update

components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -118,18 +118,38 @@ int32_t PipetteModule::pipette_lld_prepare() {
   if (creg.module_status == 1) return err::kdevice_is_busy;
   return do_pipette_lld_prepare();
 };
+
+int32_t PipetteModule::pipette_plld(int32_t zdpos, int32_t p_threshold) {
+  ZLOGI(TAG, "pipette_plld %d %d", zdpos, p_threshold);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
+  return do_pipette_lld(kplld, zdpos, 0, p_threshold);
+};
+int32_t PipetteModule::pipette_clld(int32_t zdpos, int32_t c_threshold) {
+  ZLOGI(TAG, "pipette_clld %d %d", zdpos, c_threshold);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
+  return do_pipette_lld(kclld, zdpos, c_threshold, 0);
+}
+int32_t PipetteModule::pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
+  ZLOGI(TAG, "pipette_mlld %d %d %d", zdpos, c_threshold, p_threshold);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
+  return do_pipette_lld(kmixlld, zdpos, c_threshold, p_threshold);
+}
+
 int32_t PipetteModule::pipette_aspirate(int32_t ul) {
-  //
-  return 0;
+  ZLOGI(TAG, "pipette_aspirate %d", ul);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
+  return do_pipette_aspirate(ul);
 };
 int32_t PipetteModule::pipette_distribut(int32_t ul) {
-  //
-  return 0;
+  ZLOGI(TAG, "pipette_distribut %d", ul);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
+  return do_pipette_distribut(ul);
 };
-int32_t PipetteModule::pipette_lld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
-  //
+int32_t PipetteModule::pipette_shake_up(int32_t ul, int32_t times) {
+  ZLOGI(TAG, "pipette_shake_up %d %d", ul, times);
+  if (creg.module_status == 1) return err::kdevice_is_busy;
   return 0;
-};
+}
 
 int32_t PipetteModule::pipette_lld_is_detect_liquid(int32_t *detect_liquid) {  //
   *detect_liquid = m_state.detected_liquid;

components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -136,12 +136,14 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
   virtual int32_t pipette_ctrl_init_device() override;
   virtual int32_t pipette_ctrl_put_tip() override;
   virtual int32_t pipette_lld_prepare() override;
-  virtual int32_t pipette_lld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) override;
-  virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid);
+  virtual int32_t pipette_plld(int32_t zdpos, int32_t p_threshold) override;
+  virtual int32_t pipette_clld(int32_t zdpos, int32_t c_threshold) override;
+  virtual int32_t pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) override;
+  virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid) override;
 
   virtual int32_t pipette_aspirate(int32_t ul) override;
   virtual int32_t pipette_distribut(int32_t ul) override;
-  // virtual int32_t pipette_mix(int32_t ul, int32_t times);
+  virtual int32_t pipette_shake_up(int32_t ul, int32_t times) override;
 
   virtual int32_t pipette_enable_zmotor(int32_t enable);
   virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen) override;

components/zcancmder/zcan_protocol_parser.cpp

@@ -71,11 +71,14 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(pipette_ctrl_init_device);
   REGFN(pipette_ctrl_put_tip);
   REGFN(pipette_ctrl_move_to_ul);
-
   REGFN(pipette_lld_prepare);
-  REGFN(pipette_lld);
+  REGFN(pipette_plld);
+  REGFN(pipette_clld);
+  REGFN(pipette_mlld);
+  REGFN(pipette_lld_is_detect_liquid);
   REGFN(pipette_aspirate);
   REGFN(pipette_distribut);
+  REGFN(pipette_shake_up);
 
   REGFN(pipette_enable_zmotor);
   REGFN(pipette_write_cmd_direct);
@@ -492,37 +495,64 @@ int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_ctrl_move_to_ul(cxt->params[0]);
 }
-int32_t ZCanProtocolParser::pipette_write_cmd_direct(cmdcontxt_t* cxt) {
-  GET_MODULE();
-  cxt->acklen = ZCANCMD_READ_BUF_MAX_SIZE;
-  int32_t suc = module->pipette_write_cmd_direct(cxt->paramRaw, cxt->paramlen, cxt->ackbuf, &cxt->acklen);
-  if (suc != 0) {
-    cxt->acklen = 0;
-  }
-  return suc;
-}
 
 int32_t ZCanProtocolParser::pipette_lld_prepare(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(0);
   return module->pipette_lld_prepare();
 }
-int32_t ZCanProtocolParser::pipette_lld(cmdcontxt_t* cxt) {
+
+int32_t ZCanProtocolParser::pipette_plld(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_plld(cxt->params[0], cxt->params[1]);
+}
+
+int32_t ZCanProtocolParser::pipette_clld(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_clld(cxt->params[0], cxt->params[1]);
+}
+
+int32_t ZCanProtocolParser::pipette_mlld(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(3);
-  return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2]);
+  return module->pipette_mlld(cxt->params[0], cxt->params[1], cxt->params[2]);
 }
+
+int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->pipette_lld_is_detect_liquid(&ack[0]);
+}
+
 int32_t ZCanProtocolParser::pipette_aspirate(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_aspirate(cxt->params[0]);
 }
+
 int32_t ZCanProtocolParser::pipette_distribut(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_distribut(cxt->params[0]);
 }
 
+int32_t ZCanProtocolParser::pipette_shake_up(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_shake_up(cxt->params[0], cxt->params[1]);
+}
+
 int32_t ZCanProtocolParser::pipette_enable_zmotor(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_enable_zmotor(cxt->params[0]);
 }
+// pipette_write_cmd_direct
+int32_t ZCanProtocolParser::pipette_write_cmd_direct(cmdcontxt_t* cxt) {
+  GET_MODULE();
+  cxt->acklen = ZCANCMD_READ_BUF_MAX_SIZE;
+  int32_t suc = module->pipette_write_cmd_direct(cxt->paramRaw, cxt->paramlen, cxt->ackbuf, &cxt->acklen);
+  if (suc != 0) {
+    cxt->acklen = 0;
+  }
+  return suc;
+}
+
 int32_t ZCanProtocolParser::pipette_get_sensor_sample_data(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   int32_t* ack = (int32_t*)cxt->ackbuf;

components/zcancmder/zcan_protocol_parser.hpp

@@ -108,9 +108,13 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(pipette_ctrl_put_tip);
   CMDFN(pipette_ctrl_move_to_ul);
   CMDFN(pipette_lld_prepare);
-  CMDFN(pipette_lld);
+  CMDFN(pipette_plld);
+  CMDFN(pipette_clld);
+  CMDFN(pipette_mlld);
+  CMDFN(pipette_lld_is_detect_liquid);
   CMDFN(pipette_aspirate);
   CMDFN(pipette_distribut);
+  CMDFN(pipette_shake_up);
 
   CMDFN(pipette_enable_zmotor);
   CMDFN(pipette_write_cmd_direct);