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Merge remote-tracking branch 'origin/master' 

# Conflicts:
#	src/main/java/a8k/appbean/HardwareException.java
#	src/main/java/a8k/base_hardware/A8kCanBusService.java
#	src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
tags/v0
sige 1 year ago
parent
1d275eb39f e3eca3714f
commit
07d92a4ed1
12 changed files with 524 additions and 333 deletions
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  1. 8
      src/main/java/a8k/a8k_can_protocol/IOId.java
  2. 120
      src/main/java/a8k/a8k_can_protocol/MId.java
  3. 32
      src/main/java/a8k/a8k_can_protocol/ModId.java
  4. 11
      src/main/java/a8k/appbean/AppErrorCode.java
  5. 6
      src/main/java/a8k/appbean/HardwareException.java
  6. 29
      src/main/java/a8k/appbean/ecode/AppEcode.java
  7. 212
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  8. 6
      src/main/java/a8k/controller/TmpTestController.java
  9. 109
      src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
  10. 48
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  11. 120
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

8
src/main/java/a8k/a8k_can_protocol/IOId.java
View File

@ -16,11 +16,11 @@ public enum IOId {
//转盘逻辑相关光电 //转盘逻辑相关光电
//钩板电机，零点光电，终点光电 //钩板电机，零点光电，终点光电
PullerMZeroPPS(ModuleType.ktmc_step_motor,ModuleId.OptModPullM,0),
PullerMEndPPS(ModuleType.ktmc_step_motor,ModuleId.OptModPullM,1),
PullerMZeroPPS(ModuleType.ktmc_step_motor, ModId.OptModPullM,0),
PullerMEndPPS(ModuleType.ktmc_step_motor, ModId.OptModPullM,1),
//推板电机，零点光电，终点光电 //推板电机，零点光电，终点光电
PusherMZeroPPS(ModuleType.ktmc_step_motor,ModuleId.PlatesBoxPusherM,0),
PusherMEndPPS(ModuleType.ktmc_step_motor,ModuleId.PlatesBoxPusherM,1),
PusherMZeroPPS(ModuleType.ktmc_step_motor, ModId.PlatesBoxPusherM,0),
PusherMEndPPS(ModuleType.ktmc_step_motor, ModId.PlatesBoxPusherM,1),
; ;

