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remove some code

master
zhaohe 2 years ago
parent
35ead127cc
commit
b03e0a12e3
5 changed files with 0 additions and 668 deletions
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  1. 49
      api/i_motor_laser_code_scanner.hpp
  2. 64
      api/i_pipette_module.hpp
  3. 114
      api/i_step_motor_ctrl_module.hpp
  4. 357
      zcancmder_protocol.hpp
  5. 84
      zcancmder_protocol_basic.hpp

49
api/i_motor_laser_code_scanner.hpp
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@ -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

64
api/i_pipette_module.hpp
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@ -1,64 +0,0 @@
#pragma once
#include <stdint.h>
#include <functional>
#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

114
api/i_step_motor_ctrl_module.hpp
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@ -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

357
zcancmder_protocol.hpp
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@ -1,357 +0,0 @@
#pragma once
#include <stdint.h>
#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

84
zcancmder_protocol_basic.hpp
View File

@ -1,84 +0,0 @@
#pragma once
#include <stdint.h>
#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<ordername##_##cmd##_t>(); \
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"
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