21 changed files with 1113 additions and 853 deletions
-
BINapp.db
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4src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
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63src/main/java/a8k/hardware/A8kCanBusService.java
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6src/main/java/a8k/service/app/appctrl/DeviceInitCtrlService.java
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79src/main/java/a8k/service/app/devicedriver/calibration/Hbot2DCodeScanPosCalibration.java
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208src/main/java/a8k/service/app/devicedriver/calibration/PositionCalibration.java
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250src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java
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36src/main/java/a8k/service/app/devicedriver/ctrl/CodeScaner.java
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6src/main/java/a8k/service/app/devicedriver/ctrl/ConsumablesScanCtrl.java
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36src/main/java/a8k/service/app/devicedriver/ctrl/HbotControlService.java
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89src/main/java/a8k/service/app/devicedriver/ctrl/basic/HbotModule.java
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7src/main/java/a8k/service/app/devicedriver/ctrl/basic/PipetteCtrlModule.java
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51src/main/java/a8k/service/app/devicedriver/ctrl/type/HbotRegIndex.java
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2src/main/java/a8k/service/app/devicedriver/ctrl/type/PipetteRegIndex.java
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200src/main/java/a8k/service/app/devicedriver/param/Hbot2DCodeScanPos.java
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16src/main/java/a8k/service/app/devicedriver/status/DeviceStatus.java
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96src/main/java/a8k/service/db/PosParameterDBService.java
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9src/main/java/a8k/service/db/type/PosParameter.java
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30src/main/java/a8k/service/db/utils/PosParameterReader.java
@ -0,0 +1,79 @@ |
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package a8k.service.app.devicedriver.calibration; |
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|
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|
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import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; |
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import a8k.extapi_controler.utils.ExtApiFn; |
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import a8k.extapi_controler.utils.ExtApiTab; |
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import a8k.hardware.A8kCanBusService; |
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import a8k.service.app.devicedriver.ctrl.basic.PipetteCtrlModule; |
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import a8k.service.app.devicedriver.ctrl.CodeScaner; |
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import a8k.service.app.devicedriver.param.Hbot2DCodeScanPos; |
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import a8k.type.exception.AppException; |
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import com.fasterxml.jackson.databind.ObjectMapper; |
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import com.fasterxml.jackson.databind.node.ArrayNode; |
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import com.fasterxml.jackson.databind.node.ObjectNode; |
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import jakarta.annotation.Resource; |
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|
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@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPosCalibration) |
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public class Hbot2DCodeScanPosCalibration { |
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|
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@Resource |
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Hbot2DCodeScanPos hbot2DCodeScanPos; |
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|
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@Resource |
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A8kCanBusService canBus; |
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@Resource |
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CodeScaner codeScaner; |
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@Resource |
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PipetteCtrlModule pipetteCtrlModule; |
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|
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|
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@ExtApiFn(name = "扫码测试(全部位置)", group = "测试工具", order = 0) |
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public void deviceReset() throws AppException { |
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pipetteCtrlModule.zMotorEnable(1); |
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} |
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|
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public void disableMotor() throws AppException { |
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|
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} |
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|
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@ExtApiFn(name = "扫码测试(当前位置)", group = "测试工具", order = 0) |
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public String openCodeTryScaner() throws AppException { |
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return codeScaner.pipetteModCodeScannerScanCode(); |
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} |
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|
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@ExtApiFn(name = "扫码测试(全部位置)", group = "测试工具", order = 0) |
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public String scanAll() throws AppException { |
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return codeScaner.pipetteModCodeScannerScanCode(); |
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} |
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|
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|
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@ExtApiFn(name = "获取所有坐标", order = 1) |
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public ObjectNode getPoss() throws AppException { |
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ObjectMapper mapper = new ObjectMapper(); |
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|
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ObjectNode node = new ObjectMapper().createObjectNode(); |
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ArrayNode PBScanPos = node.putArray("PBScanPos"); |
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ArrayNode LittBSScanPos = node.putArray("LittBSScanPos"); |
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ArrayNode LarBSScanPos = node.putArray("LarBSScanPos"); |
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|
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for (int i = 0; i < 6; i++) { |
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PBScanPos.add(mapper.valueToTree(hbot2DCodeScanPos.getPBScanPosX(i).toString())); |
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} |
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|
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for (int i = 0; i < 6; i++) { |
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LittBSScanPos.add(mapper.valueToTree(hbot2DCodeScanPos.getLittBSX(i).toString())); |
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} |
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|
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for (int i = 0; i < 6; i++) { |
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LarBSScanPos.add(mapper.valueToTree(hbot2DCodeScanPos.getLarBSX(i).toString())); |
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} |
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return node; |
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} |
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|
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@ExtApiFn(name = "扫码", order = 2) |
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public void scan(String pos) throws AppException { |
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} |
