You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
49 lines
1.4 KiB
49 lines
1.4 KiB
|
|
#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; // 设备状态
|
|
uint8_t io_state; // IO0:z_zero_io/IO1:hastip/
|
|
int16_t zpos_mm; // z轴位置
|
|
int16_t pipette_ul; // 移液枪液量
|
|
} 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;
|
|
// 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;
|
|
|
|
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
|