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zhaohe 2 years ago
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3 changed files with 42 additions and 106 deletions
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  1. 4
      api/i_pipette_module.hpp
  2. 136
      zcancmder_protocol.hpp
  3. 8
      zcancmder_protocol_basic.hpp

4
api/i_pipette_module.hpp
View File

@ -43,8 +43,8 @@ class I_PipetteModule {
virtual int32_t move_to(s16 vel, s16 height_mm, action_cb_status_t status_cb) = 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 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;
virtual int32_t shake(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) = 0;
virtual int32_t pipette_move_to_ul(s16 take_volume_mm, action_cb_status_t status_cb) = 0;
/******************************************************************************* /*******************************************************************************
* ReadStatus * * ReadStatus *

136
zcancmder_protocol.hpp
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@ -5,6 +5,7 @@
#include "api/i_mini_servo_module.hpp" #include "api/i_mini_servo_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_pipette_module.hpp"
#include "zcancmder_protocol_basic.hpp" #include "zcancmder_protocol_basic.hpp"
namespace iflytop { namespace iflytop {
namespace zcr { namespace zcr {
@ -167,69 +168,32 @@ typedef enum {
kcmd_serial_module_read_status = CMDID(1015, 50), // 读取模块状态信息 kcmd_serial_module_read_status = CMDID(1015, 50), // 读取模块状态信息
kcmd_serial_module_set_cfg = CMDID(1015, 100), // 串口透传设置配置 kcmd_serial_module_set_cfg = CMDID(1015, 100), // 串口透传设置配置
// 移液枪控制
/*******************************************************************************
* |Module_1016:移液枪控制 *
*******************************************************************************/
#if 0
virtual int32_t enable(u8 enable) = 0;
virtual int32_t stop(u8 stop_type) = 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 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 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;
// 移液枪控制
/******************************************************************************* /*******************************************************************************
* SETTING *
* |Module_1016:移液枪控制 *
*******************************************************************************/ *******************************************************************************/
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;
#endif
kcmd_pipette_module_enable = CMDID(1016, 0), // 使能 kcmd_pipette_module_enable = CMDID(1016, 0), // 使能
kcmd_pipette_module_stop = CMDID(1016, 1), // 停止 kcmd_pipette_module_stop = CMDID(1016, 1), // 停止
kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2), // 回零并校准 kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2), // 回零并校准
kcmd_barcode_reader_reset_device = CMDID(1016, 3), // 重置设备,归零,并弹出tip头
kcmd_pipeete_module_zmotor_reset = CMDID(1016, 3), // Z轴复位
kcmd_pipeete_module_pipette_reset = CMDID(1016, 4), // 移液枪复位
#if 0
kcmd_pipette_module_z_motor_enable = CMDID(1016, 0), // 使能
kcmd_pipette_module_z_motor_move_to = CMDID(1016, 1), // 移动到
kcmd_pipette_module_z_motor_move_to_zero = CMDID(1016, 2), // 归零
kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3), // 归零并校准
kcmd_pipette_module_z_motor_stop = CMDID(1016, 4), // 停止
kcmd_pipette_module_take_tip = CMDID(1016, 5), // 取tip
kcmd_pipette_module_remove_tip = CMDID(1016, 6), // 移除tip
kcmd_pipette_module_take_liquid = CMDID(1016, 4), // 取液体
kcmd_pipette_module_split_liquid = CMDID(1016, 5), // 吐液体
kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
kcmd_pipette_module_move_to = CMDID(1016, 7), // 移动到
kcmd_pipette_module_move_to_with_lld = CMDID(1016, 8), // 移动到
kcmd_pipette_module_shake = CMDID(1016, 9), // 吸吐摇匀
kcmd_pipette_module_pipette_move_to_ul = CMDID(1016, 10), // 取液
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_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_get_status = CMDID(1016, 50), // 读取模块精简状态信息
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
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
#endif
kcmd_pipette_module_set_z_motor_para = CMDID(1016, 100), // 设置Z轴电机参数
kcmd_pipette_module_get_z_motor_para = CMDID(1016, 101), // 读取Z轴电机参数
kcmd_pipette_module_set_base_param = CMDID(1016, 102), // 设置运行参数
kcmd_pipette_module_get_base_param = CMDID(1016, 103), // 读取运行参数
} CmdID_t; } CmdID_t;
@ -472,62 +436,26 @@ ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_detailed_status,
* |Module_1016:移液枪控制 * * |Module_1016:移液枪控制 *
*******************************************************************************/ *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to,
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero_with_calibrate,
CMD(u8 id; u8 motor_id; s32 now_pos;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u8 id; u8 enable;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_pipette_module_take_liquid,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_split_liquid,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_take_tip,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u8 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
#if 0
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to_with_lld, CMD(u8 id; s16 vel; s16 lld_cap_thr; s16 lld_max_hight_mm; s16 lld_rela_hight_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u8 id; s16 shake_times; s16 shake_volume;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u8 id; s16 take_volume_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
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
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
#endif
ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u8 id;), ACK(u8 id; I_PipetteModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_version,
CMD(u8 id;), //
ACK(u8 id;));
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_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,
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_warning_limit_param,
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u8 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::base_param_t ack;));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u8 id; I_PipetteModule::base_param_t param;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u8 id;), ACK(u8 id; I_PipetteModule::base_param_t ack;));
#pragma pack(pop) #pragma pack(pop)

8
zcancmder_protocol_basic.hpp
View File

@ -34,6 +34,14 @@
if (cmd->id == varid) { \ if (cmd->id == varid) { \
ack->id = cmd->id; ack->id = cmd->id;
#define PROCESS_REPORT(type) \
osDelay(5); \
type##_report_t report = {0}; \
ZLOGI(TAG, #type " exec_status:%d", status); \
report.id = m_id; \
report.exec_status = status; \
m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
#define END_PROCESS_PACKET() \ #define END_PROCESS_PACKET() \
if (errorcode == 0) { \ if (errorcode == 0) { \
m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \ m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \

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