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zhaohe 2 years ago
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b59413a0e5
2 changed files with 41 additions and 157 deletions
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  1. 17
      api/i_motor_laser_code_scanner.hpp
  2. 177
      zcancmder_protocol.hpp

17
api/i_motor_laser_code_scanner.hpp
View File

@ -0,0 +1,17 @@
#pragma once
#include "basic_type.hpp"
namespace iflytop {
using namespace std;
class I_MotorLaserCodeScanner {
public:
// virtual void
/**
* push one clamp
*/
virtual void push_clamp(int32_t clamp_id, int32_t clamp_type, int32_t clamp_status, int32_t clamp_error_code) = 0;
};
} // namespace iflytop

177
zcancmder_protocol.hpp
View File

@ -3,9 +3,9 @@
#include "api/basic_type.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 "api/i_pipette_module.hpp"
#include "zcancmder_protocol_basic.hpp"
namespace iflytop {
namespace zcr {
@ -102,62 +102,43 @@ typedef enum {
*******************************************************************************/
// 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_read_stop_temperature = CMDID(1011, 1), // 读取停止温度
kcmd_heater_ctrl_module_stop_temperature = CMDID(1011, 1), // 读取停止温度
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
kcmd_heater_ctrl_module_read_detailed_status = CMDID(1011, 52), // 读取模块详细状态信息
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_run_param = CMDID(1011, 100), // 设置运行参数
kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101), // 设置限制参数
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:光学模组扫码器 *
*******************************************************************************/
kcmd_optical_barcode_reader_start_scan = CMDID(1012, 0), // 开始扫码
kcmd_optical_barcode_reader_stop_scan = CMDID(1012, 1), // 停止扫码
kcmd_optical_barcode_reader_motor_move_to = CMDID(1012, 4), // 水平电机移动到
kcmd_optical_barcode_reader_motor_move_to_zero = CMDID(1012, 6), // 电机校准
kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate = CMDID(1012, 7), // 电机校准
kcmd_optical_barcode_reader_motor_stop = CMDID(1012, 8), // 电机停止
kcmd_optical_barcode_reader_motor_enable = CMDID(1012, 9), // 电机使能
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
kcmd_optical_barcode_reader_read_detailed_status = CMDID(1012, 52), // 读取模块详细状态信息
kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数
kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101), // 设置限制参数
kcmd_optical_barcode_reader_set_run_to_zero_param = CMDID(1012, 102), // 设置归零参数
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
/*******************************************************************************
* |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_board_clamp_module_push_and_scan = CMDID(1013, 0), // 推出反应板并扫码
kcmd_board_clamp_module_moter_move_to = CMDID(1013, 1), // 电机移动到
kcmd_board_clamp_module_moter_move_by = CMDID(1013, 2), // 电机移动到
kcmd_board_clamp_module_moter_move_to_zero = CMDID(1013, 3), // 电机归零
kcmd_board_clamp_module_moter_move_to_zero_with_calibrate = CMDID(1013, 4), // 电机归零并校准
kcmd_board_clamp_module_moter_stop = CMDID(1013, 5), // 电机停止
kcmd_board_clamp_module_moter_enable = CMDID(1013, 6), // 电机使能
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
kcmd_board_clamp_module_read_detailed_status = CMDID(1013, 52), // 读取模块详细状态信息
kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数
kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101), // 设置限制参数
kcmd_board_clamp_module_set_run_to_zero_param = CMDID(1013, 102), // 设置归零参数
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 *
*******************************************************************************/
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
kcmd_fan_module_fan_read_detailed_status = CMDID(1014, 51), // 读取模块详细状态信息
#if 0
// 串口透传
/*******************************************************************************
* |Module_1015:串口透传 *
@ -167,6 +148,7 @@ typedef enum {
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
/*******************************************************************************
@ -305,133 +287,18 @@ ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
/*******************************************************************************
* |Module_1011:帕尔贴-水泵-风扇控温系统 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_start_ctrl_temperature,
CMD(u8 id; s32 target_temperature;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_stop_temperature,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version,
CMD(u8 id;), //
ACK(u8 id; uint32_t version;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param,
CMD(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;), //
ACK(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_warning_limit_param,
CMD(u8 id; u8 opt_type;), //
ACK(u8 id; u8 opt_type;));
/*******************************************************************************
* |Module_1012:光学模组扫码器 *
*******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_start_scan,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u16 codelen; u16 code[0];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_stop_scan,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_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_optical_barcode_reader_motor_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_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_optical_barcode_reader_motor_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_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_optical_barcode_reader_set_warning_limit_param,
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_to_zero_param,
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
/*******************************************************************************
* Module_1013:板夹仓 *
*******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_push_and_scan,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_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_board_clamp_module_moter_move_by,
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_board_clamp_module_moter_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_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_board_clamp_module_moter_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_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_board_clamp_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_board_clamp_module_set_run_to_zero_param,
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
/*******************************************************************************
* |Module_1014:风扇 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl,
CMD(u8 id; u8 level;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level; int16_t fbcount;));
/*******************************************************************************
* |Module_1016:移液枪控制 *
*******************************************************************************/

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