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|
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} |
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@ -0,0 +1,36 @@ |
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package a8k.service.app.devicedriver.ctrl; |
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|
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.MId; |
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import a8k.type.exception.AppException; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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@Component |
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public class CodeScaner { |
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@Resource |
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A8kCanBusService canBus; |
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public String pipetteModCodeScannerScanCode() throws AppException { |
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try { |
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canBus.codeScanerStartScan(MId.PipetteModCodeScanner); |
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String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, 300); |
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canBus.codeScanerStopScan(MId.PipetteModCodeScanner); |
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return result; |
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} catch (AppException e) { |
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return ""; |
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} |
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} |
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public String feedingModScannerModCodeScannerScanCode(Integer waittime) { |
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try { |
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canBus.codeScanerStartScan(MId.FeedingModScannerMod); |
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String result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, waittime); |
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canBus.codeScanerStopScan(MId.FeedingModScannerMod); |
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return result; |
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} catch (AppException e) { |
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return ""; |
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} |
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} |
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} |
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@ -0,0 +1,89 @@ |
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package a8k.service.app.devicedriver.ctrl.basic; |
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|
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.CmdId; |
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import a8k.hardware.type.a8kcanprotocol.MId; |
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import a8k.service.app.devicedriver.ctrl.type.HbotRegIndex; |
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import a8k.type.cfg.Pos2d; |
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import a8k.type.exception.AppException; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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@Component |
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public class HbotModule { |
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@Resource |
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A8kCanBusService canBus; |
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public void enable(Integer enable) throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_enable.toInt(), enable); |
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} |
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public void moveBy(Integer x, Integer y) throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_by.toInt(), x, y); |
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} |
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public void moveByBlock(Integer x, Integer y, Integer actionOvertime) throws AppException { |
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moveBy(x, y); |
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canBus.waitForMod(MId.HbotM, actionOvertime); |
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} |
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|
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public void moveTo(Integer x, Integer y) throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_to.toInt(), x, y); |
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} |
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public void moveToBlock(Integer x, Integer y, Integer actionOvertime) throws AppException { |
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moveTo(x, y); |
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canBus.waitForMod(MId.HbotM, actionOvertime); |
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} |
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public void moveToZero() throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_to_zero.toInt()); |
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} |
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public void moveToZeroBlock(Integer actionOvertime) throws AppException { |
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moveToZero(); |
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canBus.waitForMod(MId.HbotM, actionOvertime); |
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} |
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public Pos2d readPos() throws AppException { |
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Pos2d pos = new Pos2d(0, 0); |
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var packet = canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_read_pos.toInt()); |
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pos.x = packet.getContentI32(0); |
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pos.y = packet.getContentI32(1); |
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return pos; |
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} |
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|
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public Boolean readInIO(Integer ioIndex) throws AppException { |
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var packet = canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_read_inio.toInt(), ioIndex); |
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return packet.getContentI32(0) != 0; |
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} |
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public void setPos(Integer x, Integer y) throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_set_pos.toInt(), x, y); |
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} |
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public void moveByDirect(Integer motor1_dpos, Integer motor2_dpos) throws AppException { |
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canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_motor_move_by_direct.toInt(), motor1_dpos, motor2_dpos); |
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} |
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public Integer readEncDirect() throws AppException { |
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var packet = canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_read_enc_direct.toInt()); |
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return packet.getContentI32(0); |
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} |
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public Integer hbotReadInioIndexInStm32(Integer ioIndex) throws AppException { |
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var packet = canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_read_inio_index_in_stm32.toInt(), ioIndex); |
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return packet.getContentI32(0); |
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} |
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public void setReg(HbotRegIndex regIndex, Integer value) throws AppException { |
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canBus.moduleSetReg(MId.HbotM, regIndex.regIndex, value); |
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} |
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public Integer getReg(HbotRegIndex regIndex) throws AppException { |
