#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(action_cb_status_t status_cb) = 0;
  virtual int32_t reset_device(action_cb_status_t status_cb)       = 0;

  virtual int32_t take_tip(int tipid, action_cb_status_t status_cb) = 0;
  virtual int32_t remove_tip(action_cb_status_t status_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, action_cb_status_t status_cb) = 0;
};
}  // namespace iflytop