更新参数

1 year ago · 0412482d80
7 changed files with 117 additions and 69 deletions
--- a/app.db
+++ b/app.db
--- a/src/main/java/a8k/a8k_can_protocol/A8kEcode.java
+++ b/src/main/java/a8k/a8k_can_protocol/A8kEcode.java
@ -25,7 +25,7 @@ public enum A8kEcode {
 	ShakeModGripperZMNotInZeroPos(19, "抓手升降电机没有在零位"),//
 	MNotInZeroPos(20, "电机没有在零点"),//
 	TubeXChannelIsNotEmpty(21, "试管架平移通道不为空"),//
-
+	TubeTypeNotSupport(22, "试管类型不支持"),//
 	//
 	//	FOR HARDWARE
 	//
--- a/src/main/java/a8k/base_hardware/A8kCanBusService.java
+++ b/src/main/java/a8k/base_hardware/A8kCanBusService.java
@ -126,6 +126,7 @@ public class A8kCanBusService {
 		}, 0, 1000);
 	}

+
 	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
 		int subCmdId   = cmdId & 0xFF;
 		int mainCmdId  = (cmdId >> 8) & 0xFFFF;
@ -143,6 +144,11 @@ public class A8kCanBusService {
 		}
 		return new A8kPacket(buffer.array());
 	}
+	//	fan_controler_set_speed
+
+	public void fanControlerSetSpeed(MId id, int speed) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.fan_controler_set_speed.toInt(), speed);
+	}


 	//code_scaner_start_scan
@ -150,21 +156,21 @@ public class A8kCanBusService {
 	//code_scaner_result_is_ready
 	//code_scaner_read_scaner_result

-	public void codeScanerStartScan(MId id) throws HardwareException {
+	public void codeScanerStartScan(MId id) throws HardwareException, InterruptedException {
 		callcmd(id.toInt(), CmdId.code_scaner_start_scan.toInt());
 	}

-	public void codeScanerStopScan(MId id) throws HardwareException {
+	public void codeScanerStopScan(MId id) throws HardwareException, InterruptedException {
 		callcmd(id.toInt(), CmdId.code_scaner_stop_scan.toInt());
 	}

-	public String codeScanerReadScanerResult(MId id) throws HardwareException {
+	public String codeScanerReadScanerResult(MId id) throws HardwareException, InterruptedException {
 		A8kPacket ack          = callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
 		var       contentBytes = ack.getCmdContent();
 		return new String(contentBytes);
 	}

-	public Boolean codeScanerResultIsReady(MId id) throws HardwareException {
+	public Boolean codeScanerResultIsReady(MId id) throws HardwareException, InterruptedException {
 		var packet = callcmd(id.toInt(), CmdId.code_scaner_result_is_ready.toInt());
 		return packet.getContentI32(0) != 0;
 	}
@ -384,7 +390,7 @@ public class A8kCanBusService {
 			if (now - startedAt > acitionOvertime) {
 				throw new HardwareException(id, A8kEcode.Overtime);
 			}
-			Thread.sleep(100);
+
 		} while (true);
 	}

@ -531,6 +537,11 @@ public class A8kCanBusService {
 					throw e;
 				}
 			}
+			try {
+				Thread.sleep(300);
+			} catch (InterruptedException ignore) {
+			}
+

 		}
 		throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
--- a/src/main/java/a8k/service/appdb/entity/AppSettingIterm.java
+++ b/src/main/java/a8k/service/appdb/entity/AppSettingIterm.java
@ -12,6 +12,6 @@ public class AppSettingIterm {
 	public String val;

 	public static String getTableName() {
-		return "HardwareServiceSetting" + "Table";
+		return "AppSettingIterm" + "Table";
 	}
 }
--- a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
+++ b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
@ -21,86 +21,111 @@ import org.springframework.web.bind.annotation.*;
@HardwareServiceParams(service = SamplesPreProcessModuleCtrlService.class)
 public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 	static Logger logger = LoggerFactory.getLogger(SamplesPreProcessModuleCtrlService.class);
+	HardwareParamReader hpReader = new HardwareParamReader(SamplesPreProcessModuleCtrlService.class);

