文档更新以及TIP测试

src/main/java/com/dreamworks/boditech/controller/TmpController.java

@@ -4,9 +4,16 @@ import com.dreamworks.boditech.driver.actuator.ActArmXY;
 import com.dreamworks.boditech.driver.actuator.ActArmZMotor;
 import com.dreamworks.boditech.driver.actuator.ActPipette;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTipBox;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTipManager;
+import com.dreamworks.boditech.driver.entity.ParamPipetteTipUpdate;
+import com.dreamworks.boditech.service.AccountService;
 import com.dreamworks.boditech.service.DeviceService;
 import com.dreamworks.boditech.service.WebsocketServerService;
 import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
@@ -15,6 +22,8 @@ import org.springframework.web.bind.annotation.ResponseBody;
 import java.util.Map;
 @Controller
 public class TmpController extends BaseController {
+    private static final Logger LOG = LoggerFactory.getLogger(TmpController.class);
+
     @Resource
     private DeviceService deviceService;
 
@@ -29,4 +38,35 @@ public class TmpController extends BaseController {
         armZ.moveToLiquidLevel(name);
         return this.success();
     }
+
+    @ResponseBody
+    @PostMapping("/api/tmp/pipette-tip-test")
+    public ApiResponse pipetteTipTest( @RequestBody Map<String,Object> params ) {
+        ActArmXY armXY = (ActArmXY)this.deviceService.device.getActuator(ActuatorModule.ARM_XY);
+        ActArmZMotor armZ = (ActArmZMotor)this.deviceService.device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        armZ.reset();
+        armXY.reset();
+
+        this.deviceService.device.pipetteTips.updateByBox(new ParamPipetteTipUpdate() {{
+            index = 0;
+            tipAmount = 120;
+        }});
+        this.deviceService.device.pipetteTips.updateByBox(new ParamPipetteTipUpdate() {{
+            index = 1;
+            tipAmount = 120;
+        }});
+        this.deviceService.device.pipetteTips.updateByBox(new ParamPipetteTipUpdate() {{
+            index = 2;
+            tipAmount = 120;
+        }});
+        ActPipette pipette = (ActPipette)this.deviceService.device.getActuator(ActuatorModule.ARM_Z_PIPETTE);
+        CsmPipetteTipManager tipManager = this.deviceService.device.pipetteTips;
+        while ( !tipManager.isEmpty() ) {
+            CsmPipetteTip tip = tipManager.tipAlloc();
+            LOG.info("pick up : box={}; index={}; x={}; y={}", tip.boxIndex,tip.index, tip.getLocationX(), tip.getLocationY());
+            pipette.pickUpTip(tip);
+            pipette.dropTip();
+        }
+        return this.success();
+    }
 }

src/main/java/com/dreamworks/boditech/driver/actuator/ActPipette.java

@@ -25,6 +25,11 @@ public class ActPipette extends ActuatorBase {
         this.hasTip = true;
     }
 
+    // pick up tip
+    public void pickUpTip(CsmPipetteTip tip) {
+        this.useTip(tip);
+    }
+
     /**
      * drop tip to discard hole, and move arm z to 0, it would not
      * move arm xy to any position after drop tip.