diff --git a/api/i_motor_laser_code_scanner.hpp b/api/i_motor_laser_code_scanner.hpp deleted file mode 100644 index 19f0305..0000000 --- a/api/i_motor_laser_code_scanner.hpp +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once -#include "basic_type.hpp" -namespace iflytop { -using namespace std; - -class I_MotorLaserCodeScanner { - public: -#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; - /** - * @brief 获取扫码结果 - * - * @param result - * @return int32_t - */ - virtual int32_t get_scan_result(u16 sector_index, u16 sector_size, zcancmder_read_ram_ack_t& ack) = 0; - - virtual ~I_MotorLaserCodeScanner() {} -}; - -} // namespace iflytop \ No newline at end of file diff --git a/api/i_pipette_module.hpp b/api/i_pipette_module.hpp deleted file mode 100644 index 5fccd40..0000000 --- a/api/i_pipette_module.hpp +++ /dev/null @@ -1,64 +0,0 @@ - -#pragma once -#include - -#include - -#include "basic_type.hpp" -#include "i_step_motor_ctrl_module.hpp" -// - -namespace iflytop { -using namespace std; -class I_PipetteModule { - public: -#pragma pack(1) - - ZSTRUCT(base_param_t, s16 pad;); - - typedef struct { - 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; - -#pragma pack() - - // ZSTRUCT(action_cb_status_t, u8 exec_status;); - - 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 zmotor_reset(action_cb_status_t status_cb) = 0; - virtual int32_t pipette_reset(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(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 * - *******************************************************************************/ - 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; - - virtual ~I_PipetteModule() {} -}; -} // namespace iflytop diff --git a/api/i_step_motor_ctrl_module.hpp b/api/i_step_motor_ctrl_module.hpp index 11ee972..a3540a1 100644 --- a/api/i_step_motor_ctrl_module.hpp +++ b/api/i_step_motor_ctrl_module.hpp @@ -10,120 +10,6 @@ namespace iflytop { using namespace std; class I_StepMotorCtrlModule { public: - typedef enum { hbot, corexy } RobotType_t; - typedef enum { kNormalStop, kBreakStop } StopType_t; - /******************************************************************************* - * ACTION * - *******************************************************************************/ -#pragma pack(1) - /******************************************************************************* - * READ * - *******************************************************************************/ - typedef struct { - int32_t version; - } version_t; - - typedef struct { - uint8_t status; - uint8_t io_state; // x_zero_io x_end_io - int32_t x; - } status_t; - - typedef struct { - uint8_t status; - uint8_t io_state; // x_zero_io x_end_io - int32_t x; - int32_t last_exec_status; - } detailed_status_t; - - /******************************************************************************* - * CFG * - *******************************************************************************/ - - typedef struct { - s32 motor_shaft; - s32 motor_one_circle_pulse; // - s32 motor_one_circle_pulse_denominator; // - s32 stepmotor_ihold; - s32 stepmotor_irun; - s32 stepmotor_iholddelay; - - s32 motor_default_acc; - s32 motor_default_dec; - s32 motor_default_velocity; - s32 min_d; - s32 max_d; - // - s32 motor_shift; - - s32 motor_run_to_zero_max_d; - s32 motor_run_to_zero_speed; - s32 motor_run_to_zero_dec; - - s32 motor_look_zero_edge_max_d; - s32 motor_look_zero_edge_speed; - s32 motor_look_zero_edge_dec; - } base_param_t; - - typedef struct { - u8 index; - s32 acc; - s32 dec; - s32 velocity; - s32 x; - } logic_point_t; - - typedef struct { - bool configInited; - base_param_t base_param; - logic_point_t logic_point[5]; - } flash_config_t; - -#pragma pack() - - public: - virtual bool isbusy() = 0; - virtual int32_t get_last_exec_status() = 0; - - virtual int32_t move_to(int32_t x, action_cb_status_t status_cb) = 0; - virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb) = 0; - virtual int32_t move_to(int32_t x, int32_t velocity, action_cb_status_t status_cb) = 0; - virtual int32_t move_by(int32_t dx, int32_t velocity, action_cb_status_t status_cb) = 0; - - virtual int32_t move_to_zero(action_cb_status_t status_cb) = 0; - virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb) = 0; - virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) = 0; - virtual int32_t enable(bool venable) = 0; - virtual int32_t stop(uint8_t stopType) = 0; - virtual int32_t force_change_current_pos(int32_t x) = 0; - - virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb) = 0; - virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) = 0; - virtual int32_t get_logic_point(int logic_point_num, logic_point_t& logic_point) = 0; - - virtual int32_t flush() = 0; - virtual int32_t factory_reset() = 0; - - virtual int32_t move_to_block(int32_t tox, int overtime = 0) = 0; - virtual int32_t move_by_block(int32_t dx, int overtime = 0) = 0; - virtual int32_t move_to_block(int32_t tox, int32_t velocity, int overtime = 0) = 0; - virtual int32_t