 	@Resource
 	private A8kCanBusService canBus;

 	@Resource
 	private CommonHardwareOpeartion comHardwareOpear;
-	@Autowired
-	private CommonHardwareOpeartion commonHardwareOpeartion;

 	final private int     actionDelayTime = 0;
-	final private Boolean debug           = true;
+	final private Boolean debug           = false;

-	//
-	//	参数
-	//
+	Boolean IntEq(Integer pos1, Integer pos2, Integer diff) {
+		return Math.abs(pos1 - pos2) < diff;
+	}
+
+	void actionDelay() throws InterruptedException {
+		if (actionDelayTime != 0)
+			Thread.sleep(actionDelayTime);
+	}
+	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	 * 						参数
+	 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/

 	@HardwareServiceParam(name = "动作超时时间", group = "基础参数")
 	public Integer getActionOvertime() {
-		return 5000;
+		return hpReader.getInteger("ActionOvertime", 5000);
+	}
+
+	@HardwareServiceParam(name = "试管帽有无判断时间", group = "基础参数")
+	public Integer getCapJudgeDelayTime() {
+		return hpReader.getInteger("CapJudgeDelayTime", 300);
 	}

+	@HardwareServiceParam(name = "抓手张开位置", group = "抓手")
 	public Integer getGripperOpenPos() {
-		return 150;
+		return hpReader.getInteger("GripperOpenPos", 150);
 	}

+	@HardwareServiceParam(name = "抓手闭合位置", group = "抓手")
 	public Integer getGripperClosePos() {
-		return 10;
+		return hpReader.getInteger("GripperClosePos", 10);
 	}

+	@HardwareServiceParam(name = "抓手取试管位置", group = "抓手")
 	public Integer getGripperTakeCapPos() {
-		return 55;//
+		return hpReader.getInteger("GripperTakeCapPos", 55);
 	}

+	@HardwareServiceParam(name = "取试管位置", group = "Y轴位置")
 	public Integer getGripperTakeTubeYPos() {
-		return 2735;
+		return hpReader.getInteger("GripperTakeTubeYPos", 2750);
 	}

+	@HardwareServiceParam(name = "摇匀位置", group = "Y轴位置")
 	public Integer getGripperShakeYPos() {
-		return 1828;
+		return hpReader.getInteger("GripperShakeYPos", 1828);
 	}

+	@HardwareServiceParam(name = "待机位", group = "Y轴位置")
 	public Integer getGripperZeroYPos() {
-		return 10;
+		return hpReader.getInteger("GripperZeroYPos", 10);
 	}

-	//	TakeTubeZ
+
+	@HardwareServiceParam(name = "取高试管位置", group = "Z轴位置")
 	public Integer getGripperTakeHTubeZPos() {
-		return 739;
+		return hpReader.getInteger("GripperTakeHTubeZPos", 739);
 	}

+	@HardwareServiceParam(name = "取低试管位置", group = "Z轴位置")
 	public Integer getGripperTakeSTubeZPos() {
-		return 985;
+		return hpReader.getInteger("GripperTakeSTubeZPos", 985);
 	}

 	//JudgeTubeCapZ
+	@HardwareServiceParam(name = "高试管帽有无判断位", group = "Z轴位置")
 	public Integer getGripperJudgeHTubeCapZPos() {
-		return 591;
+		return hpReader.getInteger("GripperJudgeHTubeCapZPos", 591);
 	}

+	@HardwareServiceParam(name = "低试管帽有无判断位", group = "Z轴位置")
 	public Integer getGripperJudgeSTubeCapZPos() {
-		return 867;
+		return hpReader.getInteger("GripperJudgeSTubeCapZPos", 867);
 	}

