update

api/i_pipette_module.hpp

@@ -5,6 +5,7 @@
 #include <functional>
 
 #include "basic_type.hpp"
+#include "i_step_motor_ctrl_module.hpp"
 //
 
 namespace iflytop {
@@ -32,7 +33,10 @@ class I_PipetteModule {
   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 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;

zcancmder_protocol.hpp

@@ -167,10 +167,50 @@ typedef enum {
   kcmd_serial_module_read_status     = CMDID(1015, 50),   // 读取模块状态信息
   kcmd_serial_module_set_cfg         = CMDID(1015, 100),  // 串口透传设置配置
 
-  // 移液枪控制
+// 移液枪控制
+/*******************************************************************************
+ *                                 |Module_1016:移液枪控制                        *
+ *******************************************************************************/
+
+#if 0
+  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(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_volume(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb)                                         = 0;
+  virtual int32_t take_and_split_liquid(s16 take_volume_mm, action_cb_status_t status_cb)                                               = 0;
+
   /*******************************************************************************
-   *                                 |Module_1016:移液枪控制                        *
+   *                                 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;
+#endif
+
+  kcmd_pipette_module_enable = CMDID(1016, 0),  // 使能
+  kcmd_pipette_module_stop   = CMDID(1016, 1),  // 停止
+
+  kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2),  // 回零并校准
+  kcmd_barcode_reader_reset_device       = CMDID(1016, 3),  // 重置设备,归零,并弹出tip头
+
+  
+
+
+#if 0
   kcmd_pipette_module_z_motor_enable                      = CMDID(1016, 0),  // 使能
   kcmd_pipette_module_z_motor_move_to                     = CMDID(1016, 1),  // 移动到
   kcmd_pipette_module_z_motor_move_to_zero                = CMDID(1016, 2),  // 归零
@@ -189,6 +229,7 @@ typedef enum {
   kcmd_pipette_module_set_run_param           = CMDID(1016, 100),  // 设置运行参数
   kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101),  // 设置限制参数
   kcmd_pipette_module_set_run_to_zero_param   = CMDID(1016, 102),  // 设置归零参数
+#endif
 
 } CmdID_t;