From f42c8b067d48afa49e565c02e81827deaba10bb5 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 6 Oct 2023 10:39:00 +0800 Subject: [PATCH] update --- zcancmder_protocol.hpp | 138 +++++++++++++++++++++---------------------- zcancmder_protocol_basic.hpp | 16 ++--- 2 files changed, 78 insertions(+), 76 deletions(-) diff --git a/zcancmder_protocol.hpp b/zcancmder_protocol.hpp index 5eeea94..32b3c8a 100644 --- a/zcancmder_protocol.hpp +++ b/zcancmder_protocol.hpp @@ -190,67 +190,67 @@ ZPACKET_CMD_ACK(kcmd_readadc_raw, // * |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 pad;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 pad;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u8 id;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u8 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u8 id; s32 x; s32 y; s32 speed;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u8 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s32 y;), ACK(u8 pad;)); +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; int32_t exec_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; int32_t exec_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; int32_t exec_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; int32_t exec_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(I_XYRobotCtrlModule::version_t ack;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u8 id;), ACK(I_XYRobotCtrlModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u8 id;), ACK(I_XYRobotCtrlModule::detailed_status_t ack;)); +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_detailed_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::detailed_status_t ack;)); // SET -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u8 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u8 id;), ACK(I_XYRobotCtrlModule::base_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( 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( I_XYRobotCtrlModule::run_to_zero_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u8 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::base_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 pad;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 pad;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u8 id;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u8 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u8 id; s32 x; s32 speed;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u8 id; s32 dx; s32 speed;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u8 id; s32 x;), ACK(u8 pad;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u8 id; s32 speed; s32 run_time;), ACK(u8 pad;), REPORT(s32 exec_status;)); +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; int32_t exec_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; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u8 id; s32 x; s32 speed;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u8 id; s32 dx; s32 speed;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u8 id; s32 x;), ACK(u8 id;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u8 id; s32 speed; s32 run_time;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); // READ -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u8 id;), ACK(I_StepMotorCtrlModule::version_t ack;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u8 id;), ACK(I_StepMotorCtrlModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u8 id;), ACK(I_StepMotorCtrlModule::detailed_status_t ack;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::version_t ack;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::status_t ack;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::detailed_status_t ack;)); // SET -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u8 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::base_param_t ack;)); /******************************************************************************* * |Module_1008:舵机 * *******************************************************************************/ -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 pad;)); +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 torque; s32 run_time;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u8 id; s32 torque; s32 run_time;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(s32 exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u8 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +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; int32_t exec_status;)); +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; int32_t exec_status;)); +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; int32_t exec_status;)); +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; int32_t exec_status;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(I_MiniServoModule::version_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(I_MiniServoModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u8 id;), ACK(I_MiniServoModule::detailed_status_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::detailed_status_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(I_MiniServoModule::run_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(I_MiniServoModule::basic_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(I_MiniServoModule::warning_limit_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(u8 id; I_MiniServoModule::run_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u8 id; u8 opt_type;), ACK(I_MiniServoModule::run_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u8 id; u8 opt_type;), ACK(I_MiniServoModule::basic_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_type;), ACK(I_MiniServoModule::warning_limit_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::run_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;)); /******************************************************************************* * |Module_1009:EEPROM * @@ -258,21 +258,21 @@ ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_ ZPACKET_CMD_ACK(kcmd_eeprom_read_block, CMD(u8 id; u16 addr; u16 len;), // - ACK(u16 addr; u16 len; u8 data[0];)); + 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(u16 addr; u16 len;)); + 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 pad;), // - REPORT(s32 status; u16 barcodelen; u8 barcode[0];)); + 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 pad;)); + ACK(u8 id;)); /******************************************************************************* * |Module_1011:帕尔贴-水泵-风扇控温系统 * *******************************************************************************/ @@ -289,9 +289,9 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan, s32 transmitting_tube_amplification; // 0.001 s32 receiving_tube_amplification; // 0.001 ), - ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u8 id;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u8 id; u8 sector_index; u8 sector_size;), ACK(u8 packet[1];)); + ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u8 id;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u8 id; u8 sector_index; u8 sector_size;), ACK(u8 id; u8 packet[];)); /******************************************************************************* * Module_1013:板夹仓 * @@ -304,26 +304,26 @@ ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u8 id; u8 sec * |Module_1016:移液枪控制 * *******************************************************************************/ -ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u8 id; u8 enable;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u8 id; u8 stop_type;), ACK(u8 pad;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u8 id;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u8 id;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u8 id;), ACK(u8 pad;), REPORT(s32 exec_status;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u8 id; u8 enable;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u8 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(s32 exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u8 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to_with_lld, CMD(u8 id; s16 vel; s16 lld_cap_thr; s16 lld_max_hight_mm; s16 lld_rela_hight_mm;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u8 id; s16 shake_times; s16 shake_volume;), ACK(u8 pad;), REPORT(s32 exec_status;)); -ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u8 id; s16 take_volume_mm;), ACK(u8 pad;), REPORT(s32 exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u8 id; s16 vel; s16 height_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to_with_lld, CMD(u8 id; s16 vel; s16 lld_cap_thr; s16 lld_max_hight_mm; s16 lld_rela_hight_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u8 id; s16 shake_times; s16 shake_volume;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); +ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u8 id; s16 take_volume_mm;), ACK(u8 id;), REPORT(u8 id; int32_t exec_status;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u8 id;), ACK(I_PipetteModule::status_t ack;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u8 id;), ACK(u8 id; I_PipetteModule::status_t ack;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u8 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u8 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u8 id; I_PipetteModule::base_param_t param;), ACK(u8 pad;)); -ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u8 id;), ACK(I_PipetteModule::base_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u8 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::base_param_t ack;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u8 id; I_PipetteModule::base_param_t param;), ACK(u8 id;)); +ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u8 id;), ACK(u8 id; I_PipetteModule::base_param_t ack;)); #pragma pack(pop) diff --git a/zcancmder_protocol_basic.hpp b/zcancmder_protocol_basic.hpp index 5df54df..660ed50 100644 --- a/zcancmder_protocol_basic.hpp +++ b/zcancmder_protocol_basic.hpp @@ -25,18 +25,20 @@ 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(); \ - uint16_t errorcode = 0; \ - if (cmd->id == varid) { \ +#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 PROCESS_REPORT(type) \ osDelay(5); \ type##_report_t report = {0}; \ ZLOGI(TAG, #type " exec_status:%d", status); \ + report.id = m_id; \ report.exec_status = status; \ m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));