 	//ShakeTubeZ
+	@HardwareServiceParam(name = "摇匀放置位置", group = "Z轴位置")
 	public Integer getGripperShakeTubeZPos() {
-		return 835;
+		return hpReader.getInteger("GripperShakeTubeZPos", 835);
 	}

 	//TakeCapZ
+	@HardwareServiceParam(name = "取试管帽位", group = "Z轴位置")
 	public Integer getGripperTakeCapZPos() {
-		return 835;
+		return hpReader.getInteger("GripperTakeCapZPos", 835);
 	}

+	@HardwareServiceParam(name = "试管夹紧位", group = "试管夹紧模块")
 	public Integer getShakeClampingPos() {
-		return 10;
+		return hpReader.getInteger("ShakeClampingPos", 10);
 	}

-	//
+	@HardwareServiceParam(name = "摇匀臂", group = "试管摇匀待机位")
 	public Integer getShakeModShakeMStandbyPos() {
-		return 90;
+		return hpReader.getInteger("ShakeModShakeMStandbyPos", 90);
 	}


@ -122,11 +147,13 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		}
 	}

+	@HardwareServiceAction(name = "模组停止")
 	@Override
 	public void modGroupStop() throws HardwareException {
 		comHardwareOpear.forceStopAllMOtor();
 	}

+	@HardwareServiceAction(name = "模组归零")
 	@Override
 	public void modGroupMoveToZero() throws HardwareException, InterruptedException {
 		//		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
@ -152,6 +179,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 	}


+	@HardwareServiceAction(name = "模组快速归零")
 	@Override
 	public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
 		/*
@ -172,23 +200,13 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		modGroupMoveToZero();
 	}

-	Boolean IntEq(Integer pos1, Integer pos2, Integer diff) {
-		return Math.abs(pos1 - pos2) < diff;
-	}
-
-
-	void actionDelay() throws InterruptedException {
-		if (actionDelayTime != 0)
-			Thread.sleep(actionDelayTime);
-	}
-

 	/**
 	 * 取试管帽,如果试管帽存在，
 	 * @param tubeType HighBlood,ShortBlood,Mini,MiniBlood,BulletTube1P5,BulletTube0P5
-	 * @param actionDealyTime 为true时，为不带试管测试，且步骤之间有1s的动作延迟
 	 */
-	public AppRet<Boolean> takeTubeAndJudgeTubeExist(@RequestParam String tubeType) throws HardwareException, InterruptedException {
+	@HardwareServiceAction(name = "取试管")
+	public AppRet<Boolean> takeTubeAndJudgeTubeExist(A8kTubeType tubeType) throws HardwareException, InterruptedException {
 		logger.info("takeTube tubeType:{}", tubeType);

 		/*
@ -196,6 +214,10 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		 *		1.当前摇匀模组设计到的电机是否都处于待机位
 		 */

+		if (tubeType != A8kTubeType.HighBlood && tubeType != A8kTubeType.ShortBlood) {
+			return AppRet.fail(A8kEcode.TubeTypeNotSupport);
+		}
+
 		//Z轴在原点
 		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
 			throw new HardwareException(MId.ShakeModGripperZM, A8kEcode.MNotInZeroPos);
@ -216,7 +238,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 			throw new HardwareException(MId.ShakeModClampingM, A8kEcode.MNotInZeroPos);
 		}

-		boolean isHighBlood         = A8kTubeType.HighBlood.equals(A8kTubeType.valueOf(tubeType));
+		boolean isHighBlood         = A8kTubeType.HighBlood.equals(tubeType);
 		boolean tubeCapExist        = true;
 		Integer gripperJudgeCapZPos = isHighBlood ? getGripperJudgeHTubeCapZPos() : getGripperJudgeSTubeCapZPos();
 		Integer gripperTakeTubeZPos = isHighBlood ? getGripperTakeHTubeZPos() : getGripperTakeSTubeZPos();
@ -263,7 +285,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		//闭合夹爪检测试管帽是否存在
 		logger.info("闭合夹爪检测试管帽是否存在");
 		canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400);
-		Thread.sleep(1000);
+		Thread.sleep(getCapJudgeDelayTime());
 		if (IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), getGripperClosePos(), 30)) {
 			logger.info("试管帽不存在");
 			tubeCapExist = false;
@ -351,7 +373,8 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 	}