120
src/main/java/a8k/a8k_can_protocol/MId.java
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@ -0,0 +1,120 @@
package a8k.a8k_can_protocol;
public enum MId {
NotSet(0, "未设置"),//
HbotBoard(10, "机械臂板模块"),//
HbotM(11, "机械臂XY"),//
//
PlatesBoxBoard(20, "板夹仓模块"),//
PlatesBoxYM(21, "板夹仓移动电机"),//
PlatesBoxPusherM(22, "板夹仓推杆电机"),//
PlatesBoxScanner(23, "板夹仓扫码模组"),//
//
ShakeModBoard(30, "摇匀模组板"),//
ShakeModClampingM(31, "试管固定夹爪电机"),//
ShakeModGripperZM(32, "摇匀升降电机"),//
ShakeModShakeM(33, "试管摇匀电机"),//
ShakeModGripperYM(34, "摇匀前后电机"),//
ShakeModGripperSV(35, "摇匀试管帽夹爪"),//
ShakeModTubeScanerClampingSV(36, "试管架旋转固定舵机"),//
ShakeModTubeScanerRotateSV(37, "试管架旋转舵机"),//
//
PlatesBoxTCMBoard(40, "反应板夹温度控制板"),//
PlatesBoxTCM(41, "反应板夹温度控制模块"),//
WbTubeFanMod(42, "气溶胶风扇"),//
//
IncubatorTCMBoard(50, "温度控制"),//
IncubatorTCM(51, "温度控制"),//
//
FeedingModBoard(60, "出入料模块"),//
FeedingModInfeedM(61, "入料电机"),//
FeedingModXM(62, "试管架平移电机"),//
FeedingModOutfeedM(63, "出料电机"),//
FeedingModScannerMod(64, "试管架扫码器"),//
//
IncubatorRotateBoard(70, "孵育盘旋转板"),//
IncubatorRotateCtrlM(71, "孵育盘旋转"),//
//
PipetteModBoard(80, "机械臂Z轴板"),//
PipetteModZM(81, "机械臂Z"),//
PipetteMod(82, "移液枪"),//
PipetteModCodeScanner(83, "物料扫码器"),//
//
OptModBoard(90, "光学模组板"),//
OptModScannerM(91, "板卡扫描电机"),//
OptModPullM(92, "板卡推杆电机"),//
OptMod(93, "扫描仪"),//
//
A8kIdCardReaderBoard(100, "A8K读卡器板"),//
A8kIdCardReader(101, "A8K读卡器"),//
;
final public String chname;
final public int index;
MId(int index, String chname) {
this.chname = chname;
this.index = index;
}
public int toInt() {
return index;
}
public static MId valueOf(Integer val) {
return valueOf(val.intValue());
}
public static MId valueOf(int val) {
return switch (val) {
case 0 -> NotSet;
case 10 -> HbotBoard;
case 11 -> HbotM;
//
case 20 -> PlatesBoxBoard;
case 21 -> PlatesBoxYM;
case 22 -> PlatesBoxPusherM;
case 23 -> PlatesBoxScanner;
//
case 30 -> ShakeModBoard;
case 31 -> ShakeModClampingM;
case 32 -> ShakeModGripperZM;
case 33 -> ShakeModShakeM;
case 34 -> ShakeModGripperYM;
case 35 -> ShakeModGripperSV;
case 36 -> ShakeModTubeScanerClampingSV;
case 37 -> ShakeModTubeScanerRotateSV;
//
case 40 -> PlatesBoxTCMBoard;
case 41 -> PlatesBoxTCM;
case 42 -> WbTubeFanMod;
//
case 50 -> IncubatorTCMBoard;
case 51 -> IncubatorTCM;
//
case 60 -> FeedingModBoard;
case 61 -> FeedingModInfeedM;
case 62 -> FeedingModXM;
case 63 -> FeedingModOutfeedM;
case 64 -> FeedingModScannerMod;
//
case 70 -> IncubatorRotateBoard;
case 71 -> IncubatorRotateCtrlM;
//
case 80 -> PipetteModBoard;
case 81 -> PipetteModZM;
case 82 -> PipetteMod;
case 83 -> PipetteModCodeScanner;
//
case 90 -> OptModBoard;
case 91 -> OptModScannerM;
case 92 -> OptModPullM;
case 93 -> OptMod;
//
case 100 -> A8kIdCardReaderBoard;
case 101 -> A8kIdCardReader;
default -> NotSet;
};
}
}

32
src/main/java/a8k/a8k_can_protocol/ModuleId.java → src/main/java/a8k/a8k_can_protocol/ModId.java
View File

