From b316b30462b063f2ec6dbfb8a1b342c935d840cb Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 12 Jun 2024 17:03:17 +0800
Subject: [PATCH] update

---
 .../pipette_module/pipette_ctrl_module_v2.hpp      | 18 +++++++++++----
 components/zcancmder/zcan_protocol_parser.cpp      | 26 +++++++++++++++++-----
 components/zcancmder/zcan_protocol_parser.hpp      |  8 ++++---
 3 files changed, 39 insertions(+), 13 deletions(-)

diff --git a/components/pipette_module/pipette_ctrl_module_v2.hpp b/components/pipette_module/pipette_ctrl_module_v2.hpp
index 82eaca9..2ed9744 100644
--- a/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -45,6 +45,9 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
 
   typedef struct {
     int32_t placeholder;
+    int32_t load_val_ul;   // 已装载量
+    int32_t aspirated;     // 已经吸入过液体
+    int32_t lld_prepared;  // 已经准备液面探测
   } state_t;
 
  private:
@@ -101,8 +104,11 @@ 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_ctrl_move_to_ul(int32_t ul) override;
-  virtual int32_t pipette_clld_test(int32_t zdpos) override;
-  virtual int32_t pipette_plld_test(int32_t zdpos) 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_aspirate(int32_t ul) override;
+  virtual int32_t pipette_distribut(int32_t ul) 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;
@@ -110,11 +116,15 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
   virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num) override;
 
  private:
+  virtual int32_t do_pipette_lld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
+
   int32_t do_pipette_ctrl_init_device();
   int32_t do_pipette_ctrl_put_tip();
   int32_t do_pipette_ctrl_move_to_ul(int32_t ul);
-  int32_t do_pipette_clld_test(int32_t zdpos);
-  int32_t do_pipette_plld_test(int32_t zdpos);
+  int32_t do_pipette_lld_prepare();
+  int32_t do_pipette_lld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
+  int32_t do_pipette_aspirate(int32_t ul);
+  int32_t do_pipette_distribut(int32_t ul);
 
  private:
   int32_t befor_run();
diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp
index faa8234..c5990cf 100644
--- a/components/zcancmder/zcan_protocol_parser.cpp
+++ b/components/zcancmder/zcan_protocol_parser.cpp
@@ -71,8 +71,12 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(pipette_ctrl_init_device);
   REGFN(pipette_ctrl_put_tip);
   REGFN(pipette_ctrl_move_to_ul);
-  REGFN(pipette_clld_test);
-  REGFN(pipette_plld_test);
+
+  REGFN(pipette_lld_prepare);
+  REGFN(pipette_lld);
+  REGFN(pipette_aspirate);
+  REGFN(pipette_distribut);
+
   REGFN(pipette_enable_zmotor);
   REGFN(pipette_write_cmd_direct);
   REGFN(pipette_get_sensor_sample_data);
@@ -497,14 +501,24 @@ int32_t ZCanProtocolParser::pipette_write_cmd_direct(cmdcontxt_t* cxt) {
   }
   return suc;
 }
-int32_t ZCanProtocolParser::pipette_clld_test(cmdcontxt_t* cxt) {
+
+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) {
+  CHECK_AND_GET_MODULE(3);
+  return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2]);
+}
+int32_t ZCanProtocolParser::pipette_aspirate(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
-  return module->pipette_clld_test(cxt->params[0]);
+  return module->pipette_aspirate(cxt->params[0]);
 }
-int32_t ZCanProtocolParser::pipette_plld_test(cmdcontxt_t* cxt) {
+int32_t ZCanProtocolParser::pipette_distribut(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
-  return module->pipette_plld_test(cxt->params[0]); 
+  return module->pipette_distribut(cxt->params[0]);
 }
+
 int32_t ZCanProtocolParser::pipette_enable_zmotor(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_enable_zmotor(cxt->params[0]);
diff --git a/components/zcancmder/zcan_protocol_parser.hpp b/components/zcancmder/zcan_protocol_parser.hpp
index 54784c4..0cb0f0e 100644
--- a/components/zcancmder/zcan_protocol_parser.hpp
+++ b/components/zcancmder/zcan_protocol_parser.hpp
@@ -104,12 +104,14 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(code_scaner_get_result_length);
   CMDFN(code_scaner_read_scaner_result);
 
-
   CMDFN(pipette_ctrl_init_device);
   CMDFN(pipette_ctrl_put_tip);
   CMDFN(pipette_ctrl_move_to_ul);
-  CMDFN(pipette_clld_test);
-  CMDFN(pipette_plld_test);
+  CMDFN(pipette_lld_prepare);
+  CMDFN(pipette_lld);
+  CMDFN(pipette_aspirate);
+  CMDFN(pipette_distribut);
+
   CMDFN(pipette_enable_zmotor);
   CMDFN(pipette_write_cmd_direct);
   CMDFN(pipette_get_sensor_sample_data);