update

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -52,6 +52,8 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) {  /
   test_connectivity();
   parameter_init();
   zm_sync_base_cfg();
+
+  get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
 }
 
 void PipetteModule::test_connectivity() {
@@ -698,10 +700,13 @@ int32_t PipetteModule::pipette_pump_init_device(int32_t platinfo_cpyid) {
   thread_start_work(__FUNCTION__, [this, platinfo_cpyid]() {
     ZLOGI(TAG, "pipette_pump_init_device platinfo_cpyid: %d", platinfo_cpyid);
     check_platinfo_cpyid(platinfo_cpyid);
+
     pump_apply_vcfg(kpm_v_max);  // 默认配置
     DO_IN_THREAD(m_smtp2.pump_init());
     pump_waitfor_stop();
-    m_state.platinfo_cpyid = platinfo_cpyid;
+
+    m_state.platinfo_cpyid    = platinfo_cpyid;
+    platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
   });
   return 0;
 }
@@ -710,32 +715,91 @@ int32_t PipetteModule::pipette_pump_take_tip() {
     /**
      * @brief
      *
-     * -> 默认速度移动到取头位置
-     * ->
-     *
-     *
+     * -> 默认速度移动到取tip开始位
+     * -> 缓慢移动取tip
+     * -> 直到tip状态被触发停止移动
+     */
+
+    platinfo_t *platform_info = &m_now_platinfo;
+    zm_move_to_block(platform_info->tip_picking_pos, kzm_v_default, 0);
+    zm_move_by(platform_info->tip_picking_search_range, kzm_v_picking_tip, 0);
+    bool takeTip = false;
+    while (true) {
+      int32_t tipstate = 0;
+      DO_IN_THREAD(m_smtp2.pump_get_tip_state(&tipstate));
+      if (tipstate == 1) {
+        takeTip = true;
+        zm_stop();
+        break;
+      }
+      if (m_zm->isStoped()) break;
+      thread_delay(1);
+    }
+    if (takeTip && platform_info->tip_picking_append_distance > 0)  //
+      zm_move_by_block(platform_info->tip_picking_append_distance, kzm_v_picking_tip, 0);
+
+    zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
+    ZLOGI(TAG, "pipette_pump_take_tip takeTip %s", takeTip ? "suc" : "fail");
+  });
+  return 0;
+}
+int32_t PipetteModule::pipette_pump_putbak_tip() {
+  thread_start_work(__FUNCTION__, [this]() {
+    /**
+     * @brief
      *
+     * -> 移动到tip_picking_pos上面10mm的位置
+     * -> 丢tip
      */
 
+    platinfo_t *platform_info = &m_now_platinfo;
+    int32_t     putbakpos     = platform_info->tip_picking_pos - 100;
+    if (putbakpos < 0) putbakpos = 0;
+    zm_move_to_block(putbakpos, kzm_v_default, 0);
+
+    // pump初始化(约等于丢tip,且保证百分百丢弃tip)
+    pump_apply_vcfg(kpm_v_max);  //
+    DO_IN_THREAD(m_smtp2.pump_init());
     pump_waitfor_stop();
+
+    zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
   });
+
   return 0;
 }
-int32_t PipetteModule::pipette_pump_putbak_tip() { return 0; }
 
 int32_t PipetteModule::pipette_pump_deposit_tip() {
   thread_start_work(__FUNCTION__, [this]() {
-    pump_apply_vcfg(kpm_v_max);  // 默认配置
-    DO_IN_THREAD(m_smtp2.pump_put_tip());
+    /**
+     * @brief
+     *
+     * -> 移动到tip_deposit_pos
+     * -> 丢tip
+     */
+
+    platinfo_t *platform_info = &m_now_platinfo;
+    zm_move_to_block(platform_info->tip_deposit_pos, kzm_v_default, 0);
+
+    pump_apply_vcfg(kpm_v_max);  //
+    // DO_IN_THREAD(m_smtp2.pump_put_tip());
+    DO_IN_THREAD(m_smtp2.pump_init());
     pump_waitfor_stop();
+
+    zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
   });
+
   return 0;
 }
-int32_t PipetteModule::pipette_pump_pierce_through() {
-  thread_start_work(__FUNCTION__, [this]() {
-    pump_apply_vcfg(kpm_v_max);  // 默认配置
-    DO_IN_THREAD(m_smtp2.pump_put_tip());
-    pump_waitfor_stop();
+int32_t PipetteModule::pipette_pump_pierce_through(int32_t container_info_index, int32_t container_pos) {
+  thread_start_work(__FUNCTION__, [this, container_info_index, container_pos]() {
+    // check param
+    check_container_info_cpyid(container_info_index);
+
+    platinfo_t       *platform_info  = &m_now_platinfo;
+    container_info_t *container_info = get_container_info_smart(container_info_index, &m_now_container_info);
+
+    zm_move_to_block(container_info->pierce_depth + container_pos, kzm_v_default, 0);
+    zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
   });
   return 0;
 }
@@ -829,7 +893,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     ZLOGI(TAG, "-");
 
