zcancmder/api/i_pipette_module.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "basic_type.hpp"
#include "i_step_motor_ctrl_module.hpp"
//

namespace iflytop {
using namespace std;
class I_PipetteModule {
 public:
#pragma pack(1)

  ZSTRUCT(base_param_t, s16 pad;);

  typedef struct {
    u8  status;              // ģ��״̬
    u8  pipette_gun_status;  // ��Һǹ״̬
    u8  io_state;            // IO0:z_zero_io
    u8  has_tip;             // �Ƿ���tip
    s16 zpos_mm;             // z��λ�ã�������tip,���Զ�����tip�߶�
    s16 pipette_ul;          // ��ҺǹҺ��
  } status_t;

#pragma pack()

  //   ZSTRUCT(action_cb_status_t, u8 exec_status;);

  virtual int32_t enable(u8 enable)  = 0;
  virtual int32_t stop(u8 stop_type) = 0;

  virtual int32_t zero_pos_calibrate(action_cb_status_t status_cb) = 0;
  // virtual int32_t reset_device(action_cb_status_t status_cb)       = 0;

  virtual int32_t zmotor_reset(action_cb_status_t status_cb)  = 0;
  virtual int32_t pipette_reset(action_cb_status_t status_cb) = 0;

  virtual int32_t take_tip(s16 vel, s16 height_mm, s16 tip_hight_mm, action_cb_status_t status_cb) = 0;
  virtual int32_t remove_tip(s16 vel, s16 height_mm, action_cb_status_t status_cb)                 = 0;

  virtual int32_t move_to(s16 vel, s16 height_mm, action_cb_status_t status_cb)                                                         = 0;
  virtual int32_t move_to_with_lld(s16 vel, s16 lld_cap_thr, s16 lld_max_hight_mm, s16 lld_rela_hight_mm, action_cb_status_t status_cb) = 0;
  virtual int32_t shake(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb)                                         = 0;
  virtual int32_t pipette_move_to_ul(s16 take_volume_mm, action_cb_status_t status_cb)                                               = 0;

  /*******************************************************************************
   *                                 ReadStatus                                  *
   *******************************************************************************/
  virtual int32_t get_status(status_t &status) = 0;

  /*******************************************************************************
   *                                   SETTING                                   *
   *******************************************************************************/
  virtual int32_t set_z_motor_para(const I_StepMotorCtrlModule::base_param_t &z_motor_param) = 0;
  virtual int32_t get_z_motor_para(I_StepMotorCtrlModule::base_param_t &z_motor_param)       = 0;
  virtual int32_t set_base_param(const base_param_t &base_param)                             = 0;
  virtual int32_t get_base_param(base_param_t &base_param)                                   = 0;

  virtual ~I_PipetteModule() {}
};
}  // namespace iflytop