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return canBus.moduleGetReg(MId.HbotM, regIndex.regIndex); |
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} |
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} |
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@ -0,0 +1,51 @@ |
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package a8k.service.app.devicedriver.ctrl.type; |
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|
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import a8k.hardware.type.regindex.RegIndex; |
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|
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public enum HbotRegIndex { |
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kreg_module_version(RegIndex.kreg_module_version), // 模块版本 |
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kreg_module_type(RegIndex.kreg_module_type), // 模块类型 |
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kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error |
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kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag |
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kreg_extboard_resetflag(RegIndex.kreg_extboard_resetflag), |
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kreg_xyrobot_io_state(RegIndex.kreg_xyrobot_io_state), // |
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kreg_xyrobot_is_enable(RegIndex.kreg_xyrobot_is_enable), // |
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kreg_xyrobot_robot_type(RegIndex.kreg_xyrobot_robot_type), // |
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kreg_xyrobot_one_circle_pulse(RegIndex.kreg_xyrobot_one_circle_pulse), // |
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kreg_xyrobot_one_circle_pulse_denominator(RegIndex.kreg_xyrobot_one_circle_pulse_denominator), // |
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kreg_xyrobot_ihold(RegIndex.kreg_xyrobot_ihold), // |
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kreg_xyrobot_irun(RegIndex.kreg_xyrobot_irun), // |
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kreg_xyrobot_iholddelay(RegIndex.kreg_xyrobot_iholddelay), // |
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kreg_xyrobot_iglobalscaler(RegIndex.kreg_xyrobot_iglobalscaler), // |
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kreg_xyrobot_vstart(RegIndex.kreg_xyrobot_vstart), // |
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kreg_xyrobot_a1(RegIndex.kreg_xyrobot_a1), // |
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kreg_xyrobot_amax(RegIndex.kreg_xyrobot_amax), // |
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kreg_xyrobot_v1(RegIndex.kreg_xyrobot_v1), // |
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kreg_xyrobot_dmax(RegIndex.kreg_xyrobot_dmax), // |
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kreg_xyrobot_d1(RegIndex.kreg_xyrobot_d1), // |
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kreg_xyrobot_vstop(RegIndex.kreg_xyrobot_vstop), // |
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kreg_xyrobot_tzerowait(RegIndex.kreg_xyrobot_tzerowait), // |
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kreg_xyrobot_enc_resolution(RegIndex.kreg_xyrobot_enc_resolution), // |
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kreg_xyrobot_enable_enc(RegIndex.kreg_xyrobot_enable_enc), // |
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kreg_xyrobot_x_shaft(RegIndex.kreg_xyrobot_x_shaft), // |
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kreg_xyrobot_y_shaft(RegIndex.kreg_xyrobot_y_shaft), // |
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kreg_xyrobot_min_x(RegIndex.kreg_xyrobot_min_x), // |
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kreg_xyrobot_min_y(RegIndex.kreg_xyrobot_min_y), // |
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kreg_xyrobot_max_x(RegIndex.kreg_xyrobot_max_x), // |
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kreg_xyrobot_max_y(RegIndex.kreg_xyrobot_max_y), // |
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kreg_xyrobot_run_to_zero_speed(RegIndex.kreg_xyrobot_run_to_zero_speed), // |
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kreg_xyrobot_look_zero_edge_speed(RegIndex.kreg_xyrobot_look_zero_edge_speed), // |
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kreg_xyrobot_shift_x(RegIndex.kreg_xyrobot_shift_x), // |
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kreg_xyrobot_shift_y(RegIndex.kreg_xyrobot_shift_y), // |
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kreg_xyrobot_pos_devi_tolerance(RegIndex.kreg_xyrobot_pos_devi_tolerance), // |
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kreg_xyrobot_io_trigger_append_distance(RegIndex.kreg_xyrobot_io_trigger_append_distance), // |
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kreg_xyrobot_default_velocity(RegIndex.kreg_xyrobot_default_velocity), // |
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; |
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|
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public final RegIndex regIndex; |
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HbotRegIndex(RegIndex regIndex) { |
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this.regIndex = regIndex; |
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} |
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|
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} |
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@ -1,4 +1,4 @@ |
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package a8k.hardware.type.regindex; |
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package a8k.service.app.devicedriver.ctrl.type; |
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|
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public enum PipetteRegIndex { |
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kreg_module_version(0), // 模块版本 |
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@ -0,0 +1,96 @@ |
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package a8k.service.db; |
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|
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import a8k.service.app.appdata.UtilsProjectColorAllocer; |
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import a8k.service.db.type.PosParameter; |
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import a8k.service.db.utils.PosParameterReader; |
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import a8k.service.debug.AppDebugHelperService; |
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import a8k.utils.ZSqliteJdbcHelper; |
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import com.fasterxml.jackson.core.JsonProcessingException; |
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import com.fasterxml.jackson.databind.ObjectMapper; |
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import com.fasterxml.jackson.datatype.jsr310.ser.ZoneIdSerializer; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import lombok.SneakyThrows; |
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import org.slf4j.Logger; |
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import org.slf4j.LoggerFactory; |
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import org.springframework.jdbc.core.JdbcTemplate; |
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import org.springframework.stereotype.Component; |
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|
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import java.sql.ResultSet; |
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import java.util.List; |
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|
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@Component |
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public class PosParameterDBService { |
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private static final Logger logger = LoggerFactory.getLogger(PosParameterDBService.class); |
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private static final String tableName = "zapp_a8k_pos_parameter"; |
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private static final Class<?> tClass = PosParameter.class; |
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|
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|
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@Resource |
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JdbcTemplate jdbcTemplate; |
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|
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@PostConstruct |
