update

api/apibasic/cmdid.cpp

@@ -32,7 +32,19 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kpipette_ctrl_init_device),
     CMD_ITERM(kpipette_ctrl_put_tip),
     CMD_ITERM(kpipette_ctrl_move_to_ul),
+    CMD_ITERM(kpipette_lld_prepare),
+    CMD_ITERM(kpipette_plld),
+    CMD_ITERM(kpipette_clld),
+    CMD_ITERM(kpipette_mlld),
+    CMD_ITERM(kpipette_lld_is_detect_liquid),
+    CMD_ITERM(kpipette_aspirate),
+    CMD_ITERM(kpipette_distribut),
+    CMD_ITERM(kpipette_shake_up),
+    CMD_ITERM(kpipette_enable_zmotor),
     CMD_ITERM(kpipette_write_cmd_direct),
+    CMD_ITERM(kpipette_get_sensor_sample_data),
+    CMD_ITERM(kpipette_get_sensor_sample_data_num),
+    CMD_ITERM(kpipette_sensor_sample_data_report),
 
     CMD_ITERM(ka8000_optical_module_power_ctrl),
     CMD_ITERM(ka8000_optical_open_laser),

api/apibasic/cmdid.hpp

@@ -128,13 +128,17 @@ typedef enum {
    *                                                       移液枪                                                        *
    ***********************************************************************************************************************/
 
-  kpipette_ctrl_init_device = CMDID(0x72, 1),  // para:{}     , ack:{}
-  kpipette_ctrl_put_tip     = CMDID(0x72, 2),  // para:{}     , ack:{}
-  kpipette_ctrl_move_to_ul  = CMDID(0x72, 3),  // para:{ul}   , ack:{}
-  kpipette_lld_prepare      = CMDID(0x72, 4),  // para:{}     , ack:{} 移动泵机到plld探测位置
-  kpipette_lld              = CMDID(0x72, 5),  // para:{zdpos, c_threshold,  p_threshold}, ack:{}
-  kpipette_aspirate         = CMDID(0x72, 6),  // para:{ul}, ack:{}
-  kpipette_distribut        = CMDID(0x72, 7),  // para:{ul}, ack:{}
+  kpipette_ctrl_init_device     = CMDID(0x72, 1),   // param:(void)
+  kpipette_ctrl_put_tip         = CMDID(0x72, 2),   // param:(void)
+  kpipette_ctrl_move_to_ul      = CMDID(0x72, 3),   // param:(int32_t ul)
+  kpipette_lld_prepare          = CMDID(0x72, 4),   // param:(void)
+  kpipette_plld                 = CMDID(0x72, 5),   // param:(int32_t zdpos, int32_t p_threshold)
+  kpipette_clld                 = CMDID(0x72, 6),   // param:(int32_t zdpos, int32_t c_threshold)
+  kpipette_mlld                 = CMDID(0x72, 7),   // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold)
+  kpipette_lld_is_detect_liquid = CMDID(0x72, 8),   // param:(void)                                                       ack(int32_t isdetect)
+  kpipette_aspirate             = CMDID(0x72, 9),   // param:(int32_t ul)
+  kpipette_distribut            = CMDID(0x72, 10),  // param:(int32_t ul)
+  kpipette_shake_up             = CMDID(0x72, 11),  // param:(int32_t ul, int32_t times)
 
   kpipette_enable_zmotor              = CMDID(0x72, 20),  // para:{enable}, ack:{}
   kpipette_write_cmd_direct           = CMDID(0x72, 21),  // para:{strbuf}, ack:{strbuf}

api/zi_pipette_ctrl_module.hpp

@@ -11,13 +11,17 @@ class ZIPipetteCtrlModule {
  public:
   virtual ~ZIPipetteCtrlModule() {}
 
-  virtual int32_t pipette_ctrl_init_device()                                           = 0;
-  virtual int32_t pipette_ctrl_put_tip()                                               = 0;
-  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul)                                  = 0;
-  virtual int32_t pipette_lld_prepare()                                                = 0;
-  virtual int32_t pipette_lld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) = 0;
-  virtual int32_t pipette_aspirate(int32_t ul)                                         = 0;
-  virtual int32_t pipette_distribut(int32_t ul)                                        = 0;
+  virtual int32_t pipette_ctrl_init_device()                                            = 0;
+  virtual int32_t pipette_ctrl_put_tip()                                                = 0;
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul)                                   = 0;
+  virtual int32_t pipette_lld_prepare()                                                 = 0;
+  virtual int32_t pipette_plld(int32_t zdpos, int32_t p_threshold)                      = 0;
+  virtual int32_t pipette_clld(int32_t zdpos, int32_t c_threshold)                      = 0;
+  virtual int32_t pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) = 0;
+  virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid)                         = 0;
+  virtual int32_t pipette_aspirate(int32_t ul)                                          = 0;
+  virtual int32_t pipette_distribut(int32_t ul)                                         = 0;
+  virtual int32_t pipette_shake_up(int32_t ul, int32_t times)                           = 0;
 
   virtual int32_t pipette_enable_zmotor(int32_t enable)                                                           = 0;
   virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen)                 = 0;