32 scan_interval_distance,           //
+                             s32 each_sample_times,                //
+                             s32 transmitting_tube_amplification,  //
+                             s32 receiving_tube_amplification,     //
+                             action_cb_status_t cb) = 0;
+  /**
+   * @brief 停止扫码
+   *
+   * @return int32_t
+   */
+  virtual int32_t stop_scan() = 0;
   /**
-   * push one clamp
+   * @brief 获取扫码结果
+   *
+   * @param result
+   * @return int32_t
    */
-  virtual void push_clamp(int32_t clamp_id, int32_t clamp_type, int32_t clamp_status, int32_t clamp_error_code) = 0;
-  
+  virtual int32_t get_scan_result(scan_result_t** result) = 0;
 };
 
 }  // namespace iflytop

zcancmder_protocol.hpp

@@ -111,27 +111,16 @@ typedef enum {
   kcmd_heater_ctrl_module_get_base_param = CMDID(1011, 101),  // 设置限制参数
 
   /*******************************************************************************
-   *                                 |Module_1012:光学模组扫码器                    *
+   *                                 |Module_1012:电机激光扫码器                   *
    *******************************************************************************/
-  kcmd_optical_barcode_reader_reset_pos           = CMDID(1012, 0),  // 复位
-  kcmd_optical_barcode_reader_start_scan          = CMDID(1012, 1),  // 开始扫码
-  kcmd_optical_barcode_reader_stop_scan           = CMDID(1012, 2),  // 停止扫码
-  kcmd_optical_barcode_reader_drop_reaction_plate = CMDID(1012, 3),  // 丢弃夹具
-
-  kcmd_optical_barcode_reader_read_status = CMDID(1012, 50),  // 读取模块状态信息
-
-  kcmd_optical_barcode_reader_set_base_param = CMDID(1012, 100),  // 设置运行参数
-  kcmd_optical_barcode_reader_get_base_param = CMDID(1012, 101),  // 读取运行参数
+  kcmd_motor_laser_code_scanner_scan            = CMDID(1012, 1),  // 开始扫码
+  kcmd_motor_laser_code_scanner_stop_scan       = CMDID(1012, 2),  // 停止扫码
+  kcmd_motor_laser_code_scanner_get_scan_result = CMDID(1012, 3),  // 获取扫码结果
 
   /*******************************************************************************
    *                                 |Module_1013:板夹仓                            *
    *******************************************************************************/
-  kcmd_reaction_plate_module_reset               = CMDID(1013, 0),  // 复位
-  kcmd_reaction_plate_module_push_plate_and_scan = CMDID(1013, 1),  // 推板
 
-  kcmd_reaction_plate_module_read_status    = CMDID(1013, 50),   // 读取模块状态信息
-  kcmd_reaction_plate_module_set_base_param = CMDID(1013, 100),  // 设置运行参数
-  kcmd_reaction_plate_module_get_base_param = CMDID(1013, 101),  // 读取运行参数
   // 风扇
   /*******************************************************************************
    *                                 |Module_1014:风扇                            *
@@ -289,9 +278,21 @@ ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
  *******************************************************************************/
 
 /*******************************************************************************
- *                         |Module_1012:光学模组扫码器                         *
+ *                         |Module_1012:电机激光扫码器                          *
  *******************************************************************************/
 
+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(u8 id;), REPORT(u8 id; int32_t exec_status;));
+ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u8 id;), ACK(u8 id;));
+ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u8 id; u8 sector_index; u8 sector_size;), ACK(u8 id; u8 packet[];));
+
 /*******************************************************************************
  *                             Module_1013:板夹仓                              *
  *******************************************************************************/