move_by_block(int32_t dx, int32_t velocity, int overtime = 0) = 0; - virtual int32_t move_to_zero_block(int overtime = 0) = 0; - virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime = 0) = 0; - - virtual int32_t read_version(version_t& version) = 0; - virtual int32_t read_status(status_t& status) = 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() = 0; - - virtual bool read_zero_io_state() = 0; - - virtual int32_t set_base_param(const base_param_t& param) = 0; - virtual int32_t get_base_param(base_param_t& param) = 0; - - ~I_StepMotorCtrlModule() {} }; } // namespace iflytop \ No newline at end of file diff --git a/zcancmder_protocol.hpp b/zcancmder_protocol.hpp deleted file mode 100644 index 751ab5d..0000000 --- a/zcancmder_protocol.hpp +++ /dev/null @@ -1,357 +0,0 @@ -#pragma once -#include -#if 0 - -#include "api/basic_type.hpp" -#include "api/i_eeprom.hpp" -#include "api/i_mini_servo_module.hpp" -#include "api/i_pipette_module.hpp" -#include "api/i_step_motor_ctrl_module.hpp" -#include "api/i_xyrobot_ctrl_module.hpp" -#include "zcancmder_protocol_basic.hpp" -namespace iflytop { -namespace zcr { - -typedef enum { - kcmd_ping = CMDID(0, 0), - kcmd_read_io = CMDID(1, 0), - kcmd_set_io = CMDID(2, 0), - kcmd_readadc_raw = CMDID(3, 0), - - kcmd_m211887_operation = CMDID(1000, 0), // 维萨拉臭氧传感器 - kcmd_read_presure_sensor = CMDID(1001, 0), // 压力传感器 - kcmd_triple_warning_light_ctl = CMDID(1002, 0), // 三色警示灯控制 - kcmd_high_power_electrical_ctl = CMDID(1003, 0), // 大功率电源控制 - kcmd_peristaltic_pump_ctl = CMDID(1004, 0), // 液泵控制 - kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0), // 华诚压力传感器 - - /******************************************************************************* - * |Module_1006:XYRobot机器人控制模组 * - *******************************************************************************/ - kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能 - kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止 - kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零 - kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定 - kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置 - kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离 - kcmd_xy_robot_ctrl_force_change_current_pos = CMDID(1006, 6), // 强制修改当前位置 - kcmd_xy_robot_ctrl_move_by_no_limit = CMDID(1006, 7), // 机器人相对移动，没有限制 - // kcmd_xy_robot_ctrl_read_pos_by_move2zero = CMDID(1006, 8), // 机器人先执行归零动作，然后读取位置偏差，计算出来时候的坐标，然后再移动回一开始的位置。 - - 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_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息 - // kcmd_xy_robot_ctrl_read_read_pos_by_move2zero_exec_state = CMDID(1006, 53), // 机器人先执行归零动作，然后读取位置偏差，计算出来时候的坐标，然后再移动回一开始的位置。 - - kcmd_xy_robot_ctrl_set_base_param = CMDID(1006, 100), // 设置运行参数 - kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101), // 设置运行参数 - kcmd_xy_robot_ctrl_flush = CMDID(1006, 110), // 存储参数到flash中 - kcmd_xy_robot_ctrl_factory_reset = CMDID(1006, 111), // 恢复出厂设置 - // kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101), // 设置控制限制参数 - // kcmd_xy_robot_ctrl_set_run_to_zero_param = CMDID(1006, 102), // 设置归零参数 - - /******************************************************************************* - * |Module_1007:步进电机控制模组 * - *******************************************************************************/ - kcmd_step_motor_ctrl_enable = CMDID(1007, 0), // 使能 - kcmd_step_motor_ctrl_stop = CMDID(1007, 1), // 停止 - kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2), // 回零 - kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3), // 回零并校准 - kcmd_step_motor_ctrl_move_to = CMDID(1007, 4), // 移动到 - kcmd_step_motor_ctrl_move_by = CMDID(1007, 5), // 相对移动 - kcmd_step_motor_ctrl_force_change_current_pos = CMDID(1007, 6), // 相对移动 - kcmd_step_motor_ctrl_rotate = CMDID(1007, 7), // 相对移动 - kcmd_step_motor_ctrl_move_to_logic_point = CMDID(1007, 8), // 移动到逻辑点 - - 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_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_logic_point = CMDID(1007, 102), // 设置逻辑点 - kcmd_step_motor_ctrl_get_logic_point = CMDID(1007, 103), // 读取逻辑点 - kcmd_step_motor_ctrl_flush = CMDID(1007, 110), // 存储参数到flash中 - kcmd_step_motor_ctrl_factory_reset = CMDID(1007, 111), // 恢复出厂设置 - - /******************************************************************************* - * |Module_1008:舵机 * - *******************************************************************************/ - kcmd_mini_servo_ctrl_enable = CMDID(1008, 0), // 使能 - kcmd_mini_servo_ctrl_stop = CMDID(1008, 1), // 停止 - kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2), // 校准 - kcmd_mini_servo_ctrl_rotate = CMDID(1008, 3), // 速度模式 - kcmd_mini_servo_ctrl_move_to = CMDID(1008, 4), // 位置模式舵机 - kcmd_mini_servo_ctrl_move_by = CMDID(1008, 5), // 位置模式舵机 - kcmd_mini_servo_ctrl_run_with_torque = CMDID(1008, 6), // 开环扭矩模式 - kcmd_mini_servo_ctrl_move_by_nolimit = CMDID(1008, 7), // 相对移动,位置模式无限制,移动不受最大位置和最小位置限制，但无法读取到当前位置 - - 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_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), - kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 102), - kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 103), - kcmd_mini_servo_ctrl_set_basic_param = CMDID(1008, 104), - kcmd_mini_servo_ctrl_get_basic_param = CMDID(1008, 105), - - /******************************************************************************* - * |Module_1009:EEPROM * - *******************************************************************************/ - kcmd_eeprom_start_monitor_status = CMDID(1009, 0), // 监控EEPROM状态 - kcmd_eeprom_stop_monitor_status = CMDID(1009, 1), // 停止监控EEPROM状态 - kcmd_eeprom_read_block = CMDID(1009, 2), // 读取EEPROM - kcmd_eeprom_write_block = CMDID(1009, 3), // 写入EEPROM - - /******************************************************************************* - * |Module_1010:扫码器 * - *******************************************************************************/ - kcmd_barcode_reader_start_scan = CMDID(1010, 0), // 读取扫码器 - kcmd_barcode_reader_stop_scan = CMDID(1010, 1), // 停止读取扫码器 - - /******************************************************************************* - * |Module_1011:帕尔贴-水泵-风扇控温系统 * - *******************************************************************************/ - // 设置目标温度 - kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0), // 设置目标温度 - kcmd_heater_ctrl_module_stop_temperature = CMDID(1011, 1), // 读取停止温度 - - kcmd_heater_ctrl_module_read_status = CMDID(1011, 50), // 读取模块精简状态信息 - kcmd_heater_ctrl_module_read_detail_status = CMDID(1011, 50), // 读取模块精简状态信息 - - kcmd_heater_ctrl_module_set_base_param = CMDID(1011, 100), // 设置运行参数 - kcmd_heater_ctrl_module_get_base_param = CMDID(1011, 101), // 设置限制参数 - - /******************************************************************************* - * |Module_1012:电机激光扫码器 * - *******************************************************************************/ - 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 * - *******************************************************************************/ - - // 风扇 - /******************************************************************************* - * |Module_1014:风扇 * - *******************************************************************************/ - 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 -#if 0 - // 串口透传 - /******************************************************************************* - * |Module_1015:串口透传 * - *******************************************************************************/ - kcmd_serial_module_send_data = CMDID(1015, 0), // 串口透传发送数据 - kcmd_serial_module_start_read_data = CMDID(1015, 1), // 串口透传读取数据 - kcmd_serial_module_start_stop_data = CMDID(1015, 2), // 串口透传停止读取数据 - 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 -#endif - - // 移液枪控制 - /******************************************************************************* - * |Module_1016:移液枪控制 * - *******************************************************************************/ - kcmd_pipette_module_enable = CMDID(1016, 0), // 使能 - kcmd_pipette_module_stop = CMDID(1016, 1), // 停止 - - kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2), // 回零并校准 - - 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 - - kcmd_pipette_module_take_tip = CMDID(1016, 5), // 取tip - kcmd_pipette_module_remove_tip = CMDID(1016, 6), // 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_get_status = CMDID(1016, 50), // 读取模块精简状态信息 - - 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; - -#pragma pack(push, 1) - -ZPACKET_CMD_ACK(kcmd_ping, // - CMD(u8 boardid;), // - ACK(u8 boardid;)); - -ZPACKET_CMD_ACK(kcmd_read_io, // - CMD(u8 ioid;), // - ACK(u8 ioid; u8 val;)); - -ZPACKET_CMD_ACK(kcmd_set_io, // - CMD(u8 ioid; u8 val;), // - ACK(u8 ioid; u8 val;)); - -ZPACKET_CMD_ACK(kcmd_readadc_raw, // - CMD(u8 sensorid;), // - ACK(u8 sensorid; s32 val;)); - -/******************************************************************************* - * |Module_1006:XYRobot机器人控制模组 * - *******************************************************************************/ -// ACTION -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_AND_REPORT(kcmd_xy_robot_ctrl_move_by_no_limit, 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 -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 -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_flush, CMD(u16 id;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_factory_reset, CMD(u16 id;), ACK(u8 pad;)); - -// 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 * - *******************************************************************************/ - -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 x;), 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;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_logic_point, CMD(u16 id; u8 logic_point_num;), ACK(u8 pad;), REPORT(int32_t exec_status;)); -// READ -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 -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; 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;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_logic_point, CMD(u16 