update protocol

api/apibasic/cmdid.cpp

@@ -32,6 +32,7 @@ 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_write_cmd_direct),
 
     CMD_ITERM(ka8000_optical_module_power_ctrl),
     CMD_ITERM(ka8000_optical_open_laser),

api/apibasic/cmdid.hpp

@@ -37,6 +37,7 @@ typedef enum {
   kpipette_ctrl_init_device = CMDID(5, 1),  // para:{}, ack:{}
   kpipette_ctrl_put_tip     = CMDID(5, 2),  // para:{}, ack:{}
   kpipette_ctrl_move_to_ul  = CMDID(5, 3),  // para:{4}, ack:{}
+  kpipette_write_cmd_direct = CMDID(5, 4),  // para:{nbyte}, ack:{nbyte}
 
   /***********************************************************************************************************************
    *                                                      光学模组                                                       *

api/zi_pipette_ctrl_module.hpp

@@ -2,16 +2,16 @@
 #include <stdint.h>
 
 #include <functional>
-#include "apibasic/basic.hpp"
-
 
+#include "apibasic/basic.hpp"
 
 namespace iflytop {
 using namespace std;
 class ZIPipetteCtrlModule {
  public:
-  virtual int32_t pipette_ctrl_init_device() { return err::kcmd_not_support; };
-  virtual int32_t pipette_ctrl_put_tip() { return err::kcmd_not_support; };
-  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::kcmd_not_support; };
+  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_write_cmd_direct(uint8_t* tx, int32_t len, uint8_t* rx, int32_t* rxlen) = 0;
 };
 }  // namespace iflytop