     // aspirate_run_cxt
-    platinfo_t       *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &aspirate_run_cxt.platinfo);
+    platinfo_t       *platform_info = &m_now_platinfo;
     liquid_info_t    *liquidinfo    = get_liquid_info_smart(acfg->liquid_cfg_index, &aspirate_run_cxt.liquid_info);
     container_info_t *container_cfg = get_container_info_smart(acfg->container_info_index, &aspirate_run_cxt.container_info);
     /***********************************************************************************************************************
@@ -1089,6 +1153,10 @@ void PipetteModule::zm_move_by(int32_t dx, int32_t vindex, int32_t vel) {
   zm_apply_vcfg(vindex, vel);
   m_zm->moveBy(dx);
 }
+void PipetteModule::zm_move_by_block(int32_t dx, int32_t vindex, int32_t vel) {
+  zm_move_by(dx, vindex, vel);
+  zm_waitfor_stop();
+}
 
 void PipetteModule::zm_move_to_end(int32_t direction, int32_t vindex) {
   if (zmbcfg.enable_enc != 0) {
@@ -1547,7 +1615,8 @@ void PipetteModule::parameter_init() {
   /***********************************************************************************************************************
    *                                                     pm_base_cfg                                                     *
    ***********************************************************************************************************************/
-  pm_base_cfg.pad = 0;
+  pm_base_cfg.pad  = 0;
+  pm_base_cfg.mark = 9973;
 
   /***********************************************************************************************************************
    *                                                     m_platinfo                                                      *

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -56,7 +56,6 @@ class PipetteModule : public ZIModule {
   } hardward_config_t;
 
   typedef struct {
-    platinfo_t       platinfo;
     container_info_t container_info;
     liquid_info_t    liquid_info;
   } aspirate_run_cxt_t;
@@ -83,6 +82,9 @@ class PipetteModule : public ZIModule {
    *                                                        state                                                        *
    ***********************************************************************************************************************/
   pipette_state_t    m_state = {0};
+  platinfo_t         m_now_platinfo;
+  container_info_t   m_now_container_info;
+  
   aspirate_run_cxt_t aspirate_run_cxt;
   distribu_run_cxt_t distribu_run_cxt;
   /***********************************************************************************************************************
@@ -176,7 +178,7 @@ class PipetteModule : public ZIModule {
   virtual int32_t pipette_pump_take_tip();
   virtual int32_t pipette_pump_putbak_tip();
   virtual int32_t pipette_pump_deposit_tip();
-  virtual int32_t pipette_pump_pierce_through();
+  virtual int32_t pipette_pump_pierce_through(int32_t container_info_index, int32_t container_pos);
 
   virtual int32_t pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val);
   virtual int32_t pipette_pump_aspirate();
@@ -211,6 +213,7 @@ class PipetteModule : public ZIModule {
   void zm_move_to(int32_t x, int32_t vbaseindex, int32_t vel);
   void zm_move_to_block(int32_t x, int32_t vbaseindex, int32_t vel);
   void zm_move_by(int32_t dx, int32_t vindex, int32_t vel);
+  void zm_move_by_block(int32_t dx, int32_t vindex, int32_t vel);
   void zm_stop();
   void zm_move_to_end(int32_t direction, int32_t vindex);
   void zm_update_dzero(int32_t dzero);

sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp

@@ -1087,8 +1087,8 @@ int32_t ZCanProtocolParser::pipette_pump_deposit_tip(cmdcontxt_t* cxt) {
 }
 
 int32_t ZCanProtocolParser::pipette_pump_pierce_through(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_pump_pierce_through();
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_pump_pierce_through(cxt->params[0], cxt->params[1]);
 }
 
 int32_t ZCanProtocolParser::pipette_pump_aspirate_set_param(cmdcontxt_t* cxt) {