id; u8 index; s32 acc; s32 dec; s32 velocity; s32 x;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_logic_point, CMD(u16 id; u8 logic_point_num;), ACK(I_StepMotorCtrlModule::logic_point_t ack;)); - -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_flush, CMD(u16 id;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_factory_reset, CMD(u16 id;), ACK(u8 pad;)); - -/******************************************************************************* - * |Module_1008:舵机 * - *******************************************************************************/ -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(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(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_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_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::basic_param_t ack;)); - - -/******************************************************************************* - * |Module_1009:EEPROM * - *******************************************************************************/ -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, - CMD(u16 id; u16 sector_index; u16 sector_size;), // - ACK(zcancmder_read_ram_ack_t ack;)); - -/******************************************************************************* - * |Module_1010:扫码器 * - *******************************************************************************/ - -ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan, - CMD(u16 id;), // - ACK(u8 pad;), // - REPORT(u8 status; u16 barcodelen; u8 barcode[0];)); -ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan, - CMD(u16 id;), // - ACK(u8 pad;)); -/******************************************************************************* - * |Module_1011:帕尔贴-水泵-风扇控温系统 * - *******************************************************************************/ - -/******************************************************************************* - * |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 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_1014:风扇 * - *******************************************************************************/ -/******************************************************************************* - * |Module_1016:移液枪控制 * - *******************************************************************************/ - -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(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(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(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(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) - -} // namespace zcr -} // namespace iflytop -#endif \ No newline at end of file diff --git a/zcancmder_protocol_basic.hpp b/zcancmder_protocol_basic.hpp deleted file mode 100644 index 314b046..0000000 --- a/zcancmder_protocol_basic.hpp +++ /dev/null @@ -1,84 +0,0 @@ -#pragma once -#include -#if 0 -#define ZPACKET_STRUCT(ordername, type, ...) \ - typedef struct { \ - __VA_ARGS__ \ - } ordername##_##type##_t - -#define ZPACKET_CMD_ACK(ordername, cmdpara, ackpara) \ - typedef struct { \ - cmdpara \ - } ordername##_##cmd##_t; \ - typedef struct { \ - ackpara \ - } ordername##_##ack##_t - -#define ZPACKET_CMD_ACK_AND_REPORT(ordername, cmdpara, ackpara, reportpara) \ - typedef struct { \ - cmdpara \ - } ordername##_##cmd##_t; \ - typedef struct { \ - ackpara \ - } ordername##_##ack##_t; \ - typedef struct { \ - reportpara \ - } ordername##_##report##_t - -#define PROCESS_PACKET(ordername, varid) \ - if (rxcmd->iscmd(ordername)) { \ - auto* cmd = rxcmd->get_data_as(); \ - auto* ack = (ordername##_##ack##_t*)m_txbuf; \ - static_assert(sizeof(*ack) < sizeof(m_txbuf), "ack size too large"); \ - auto __attribute__((unused)) cmdheader = rxcmd->get_cmdheader(); \ - uint32_t errorcode = 0; \ - if (cmd->id == varid) { -#define PROCESS_REPORT(type) \ - auto* report = (type##_report_t*)m_txbuf; \ - static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large"); \ - ZLOGI(TAG, #type " exec_status:%d", status); \ - report->exec_status = status; \ - m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)report, sizeof(*report)); - -#define END_PROCESS_PACKET() \ - if (errorcode == 0) { \ - m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \ - } else { \ - m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), m_id, errorcode); \ - } \ - } \ - return; \ - } - -#define END_PP END_PROCESS_PACKET -#define CMD(x) x -#define ACK(x) x -#define REPORT(x) x -namespace iflytop { -namespace zcr { - -#pragma pack(push, 1) -typedef struct { - uint16_t packetindex; - uint16_t cmdid; - uint8_t cmdSubId; - uint8_t packetType; - uint8_t data[]; -} Cmdheader_t; -#pragma pack(pop) - -typedef enum { - kpt_cmd = 0, - kpt_ack = 1, - kpt_error_ack = 2, - kpt_cmd_exec_status_report = 3, - kpt_report = 4, -} PacketType_t; - - -} // namespace zcr -} // namespace iflytop -#endif - - -#include "sdk\components\zprotocols\zcancmder_v2\api\packet_interface.hpp" \ No newline at end of file