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update

master
zhaohe 2 years ago
parent
25c741a63c
commit
fc4340666e
2 changed files with 42 additions and 59 deletions
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  1. 79
      api/i_xyrobot_ctrl_module.hpp
  2. 22
      zcancmder_protocol.hpp

79
api/i_xyrobot_ctrl_module.hpp
View File

@ -17,28 +17,6 @@ class I_XYRobotCtrlModule {
* ACTION * * ACTION *
*******************************************************************************/ *******************************************************************************/
#pragma pack(1) #pragma pack(1)
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 * * READ *
*******************************************************************************/ *******************************************************************************/
@ -65,52 +43,55 @@ class I_XYRobotCtrlModule {
*******************************************************************************/ *******************************************************************************/
typedef struct { typedef struct {
u8 robot_type;
u8 x_shaft;
u8 y_shaft;
u8 ihold;
u8 irun;
u16 iholddelay;
s32 robot_type;
s32 x_shaft;
s32 y_shaft;
s32 ihold;
s32 irun;
s32 iholddelay;
s32 distance_scale; // 0.001 s32 distance_scale; // 0.001
s32 shift_x; s32 shift_x;
s32 shift_y; s32 shift_y;
// limit
s32 acc; s32 acc;
s32 dec; s32 dec;
s32 breakdec;
s32 maxspeed; s32 maxspeed;
s32 min_x; s32 min_x;
s32 max_x; s32 max_x;
s32 min_y; s32 min_y;
s32 max_y; s32 max_y;
} run_param_t;
s32 run_to_zero_max_d;
s32 leave_from_zero_max_d;
s32 run_to_zero_speed;
s32 run_to_zero_dec;
} base_param_t;
typedef struct { typedef struct {
uint8_t pad; uint8_t pad;
} warning_limit_param_t; } 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;
#pragma pack() #pragma pack()
public: public:
virtual int32_t move_to(int32_t x, int32_t y, function<void(move_to_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by(int32_t dx, int32_t dy, function<void(move_by_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to_zero(function<void(move_to_zero_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, function<void(move_to_zero_with_calibrate_cb_status_t& status)> 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 move_to(int32_t x, int32_t y, action_cb_status_t status_cb) = 0;
virtual int32_t move_by(int32_t dx, int32_t dy, 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, int32_t y, 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, 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_detailed_status(detailed_status_t& debug_info) = 0; virtual int32_t read_detailed_status(detailed_status_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;
virtual int32_t set_base_param(const base_param_t& param) = 0;
virtual int32_t get_base_param(base_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 } // namespace iflytop

22
zcancmder_protocol.hpp
View File

@ -37,9 +37,10 @@ typedef enum {
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息 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_detailed_status = 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
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_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 * * |Module_1007:步进电机控制模组 *
@ -215,19 +216,20 @@ ZPACKET_CMD_ACK(kcmd_readadc_raw, //
// ACTION // ACTION
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;)); 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(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_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;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s32 y;), ACK(u8 id;));
// READ // 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_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_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;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::detailed_status_t ack;));
// SET // 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;));
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 * * |Module_1007:步进电机控制模组 *

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