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192 lines
11 KiB
192 lines
11 KiB
#pragma once
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#include <map>
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#include "api/api.hpp"
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#include "api/i_zcan_cmder_master.hpp"
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#include "cmdid.hpp"
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namespace iflytop {
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class ZIProtocolProxy : public ZIMotor, //
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public ZIXYMotor, //
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public ZIModule,
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public ZIPipetteCtrlModule,
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public ZIA8000OpticalModule {
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private:
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IZcanCmderMaster *m_cancmder;
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int32_t m_id = 0;
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public:
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void initialize(int32_t moduleId, IZcanCmderMaster *cancmder) {
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m_cancmder = cancmder;
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m_id = moduleId;
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}
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virtual int32_t getid(int32_t *id) {
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*id = m_id;
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return 0;
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};
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/*******************************************************************************
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* ZIModule *
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*******************************************************************************/
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#if 0
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#endif
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virtual int32_t module_ping() override;
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virtual int32_t module_stop() override;
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virtual int32_t module_break() override;
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virtual int32_t module_start() override;
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virtual int32_t module_get_last_exec_status(int32_t *status) override;
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virtual int32_t module_get_status(int32_t *status) override;
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virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
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virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
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virtual int32_t module_readio(int32_t *io) override;
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virtual int32_t module_writeio(int32_t ioindex, int32_t io) override;
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virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
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virtual int32_t module_get_error(int32_t *iserror) override;
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virtual int32_t module_clear_error() override;
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virtual int32_t module_set_inited_flag(int32_t flag) override;
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virtual int32_t module_get_inited_flag(int32_t *flag) override;
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virtual int32_t module_factory_reset() override;
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virtual int32_t module_flush_cfg() override;
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virtual int32_t module_active_cfg() override;
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virtual int32_t module_read_raw(int32_t startadd, uint8_t *data, int32_t *len) override;
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virtual int32_t module_enable(int32_t enable) override;
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/*******************************************************************************
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* ZIMotor *
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*******************************************************************************/
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#if 0
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virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
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virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
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virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
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virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
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virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
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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; }
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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; }
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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; }
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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; }
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virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
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virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // 一锟斤拷锟斤拷锟节讹拷锟?
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virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
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virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
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virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
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virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
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virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
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virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
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virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
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#endif
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virtual int32_t motor_enable(int32_t enable) override;
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virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
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virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
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virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
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virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
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virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
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virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
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virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
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virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
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virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
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virtual int32_t motor_read_pos(int32_t *pos) override;
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virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override;
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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;
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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;
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virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
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virtual int32_t motor_calculated_pos_by_move_to_zero() override;
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virtual int32_t motor_easy_rotate(int32_t direction) override;
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virtual int32_t motor_easy_move_by(int32_t distance) override;
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virtual int32_t motor_easy_move_to(int32_t position) override;
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virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
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virtual int32_t motor_easy_set_current_pos(int32_t pos) override;
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virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
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/*******************************************************************************
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* ZIXYMotor *
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*******************************************************************************/
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#if 0
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virtual ~ZIXYMotor() {}
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virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
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virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
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virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
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virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
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#endif
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virtual int32_t xymotor_enable(int32_t enable) override;
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virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override;
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virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override;
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virtual int32_t xymotor_move_to_zero() override;
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virtual int32_t xymotor_move_to_zero_and_calculated_shift() override;
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virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override;
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virtual int32_t xymotor_calculated_pos_by_move_to_zero() override;
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/*******************************************************************************
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* ZICodeScaner *
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*******************************************************************************/
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#if 0
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virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
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virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
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virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
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virtual int32_t code_scaner_start_scan() override;
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virtual int32_t code_scaner_stop_scan() override;
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virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) override;
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#endif
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#if 0
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virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
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virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
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virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
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#endif
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virtual int32_t pipette_ctrl_init_device() override;
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virtual int32_t pipette_ctrl_put_tip() override;
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virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override;
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#if 0
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virtual int32_t a8000_optical_module_power_ctrl(int32_t state) = 0;
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virtual int32_t a8000_optical_open_laser(int32_t type) = 0;
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virtual int32_t a8000_optical_close_laser(int32_t type) = 0;
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virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) = 0;
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virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) = 0;
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virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) = 0;
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virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) = 0;
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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;
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#endif
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virtual int32_t a8000_optical_module_power_ctrl(int32_t state) override;
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virtual int32_t a8000_optical_open_laser(int32_t type) override;
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virtual int32_t a8000_optical_close_laser(int32_t type) override;
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virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) override;
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virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) override;
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virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t *adcval) override;
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virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t *adcval) override;
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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;
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};
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} // namespace iflytop
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