v1.2

config/config.json

@@ -1,8 +1,8 @@
 {
     "deviceId": "",
-    "disinfectantBucketCapacity_g": 2500,
+    "disinfectantBucketCapacity_g": 2300,
     "disinfectantWeightCorrectionFactor": 0.8999999761581421,
-    "dvalueCoefficient": 1.0,
+    "dvalueCoefficient": 2.0,
     "iflytopSubDeviceCanBitrate": 500000,
     "iflytopSubDeviceCanIFName": "can0",
     "pipettingRobotCanBitrate": 500000,

src/configs/gconfig.hpp

@@ -21,9 +21,8 @@
       marco(string /*  */, pipettingRobotCanIFName, "can1")    /*移液臂Can设备名称*/    \
       marco(int32_t /* */, pipettingRobotCanBitrate, 500000)   /*移液臂Can设备波特率*/ \
       marco(int32_t /* */, disinfectantBucketCapacity_g, 2200) /*消毒桶容积*/ \
-      marco(float /*   */, dvalueCoefficient, 1)                    /*数值越小，相对消毒时间越长*/ \
-      marco(float /*   */, disinfectantWeightPa, 1)                    /*数值越小，相对消毒时间越长*/ \
-      marco(float /*   */, disinfectantWeightCorrectionFactor, 0.9) /*数值越小，相对消毒时间越长*/
+      marco(float /*   */, dvalueCoefficient, 1)                    /*数值越大，相对消毒时间越长*/ \
+      marco(float /*   */, disinfectantWeightCorrectionFactor, 0.9) /*称重结果校准系数*/
 
 configTemplateDEFILE_CONFIG_SERVICE2(  //
     GConfig,                           //

src/service/device_io_control_service.cpp

@@ -25,12 +25,15 @@ void DeviceIoControlService::initialize() {
 }
 
 void DeviceIoControlService::updateDisinfectantVolumeSample(float _pa) {
-  float pa = _pa - 100;  // 100当容器中没有液体时的压强
-  if (pa < 0) pa = 0;
-  float g                      = m_volumeConvertor.pressurePa2VolumeG(_pa) * m_config->get_disinfectantWeightCorrectionFactor();
+  float pa = _pa - 100;
+  if (pa < 0) {
+    pa = 0;
+  }
+  float g                      = m_volumeConvertor.pressurePa2VolumeG(pa) * m_config->get_disinfectantWeightCorrectionFactor();
   m_disinfectantVolumeSample_g = m_DisinfectantWeightFilter.filter(g);
+  if (m_disinfectantVolumeSample_g < 20) m_disinfectantVolumeSample_g = 0;
   // logger->info("pa:{} _pa:{}", _pa, _pa,g);
-  logger->info("g:{} pa:{} _pa:{}", g, pa, _pa);
+  // logger->info("g:{}_pa:{}", g,_pa);
 }
 
 void DeviceIoControlService::startScan() {

src/utils/volume_convertor.cpp

@@ -42,11 +42,8 @@ float VolumeConvertor::computeConeVolume(float rb, float ru, float h, float nowh
   return v;
 }
 
-float VolumeConvertor::pressurePa2VolumeG(float _pa) {
-  float pa = _pa - 90;
-  if (pa < 0) {
-    pa = 0;
-  }
+float VolumeConvertor::pressurePa2VolumeG(float pa) {
+
 
   // 计算液面高度
   float h_dm = pa2high(pa);
@@ -66,13 +63,13 @@ float VolumeConvertor::pressurePa2VolumeG(float _pa) {
   h3_dm = h3_dm > container_h3 ? container_h3 : h3_dm;
   h4_dm = h4_dm > container_h4 ? container_h4 : h4_dm;
 
-//   printf("h_dm:%f h1_dm:%f, h2_dm:%f, h3_dm:%f, h4_dm:%f\n",h_dm, h1_dm, h2_dm, h3_dm, h4_dm);
+  // printf("h_dm:%f h1_dm:%f, h2_dm:%f, h3_dm:%f, h4_dm:%f\n",h_dm, h1_dm, h2_dm, h3_dm, h4_dm);
 
   float v1 = computeConeVolume(container_rb1, container_ru1, container_h1, h1_dm);
   float v2 = computeConeVolume(container_rb2, container_ru2, container_h2, h2_dm);
   float v3 = computeConeVolume(container_rb3, container_ru3, container_h3, h3_dm);
   float v4 = computeConeVolume(container_rb4, container_ru4, container_h4, h4_dm);
-//   printf("v1:%f, v2:%f, v3:%f, v4:%f\n", v1, v2, v3, v4);
+  // printf("v1:%f, v2:%f, v3:%f, v4:%f\n", v1, v2, v3, v4);
 
   // h4_dm * (double)(2.1124069002737764)
   float V_L = v1 + v2 + v3 + v4;  // 0.001m^3