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58 lines
2.5 KiB
58 lines
2.5 KiB
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#pragma once
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#include <stdint.h>
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#include <functional>
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#include "basic_type.hpp"
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//
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namespace iflytop {
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using namespace std;
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class I_PipetteModule {
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public:
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#pragma pack(1)
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ZSTRUCT(base_param_t, s16 pad;);
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typedef struct {
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u8 status; // 模块状态
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u8 pipette_gun_status; // 移液枪状态
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u8 io_state; // IO0:z_zero_io
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u8 has_tip; // 是否有tip
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s16 zpos_mm; // z轴位置，如果有tip,则自动加上tip高度
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s16 pipette_ul; // 移液枪液量
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} status_t;
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#pragma pack()
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// ZSTRUCT(action_cb_status_t, u8 exec_status;);
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virtual int32_t enable(u8 enable) = 0;
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virtual int32_t stop(u8 stop_type) = 0;
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virtual int32_t zero_pos_calibrate(action_cb_status_t status_cb) = 0;
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virtual int32_t reset_device(action_cb_status_t status_cb) = 0;
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virtual int32_t take_tip(s16 vel, s16 height_mm, s16 tip_hight_mm, action_cb_status_t status_cb) = 0;
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virtual int32_t remove_tip(s16 vel, s16 height_mm, action_cb_status_t status_cb) = 0;
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virtual int32_t move_to(s16 vel, s16 height_mm, action_cb_status_t status_cb) = 0;
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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;
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virtual int32_t shake_volume(s16 shake_times, s16 shake_volume, action_cb_status_t status_cb) = 0;
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virtual int32_t take_and_split_liquid(s16 take_volume_mm, action_cb_status_t status_cb) = 0;
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/*******************************************************************************
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* ReadStatus *
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*******************************************************************************/
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virtual int32_t get_status(status_t &status) = 0;
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/*******************************************************************************
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* SETTING *
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*******************************************************************************/
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virtual int32_t set_z_motor_para(const I_StepMotorCtrlModule::base_param_t &z_motor_param) = 0;
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virtual int32_t get_z_motor_para(I_StepMotorCtrlModule::base_param_t &z_motor_param) = 0;
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virtual int32_t set_base_param(const base_param_t &base_param) = 0;
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virtual int32_t get_base_param(base_param_t &base_param) = 0;
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};
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} // namespace iflytop
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