update

sdk/components/pipette_module/base/constant_cfg.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#define PIPETTEMODULE_SAMPLE_BUF_SIZE 300
+#define PIPETTEMODULE_SAMPLE_BUF_SIZE 600
 
 /***********************************************************************************************************************
  *                                                      配置份数                                                       *

sdk/components/pipette_module/base/pipette_pressure_sample_data.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include <stdint.h>
 typedef struct {
-  int32_t motor_pos;     // 电机位置
-  int32_t pressure_val;  // 压力值
+  int16_t motor_pos;     // 电机位置
+  int16_t pressure_val;  // 压力值
 } pipette_pressure_sample_data_t;

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -311,6 +311,8 @@ int32_t PipetteModule::pipette_pump_deposit_tip() {
   return 0;
 }
 int32_t PipetteModule::pipette_pump_pierce_through(int32_t container_info_index, int32_t container_pos) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
+
   thread_start_work(__FUNCTION__, [this, container_info_index, container_pos]() {
     // check param
     check_container_info_cpyid(container_info_index);
@@ -390,6 +392,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
 
     clearPipetteGunState();
     zm_move_to_zero_quick_block();
+    adjust_container_pos(&acfg->container_pos, m_state.platinfo_cpyid);
 
     if (acfg->lld_enable) {
       _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo);  // 液面探测
@@ -441,6 +444,13 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
   m_smtp2.pump_get_pressure(&start_pressure);
   ZLOGI(TAG, "-->start lld , start_pressure is %d", start_pressure);
 
+  if (m_common_cfg.pressure_record_enable) {
+    int32_t nopos    = zm_get_now_pos();
+    int32_t pressure = 0;
+    m_smtp2.pump_get_pressure(&pressure);
+    push_pressure_sample_data(nopos, pressure);
+  }
+
 #if 1
   pump_do_lld(liquidinfo->plld_threshold, 200, liquidinfo->plld_pm_vcpyid);  // lld延时200ms，速度为plld_zm_vel
   osDelay(110);                                                              // 等待lld启动
@@ -479,9 +489,11 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
     if (!m_common_cfg.pressure_record_enable) {
       ZLOGI(TAG, "...wait for lld trigger, now zm pos %d", zm_get_now_pos());
     } else {
+      int32_t nopos    = zm_get_now_pos();
       int32_t pressure = 0;
       m_smtp2.pump_get_pressure(&pressure);
-      ZLOGI(TAG, "...wait for lld trigger, now zm pos %d, pressure %d dpressure %d", zm_get_now_pos(), pressure, pressure - start_pressure);
+      ZLOGI(TAG, "...wait for lld trigger, now zm pos %d, pressure %d dpressure %d", nopos, pressure, pressure - start_pressure);
+      push_pressure_sample_data(nopos, pressure);
     }
 #else
     if (m_zm->isStoped()) {
@@ -710,6 +722,7 @@ int32_t PipetteModule::pipette_pump_distribu_all() {
     dump("liquid_info", liquidinfo);
     dump("liquid_in_gun_info", liquidInGun_info);
 
+    adjust_container_pos(&dcfg->container_pos, m_state.platinfo_cpyid);
     int32_t container_pos = dcfg->container_pos;
 
     if (dcfg->distribu_type == 0) {

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -244,6 +244,8 @@ class PipetteModule : public ZIModule {
   void    push_pressure_sample_data(int32_t motor_pos, int32_t pressure_val);
   int32_t calibrate_liquid_volume(liquid_info_t *liquidinfo, int32_t volumex100nl);
 
