From f051569d8988645cdb1ffd5429a3b72629df6020 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 29 Sep 2023 14:44:06 +0800 Subject: [PATCH] update --- api/basic_type.hpp | 33 +++ api/i_xyrobot_ctrl_module.hpp | 112 +++++++++ zcancmder_protocol.hpp | 523 ++++++++++++++++++++++++++++++++++++++++++ zcancmder_protocol_basic.hpp | 74 ++++++ 4 files changed, 742 insertions(+) create mode 100644 api/basic_type.hpp create mode 100644 api/i_xyrobot_ctrl_module.hpp create mode 100644 zcancmder_protocol.hpp create mode 100644 zcancmder_protocol_basic.hpp diff --git a/api/basic_type.hpp b/api/basic_type.hpp new file mode 100644 index 0000000..423dfd5 --- /dev/null +++ b/api/basic_type.hpp @@ -0,0 +1,33 @@ +#pragma once +#include +namespace iflytop { +typedef uint8_t u8; +typedef uint16_t u16; +typedef uint32_t u32; +typedef uint64_t u64; + +typedef int8_t s8; +typedef int16_t s16; +typedef int32_t s32; +typedef int64_t s64; + +typedef float f32; +typedef double f64; + +typedef enum { + kset_cmd_type_read = 0, + kset_cmd_type_set = 1, +} SetCmdOperationType_t; + +typedef enum { + kMotorStopType_stop = 0, + kMotorStopType_break = 1, +} MotorStopType_t; + +typedef enum { + kmodule_statu_idle, + kmodule_statu_work, + kmodule_statu_exception, +} module_statu_type_t; + +} // namespace iflytop \ No newline at end of file diff --git a/api/i_xyrobot_ctrl_module.hpp b/api/i_xyrobot_ctrl_module.hpp new file mode 100644 index 0000000..0adca80 --- /dev/null +++ b/api/i_xyrobot_ctrl_module.hpp @@ -0,0 +1,112 @@ +#pragma once +#include + +#include + +#include "basic_type.hpp" +// + +namespace iflytop { +using namespace std; +class I_XYRobotCtrlModule { + public: + typedef enum { hbot, corexy } RobotType_t; + typedef enum { kNormalStop, kBreakStop } StopType_t; + + /******************************************************************************* + * ACTION * + *******************************************************************************/ + + typedef struct { + int32_t exec_status; + int32_t tox; + int32_t toy; + } move_to_cb_status_t; + + typedef struct { + int32_t exec_status; + int32_t dx; + int32_t dy; + } move_by_cb_status_t; + + typedef struct { + int32_t exec_status; + } move_to_zero_cb_status_t; + + typedef struct { + int32_t exec_status; + int32_t zero_shift_x; + int32_t zero_shift_y; + } move_to_zero_with_calibrate_cb_status_t; + + /******************************************************************************* + * READ * + *******************************************************************************/ + typedef struct { + int32_t version; + } version_t; + + typedef struct { + uint8_t status; + int32_t x; + int32_t y; + } status_t; + + typedef struct { + uint8_t status; + int32_t x; + int32_t y; + } debug_info_t; + + /******************************************************************************* + * CFG * + *******************************************************************************/ + + typedef struct { + u8 robot_type; + u8 x_shaft; + u8 y_shaft; + u8 ihold; + u8 irun; + u16 iholddelay; + s32 distance_scale; // 0.001 + s32 shift_x; + s32 shift_y; + s32 acc; + s32 dec; + s32 maxspeed; + s32 min_x; + s32 max_x; + s32 min_y; + s32 max_y; + } run_param_t; + + typedef struct { + uint8_t pad; + } warning_limit_param_t; + + typedef struct { + u32 move_to_zero_max_d; + u32 leave_from_zero_max_d; + u32 speed; + u32 dec; + } run_to_zero_param_t; + + public: + virtual int32_t move_to(int32_t x, int32_t y, function status_cb) = 0; + virtual int32_t move_by(int32_t dx, int32_t dy, function status_cb) = 0; + virtual int32_t move_to_zero(function status_cb) = 0; + virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, function 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, int32_t y) = 0; + + virtual int32_t read_version(version_t& version) = 0; + virtual int32_t read_status(status_t& status) = 0; + virtual int32_t read_debug_info(debug_info_t& debug_info) = 0; + + virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack) = 0; + virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack) = 0; + virtual int32_t set_warning_limit_param(uint8_t operation, const warning_limit_param_t& param, warning_limit_param_t& ack) = 0; +}; +} // namespace iflytop \ No newline at end of file diff --git a/zcancmder_protocol.hpp b/zcancmder_protocol.hpp new file mode 100644 index 0000000..a6d9591 --- /dev/null +++ b/zcancmder_protocol.hpp @@ -0,0 +1,523 @@ +#pragma once +#include + +#include "api/basic_type.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_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_debug_info = CMDID(1006, 52), // 读取模块详细状态信息 + + kcmd_xy_robot_ctrl_set_run_param = CMDID(1006, 100), // 设置运行参数 + 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_rotate = CMDID(1007, 6), // 相对移动 + + 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_debug_info = CMDID(1007, 52), // 读取模块详细状态信息 + + kcmd_step_motor_ctrl_set_run_param = CMDID(1007, 100), // 设置运行参数 + kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101), // 设置警告限制参数 + kcmd_step_motor_ctrl_set_run_to_zero_param = CMDID(1007, 102), // 设置归零参数 + + /******************************************************************************* + * |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_debug_info = CMDID(1008, 52), // 读取模块详细状态信息 + + kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100), // 位置限制 最大位置，最小位置 + kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101), // 过压保护设置 最大电压 最小电压 + + /******************************************************************************* + * |Module_1009:EEPROM * + *******************************************************************************/ + kcmd_eeprom_read_block = CMDID(1009, 0), // 读取EEPROM + kcmd_eeprom_write_block = CMDID(1009, 1), // 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_read_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_debug_info = CMDID(1011, 52), // 读取模块详细状态信息 + + 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 + + /******************************************************************************* + * |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_debug_info = 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 + + /******************************************************************************* + * |Module_1013:板夹仓 * + *******************************************************************************/ + + 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_debug_info = 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 + + // 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_debug_info = CMDID(1014, 51), // 读取模块详细状态信息 + + // 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 + + // 移液枪控制 + /******************************************************************************* + * |Module_1016:移液枪控制 * + *******************************************************************************/ + 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_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_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_debug_info = CMDID(1016, 52), // 读取模块详细状态信息 + + 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 + +} 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(u8 id; u8 enable;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_zero_cb_status_t status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u8 id; s32 nowx; s32 nowy;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_zero_with_calibrate_cb_status_t status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u8 id; s32 x; s32 y; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_cb_status_t status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u8 id; s32 dx; s32 dy; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_by_cb_status_t status;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s32 y;), ACK(u8 id;)); +// READ +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::version_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::status_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::debug_info_t ack;)); +// SET +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::run_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::warning_limit_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_to_zero_param_t param;), ACK(u8 id; 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(u8 id; u8 enable;), // + ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, + CMD(u8 id; u8 stop_type;), // + ACK(u8 id;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, + CMD(u8 id;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, + CMD(u8 id; s32 nowx; s32 nowy;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 zero_shift_x;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, + CMD(u8 id; s32 x; s32 speed;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; u32 x;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, + CMD(u8 id; s32 dx; s32 speed;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 dx;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, + CMD(u8 id; s32 speed; s32 run_time;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 has_run_time;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, // + CMD(u8 id;), // + ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, // + CMD(u8 id;), // + ACK(u8 id; u8 status; s32 x; s32 velocity;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info, // + CMD(u8 id;), // + ACK(u8 id; u8 status; s32 x; s32 velocity; s32 acc; s32 dec; s32 speed;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param, // + CMD(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;), // + ACK(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param, // + CMD(u8 id; u8 opt_type; s32 pad;), // + ACK(u8 id; u8 opt_type; s32 pad;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, // + CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;), // + ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;)); + +/******************************************************************************* + * |Module_1008:舵机 * + *******************************************************************************/ + +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, + CMD(u8 id; u8 enable;), // + ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, + CMD(u8 id; u8 stop_type;), // + ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, + CMD(u8 id; s32 calibrate_pos;), // + ACK(u8 id;)); + +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, + CMD(u8 id; s32 speed; s32 run_time;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 has_run_time;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, + CMD(u8 id; s32 pos; s32 speed; s32 torque;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 pos;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, + CMD(u8 id; s32 pos; s32 speed; s32 torque;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 pos;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, + CMD(u8 id; s32 torque; s32 run_time;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 has_run_time;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, + CMD(u8 id; s32 pos; s32 speed; s32 torque;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; s32 pos;)); +/******************************************************************************* + * |Module_1009:EEPROM * + *******************************************************************************/ + +ZPACKET_CMD_ACK(kcmd_eeprom_read_block, + CMD(u8 id; u16 addr; u16 len;), // + ACK(u8 id; u16 addr; u16 len; u8 data[0];)); +ZPACKET_CMD_ACK(kcmd_eeprom_write_block, + CMD(u8 id; u16 addr; u16 len; u8 data[0];), // + ACK(u8 id; u16 addr; u16 len;)); +/******************************************************************************* + * |Module_1010:扫码器 * + *******************************************************************************/ + +ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan, + CMD(u8 id;), // + ACK(u8 id;), // + REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];)); +ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan, + CMD(u8 id;), // + ACK(u8 id;)); +/******************************************************************************* + * |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_debug_info, + 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_debug_info, + 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_debug_info, + 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_debug_info, + CMD(u8 id;), // + ACK(u8 id; u8 status; u8 level; int16_t fbcount;)); + +/******************************************************************************* + * |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_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;)); + +#if 0 + kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息 + kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息 + + 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 + +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_debug_info, + 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;)); + +#pragma pack(pop) + +} // namespace zcr +} // namespace iflytop diff --git a/zcancmder_protocol_basic.hpp b/zcancmder_protocol_basic.hpp new file mode 100644 index 0000000..49bff4b --- /dev/null +++ b/zcancmder_protocol_basic.hpp @@ -0,0 +1,74 @@ +#pragma once +#include + +#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; \ + auto cmdheader = rxcmd->get_cmdheader(); \ + uint32_t errorcode = 0; \ + if (cmd->id == varid) { \ + ack->id = cmd->id; + +#define END_PROCESS_PACKET() \ + if (errorcode == 0) { \ + m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \ + } else { \ + m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), 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 subcmdid; + 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, +} PacketType_t; + +#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid) + +} // namespace zcr +} // namespace iflytop