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void init() { |
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if (!ZSqliteJdbcHelper.isTableExist(jdbcTemplate, tableName)) { |
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ZSqliteJdbcHelper.createTable(jdbcTemplate, tableName, tClass); |
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} |
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} |
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|
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@SneakyThrows private PosParameter rowMapper(ResultSet rs, int rowNum) { |
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return (PosParameter) ZSqliteJdbcHelper.rowMapper(rs, tClass); |
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} |
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|
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|
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public <T> T getParam(String service, String key, Class<T> tClass) { |
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List<PosParameter> list = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key); |
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if (list.isEmpty()) { |
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return null; |
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} |
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|
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PosParameter posParameter = list.get(0); |
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try { |
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return new ObjectMapper().readValue(posParameter.val, tClass); |
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} catch (JsonProcessingException e) { |
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throw new RuntimeException(e); |
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} |
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} |
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|
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public void updateParam(String service, String key, Object pos) { |
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try { |
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ObjectMapper objectMapper = new ObjectMapper(); |
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List<PosParameter> list = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key); |
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if (list.isEmpty()) { |
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PosParameter posParameter = new PosParameter(); |
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posParameter.service = service; |
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posParameter.key = key; |
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posParameter.val = objectMapper.writeValueAsString(pos); |
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posParameter.valType = pos.getClass().getSimpleName(); |
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ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, posParameter); |
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return; |
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} |
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|
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PosParameter posParameter = list.get(0); |
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posParameter.val = objectMapper.writeValueAsString(pos); |
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posParameter.service = service; |
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posParameter.key = key; |
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posParameter.valType = pos.getClass().getSimpleName(); |
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ZSqliteJdbcHelper.updateObj(jdbcTemplate, tableName, tClass, posParameter); |
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|
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} catch (JsonProcessingException e) { |
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throw new RuntimeException(e); |
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} |
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} |
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|
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public Integer getParamVersion(String service) { |
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return getParam(service, "VERSION", Integer.class); |
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} |
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|
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public void setParamVersion(String service, Integer version) { |
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updateParam(service, "VERSION", 0); |
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} |
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|
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public PosParameterReader getReader(Class<?> type) { |
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return new PosParameterReader(this, type); |
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} |
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|
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} |
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@ -0,0 +1,9 @@ |
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package a8k.service.db.type; |
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|
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public class PosParameter { |
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public int id; |
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public String service; |
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public String key; |
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public String valType; |
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public String val; |
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} |
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@ -0,0 +1,30 @@ |
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package a8k.service.db.utils; |
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|
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import a8k.service.db.PosParameterDBService; |
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import jakarta.annotation.Resource; |
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|
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public class PosParameterReader { |
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Class<?> tClass; |
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PosParameterDBService posParameterDBService; |
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|
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public PosParameterReader(PosParameterDBService dbservice, Class<?> tClass) { |
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posParameterDBService = dbservice; |
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this.tClass = tClass; |
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} |
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|
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public <T> T getPos(String key, Class<T> tClass) { |
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return posParameterDBService.getParam(tClass.getSimpleName(), key, tClass); |
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} |
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|
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public void updatePos(String key, Object pos) { |
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posParameterDBService.updateParam(tClass.getSimpleName(), key, pos); |
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} |
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|
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public Integer getVersion() { |
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return posParameterDBService.getParamVersion(tClass.getSimpleName()); |
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} |
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|
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public void setVersion(Integer version) { |
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posParameterDBService.setParamVersion(tClass.getSimpleName(), version); |
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} |
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} |
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