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#pragma once
#include <map>
#include "api/api.hpp"
#include "api/i_zcan_cmder_master.hpp"
#include "cmdid.hpp"
namespace iflytop {class ZIProtocolProxy : public ZIMotor, //
public ZIXYMotor, //
public ZIModule, public ZICodeScaner, public ZIPipetteCtrlModule, public ZIA8000OpticalModule { private: IZcanCmderMaster *m_cancmder; int32_t m_id = 0;
public: void initialize(int32_t moduleId, IZcanCmderMaster *cancmder) { m_cancmder = cancmder; m_id = moduleId; }
virtual int32_t getid(int32_t *id) { *id = m_id; return 0; };
/*******************************************************************************
* ZIModule * *******************************************************************************/#if 0
#endif
virtual int32_t module_ping() override;
virtual int32_t module_stop() override; virtual int32_t module_break() override; virtual int32_t module_start() override; virtual int32_t module_get_last_exec_status(int32_t *status) override; virtual int32_t module_get_status(int32_t *status) override;
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override; virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
virtual int32_t module_readio(int32_t *io) override; virtual int32_t module_writeio(int32_t ioindex, int32_t io) override;
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
virtual int32_t module_get_error(int32_t *iserror) override; virtual int32_t module_clear_error() override;
virtual int32_t module_set_inited_flag(int32_t flag) override; virtual int32_t module_get_inited_flag(int32_t *flag) override;
virtual int32_t module_factory_reset() override; virtual int32_t module_flush_cfg() override; virtual int32_t module_active_cfg() override;
virtual int32_t module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) override; virtual int32_t module_enable(int32_t enable) override;
/*******************************************************************************
* ZIMotor * *******************************************************************************/#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; } virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; } virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; } virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; } virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; } virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // һ�����ڶ���?
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
virtual int32_t motor_enable(int32_t enable) override; virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override; virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override; virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override; virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override; virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t *pos) override; virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override;
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override; virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override; virtual int32_t motor_calculated_pos_by_move_to_zero() override;
/*******************************************************************************
* ZIXYMotor * *******************************************************************************/#if 0
virtual ~ZIXYMotor() {} virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; } virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; } virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; } virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; } virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; } virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; } virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }#endif
virtual int32_t xymotor_enable(int32_t enable) override; virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override; virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override; virtual int32_t xymotor_move_to_zero() override; virtual int32_t xymotor_move_to_zero_and_calculated_shift() override; virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override; virtual int32_t xymotor_calculated_pos_by_move_to_zero() override;
/*******************************************************************************
* ZICodeScaner * *******************************************************************************/#if 0
virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; } virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; } virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }#endif
virtual int32_t code_scaner_start_scan() override; virtual int32_t code_scaner_stop_scan() override; virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) override;
#if 0
virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; }; virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; }; virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };#endif
virtual int32_t pipette_ctrl_init_device() override; virtual int32_t pipette_ctrl_put_tip() override; virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override;
#if 0
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) = 0; virtual int32_t a8000_optical_open_laser(int32_t type) = 0; virtual int32_t a8000_optical_close_laser(int32_t type) = 0; virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) = 0; virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) = 0; virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) = 0; virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) = 0; virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) = 0;#endif
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) override; virtual int32_t a8000_optical_open_laser(int32_t type) override; virtual int32_t a8000_optical_close_laser(int32_t type) override; virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) override; virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) override; virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t *adcval) override; virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t *adcval) override; virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t *laster_fb_val, int32_t *adcval) override;};
} // namespace iflytop
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