update

api/basic_type.hpp

@@ -30,4 +30,12 @@ typedef enum {
   kmodule_statu_exception,
 } module_statu_type_t;
 
+#ifndef ZSTRUCT
+#define ZSTRUCT(name, ...) \
+  typedef struct {         \
+    __VA_ARGS__            \
+  } name;
+
+#endif
+
 }  // namespace iflytop

api/i_pipette_module.hpp

@@ -0,0 +1,51 @@
+
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "basic_type.hpp"
+//
+
+namespace iflytop {
+using namespace std;
+class I_PipetteModule {
+ public:
+#if 0
+ 0. 设备信息
+    1. Z轴步数和高度的换算系数
+    2. Z轴偏移
+    3. Z轴最大高度
+
+ 1. 预设参数（试管信息）
+    1.触底高度
+    2.平台移动高度
+    3.体积高度公式
+    4.液面跟随
+
+3. 平台参数设置（平台信息）
+    1. 取tip高度
+    2. 丢tip高度
+    3. 转移高度
+    4. tip头型号
+#endif
+  ZSTRUCT(devicepara_t, u8 z_shaft; s16 z_shift; s16 z_step2mm; u16 z_max_height_mm;);
+  ZSTRUCT(tubepara_t, uint8_t id; int16_t bottom_height_mm; uint8_t follow_liquid;);
+  ZSTRUCT(tippara_t, uint8_t id; int16_t tiphight;);
+  ZSTRUCT(platformpara_t, uint8_t id; int16_t take_tip_height_mm; int16_t remove_tip_height_mm; int16_t transfer_height_mm;);
+
+  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(function<void(action_cb_status_t status)> exec_complete_cb) = 0;
+  virtual int32_t reset_device(function<void(action_cb_status_t status)> exec_complete_cb)       = 0;
+
+  virtual int32_t take_tip(int tipid, function<void(action_cb_status_t status)> exec_complete_cb) = 0;
+  virtual int32_t remove_tip(function<void(action_cb_status_t status)> exec_complete_cb)          = 0;
+  // 取液(平台参数，试管参数, 取样体积，取样高度，摇匀次数，摇匀体积)
+  virtual int32_t take_and_split_liquid(u8 tube_id, s16 liquid_volume, s16 zhight, s16 abs_zhight, s16 shake_times, s16 shake_volume,  //
+                                        function<void(action_cb_status_t status)> exec_complete_cb) = 0;
+};
+}  // namespace iflytop