+  void adjust_container_pos(int32_t *container_pos, int32_t platinfo_index);
+
   void dump(const char *title, platinfo_t *info);
   void dump(const char *title, liquid_info_t *info);
   void dump(const char *title, container_info_t *info);

sdk/components/pipette_module/pipette_ctrl_module_test.cpp

@@ -30,6 +30,7 @@ int32_t PipetteModule::pipette_test_pump_move_to_x100nl(int32_t x100nl, int32_t
   return 0;
 }
 int32_t PipetteModule::pipette_test_lld(int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid, liquid_cpyid]() {
     ZLOGI(TAG, "pipette_pump_aspirate");
     if (pump_read_tip_state() == 0) {
@@ -51,6 +52,7 @@ int32_t PipetteModule::pipette_test_lld(int32_t container_pos, int32_t container
 }
 
 int32_t PipetteModule::pipette_test_move_to_container_bottom(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -59,6 +61,7 @@ int32_t PipetteModule::pipette_test_move_to_container_bottom(int32_t container_p
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_container_bottom_section_begin(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -67,6 +70,7 @@ int32_t PipetteModule::pipette_test_move_to_container_bottom_section_begin(int32
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_immersion_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -75,6 +79,7 @@ int32_t PipetteModule::pipette_test_move_to_immersion_pos(int32_t container_pos,
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_leaving_height_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -83,6 +88,8 @@ int32_t PipetteModule::pipette_test_move_to_leaving_height_pos(int32_t container
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_jet_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
+
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -91,6 +98,8 @@ int32_t PipetteModule::pipette_test_move_to_jet_pos(int32_t container_pos, int32
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_lld_start_search_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
+
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -99,6 +108,8 @@ int32_t PipetteModule::pipette_test_move_to_lld_start_search_pos(int32_t contain
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_fix_water_level_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
+
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);
@@ -107,6 +118,8 @@ int32_t PipetteModule::pipette_test_move_to_fix_water_level_pos(int32_t containe
   return 0;
 }
 int32_t PipetteModule::pipette_test_move_to_pierce_pos(int32_t container_pos, int32_t container_cpyid) {
+  adjust_container_pos(&container_pos, m_state.platinfo_cpyid);
+
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid]() {
     container_info_t *container_info = get_container_info_smart(container_cpyid, &m_now_container_info);
     check_container_info_cpyid(container_cpyid);

sdk/components/pipette_module/pipette_ctrl_module_utils.cpp

@@ -97,10 +97,22 @@ void PipetteModule::push_pressure_sample_data(int32_t motor_pos, int32_t pressur
     return;
   }
 
-  ZLOGI(TAG, "sample %2d mpos:%2d  pressure_val:%4d", capturedata_num, motor_pos, pressure_val);
-  capturedata_buf[capturedata_num].motor_pos    = motor_pos;
-  capturedata_buf[capturedata_num].pressure_val = pressure_val;
-  capturedata_num++;
+  // ZLOGI(TAG, "sample %2d mpos:%2d  pressure_val:%4d", capturedata_num, motor_pos, pressure_val);
+  if (capturedata_num == 0) {
+    capturedata_buf[capturedata_num].motor_pos    = motor_pos;
+    capturedata_buf[capturedata_num].pressure_val = pressure_val;
+    capturedata_num++;
+  } else {
+    if (motor_pos == capturedata_buf[capturedata_num - 1].motor_pos) {
+      // 如果位置相同，则更新压力值
+      capturedata_buf[capturedata_num - 1].pressure_val = pressure_val;
+    } else {
+      // 否则，添加新的样本
+      capturedata_buf[capturedata_num].motor_pos    = motor_pos;
+      capturedata_buf[capturedata_num].pressure_val = pressure_val;
+      capturedata_num++;
+    }
+  }
 }
 
 void PipetteModule::dump(const char *title, platinfo_t *info) {
@@ -191,3 +203,11 @@ int32_t PipetteModule::calibrate_liquid_volume(liquid_info_t *liquidinfo, int32_
                    liquidinfo->volume_calibration_coefficient_b * 0.001;
   return x100nl;
 }
+
+void PipetteModule::adjust_container_pos(int32_t *container_pos, int32_t platinfo_index) {
+  int32_t default_work_ref_pos = m_platinfo[0].work_ref_pos;
+  int32_t work_ref_pos         = m_platinfo[platinfo_index].work_ref_pos;
+
+  int32_t diff = work_ref_pos - default_work_ref_pos;
+  *container_pos += diff;
+}