zcancmder/api/i_pipette_module.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "basic_type.hpp"
//

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

  ZSTRUCT(base_param_t,
          int16_t take_tip_height_mm;    //
          int16_t remove_tip_height_mm;  //
          int16_t transfer_height_mm;    //
          int16_t tiphight;);

  typedef struct {
    uint8_t status;      // �豸״̬
    uint8_t io_state;    // IO0:z_zero_io/IO1:hastip/
    int16_t zpos_mm;     // z���
    int16_t 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 take_tip(action_cb_status_t status_cb)   = 0;
  virtual int32_t remove_tip(action_cb_status_t status_cb) = 0;
  // ȡҺ(ƽ̨�������Թܲ���, ȡ��������ȡ���߶ȣ�ҡ�ȴ�����ҡ������)
  virtual int32_t take_and_split_liquid(u8 tube_id, s16 liquid_volume, s16 zhight, s16 abs_zhight, s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) = 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 int32_t get_status(status_t &status) = 0;
};
}  // namespace iflytop