-	public void shakeTube(@RequestParam Integer shakeDegree, @RequestParam Integer times) throws HardwareException, InterruptedException {
+	@HardwareServiceAction(name = "摇匀")
+	public void shakeTube(Integer shakeDegree, Integer times) throws HardwareException, InterruptedException {
 		var standByPos = getShakeModShakeMStandbyPos();
 		var startPos   = standByPos - shakeDegree;
 		var endPos     = standByPos + shakeDegree;
@ -359,6 +382,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		canBus.waitForMod(MId.ShakeModShakeM, getActionOvertime());
 	}

+	@HardwareServiceAction(name = "取试管帽")
 	public void takeTubeCap() throws HardwareException, InterruptedException {
 		//Y移动到取试管帽位置
 		logger.info("Y移动到取试管帽位置 && 打开夹爪");
@ -389,11 +413,11 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 		canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV}, getActionOvertime());
 	}

-
 	/**
 	 * 盖试管帽，并将试管移动回试管架中
 	 */
-	public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
+	@HardwareServiceAction(name = "盖试管帽并放回试管架")
+	public void pushBackTubeCapAndTakeBakTube(A8kTubeType tubeType) throws HardwareException, InterruptedException {
 		//移动Y轴到取试管帽位置
 		logger.info("移动Y轴到取试管帽位置");
 		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, getGripperShakeYPos());
@ -444,29 +468,15 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {

 	}

-
-	/**
-	 * 打开气溶胶风扇
-	 */
-	public void openAerosolFan() throws HardwareException {
-		//			var params = this.paramDao;
-		//			this.canBus.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), params.getAerosolFanLevel());
-	}
-
 	/**
-	 * 关闭气溶胶风扇
+	 * 气溶胶风扇控制
 	 */
-	public void closeAerosolFan() throws HardwareException {
-		//			this.canBus.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), 0);
-	}
-
-	@HardwareServiceStatus(name = "A")
-	public Integer getAerosolFanLevel() {
-		return 123;
-	}
-
-	@HardwareServiceStatus(name = "B")
-	public Boolean getBool() {
-		return true;
+	@HardwareServiceAction(name = "气溶胶风扇控制")
+	public void setAeroslFanPower(Boolean enable) throws HardwareException, InterruptedException {
+		if (enable) {
+			canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 99);
+		} else {
+			canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 0);
+		}
 	}
 }
--- a/src/main/java/a8k/utils/HardwareParamReader.java
+++ b/src/main/java/a8k/utils/HardwareParamReader.java
@ -0,0 +1,19 @@
+package a8k.utils;
+
+import a8k.service.db.entity.HardwareServiceSetting;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+
+public class HardwareParamReader {
+	String serviceName;
+	
+	public HardwareParamReader(Class<?> cla) {
+		this.serviceName = cla.getName();
+	}
+
+	public Integer getInteger(String key, Integer defaultValue) {
+		return HardwareServiceSetting.getInteger(serviceName, key, defaultValue);
+	}
+}
--- a/src/main/resources/db/migration/V100_1__create_table_HardwareServiceSettingTable.sql
+++ b/src/main/resources/db/migration/V100_1__create_table_HardwareServiceSettingTable.sql
@ -0,0 +1,8 @@
+CREATE TABLE "HardwareServiceSettingTable" (
+  "id" text NOT NULL,
+  "key" text,
+  "serviceName" text,
+  "valType" text,
+  "val" text,
+  PRIMARY KEY ("id")
+);