@ -1,6 +1,6 @@
package a8k.a8k_can_protocol; package a8k.a8k_can_protocol;
public class ModuleId {
public class ModId {
public static final int HbotBoard = 10;//机械臂板模块 public static final int HbotBoard = 10;//机械臂板模块
@ -22,29 +22,29 @@ public class ModuleId {
public static final int PlatesBoxTCMBoard = 40;//反应板夹温度控制板 public static final int PlatesBoxTCMBoard = 40;//反应板夹温度控制板
public static final int PlatesBoxTCM = 41;//反应板夹温度控制模块 public static final int PlatesBoxTCM = 41;//反应板夹温度控制模块
public static final int WbTubeFanModule = 42;//气溶胶风扇
public static final int WbTubeFanMod = 42;//气溶胶风扇
public static final int IncubatorTCMBoard = 50;//温度控制 public static final int IncubatorTCMBoard = 50;//温度控制
public static final int IncubatorTCM = 51;//温度控制 public static final int IncubatorTCM = 51;//温度控制
public static final int FeedingModBoard = 60;//出入料模块
public static final int FeedingModInfeedM = 61;//入料电机
public static final int FeedingModXM = 62;//试管架平移电机
public static final int FeedingModOutfeedM = 63;//出料电机
public static final int FeedingModScannerM = 64;//试管架扫码器
public static final int FeedingModBoard = 60;//出入料模块
public static final int FeedingModInfeedM = 61;//入料电机
public static final int FeedingModXM = 62;//试管架平移电机
public static final int FeedingModOutfeedM = 63;//出料电机
public static final int FeedingModScannerMod = 64;//试管架扫码器
public static final int IncubatorRotateBoard = 70;//孵育盘旋转板 public static final int IncubatorRotateBoard = 70;//孵育盘旋转板
public static final int IncubatorRotateCtrlM = 71;//孵育盘旋转 public static final int IncubatorRotateCtrlM = 71;//孵育盘旋转
public static final int PipetteModBoard = 80;//机械臂Z轴板 public static final int PipetteModBoard = 80;//机械臂Z轴板
public static final int PipetteModZMotor = 81;//机械臂Z
public static final int PipetteModZM = 81;//机械臂Z
public static final int PipetteMod = 82;//移液枪 public static final int PipetteMod = 82;//移液枪
public static final int PipetteModCodeScanner = 83;//物料扫码器 public static final int PipetteModCodeScanner = 83;//物料扫码器
public static final int OptModBoard = 90;//光学模组板
public static final int OptModScannerMotor = 91;//板卡扫描电机
public static final int OptModPullM = 92;//板卡推杆电机
public static final int OptMod = 93;//扫描仪
public static final int OptModBoard = 90;//光学模组板
public static final int OptModScannerM = 91;//板卡扫描电机
public static final int OptModPullM = 92;//板卡推杆电机
public static final int OptMod = 93;//扫描仪
public static final int A8kIdCardReaderBoard = 100; //A8K读卡器板 public static final int A8kIdCardReaderBoard = 100; //A8K读卡器板
public static final int A8kIdCardReader = 101; //A8K读卡器 public static final int A8kIdCardReader = 101; //A8K读卡器
@ -68,22 +68,22 @@ public class ModuleId {
case ShakeModTubeScanerRotateSV -> "ShakeModTubeScanerRotateSV"; case ShakeModTubeScanerRotateSV -> "ShakeModTubeScanerRotateSV";
case PlatesBoxTCMBoard -> "PlatesBoxTCMBoard"; case PlatesBoxTCMBoard -> "PlatesBoxTCMBoard";
case PlatesBoxTCM -> "PlatesBoxTCM"; case PlatesBoxTCM -> "PlatesBoxTCM";
case WbTubeFanModule -> "WbTubeFanModule";
case WbTubeFanMod -> "WbTubeFanMod";
case IncubatorTCMBoard -> "IncubatorTCMBoard"; case IncubatorTCMBoard -> "IncubatorTCMBoard";
case IncubatorTCM -> "IncubatorTCM"; case IncubatorTCM -> "IncubatorTCM";
case FeedingModBoard -> "FeedingModBoard"; case FeedingModBoard -> "FeedingModBoard";
case FeedingModInfeedM -> "FeedingModInfeedM"; case FeedingModInfeedM -> "FeedingModInfeedM";
case FeedingModXM -> "FeedingModXM"; case FeedingModXM -> "FeedingModXM";
case FeedingModOutfeedM -> "FeedingModOutfeedM"; case FeedingModOutfeedM -> "FeedingModOutfeedM";
case FeedingModScannerM -> "FeedingModScannerM";
case FeedingModScannerMod -> "FeedingModScannerMod";
case IncubatorRotateBoard -> "IncubatorRotateBoard"; case IncubatorRotateBoard -> "IncubatorRotateBoard";
case IncubatorRotateCtrlM -> "IncubatorRotateCtrlM"; case IncubatorRotateCtrlM -> "IncubatorRotateCtrlM";
case PipetteModBoard -> "PipetteModBoard"; case PipetteModBoard -> "PipetteModBoard";
case PipetteModZMotor -> "PipetteModZMotor";
case PipetteModZM -> "PipetteModZM";
case PipetteMod -> "PipetteMod"; case PipetteMod -> "PipetteMod";
case PipetteModCodeScanner -> "PipetteModCodeScanner"; case PipetteModCodeScanner -> "PipetteModCodeScanner";
case OptModBoard -> "OptModBoard"; case OptModBoard -> "OptModBoard";
case OptModScannerMotor -> "OptModScannerMotor";
case OptModScannerM -> "OptModScannerM";
case OptModPullM -> "OptModPullM"; case OptModPullM -> "OptModPullM";
case OptMod -> "OptMod"; case OptMod -> "OptMod";
case A8kIdCardReaderBoard -> "A8kIdCardReaderBoard"; case A8kIdCardReaderBoard -> "A8kIdCardReaderBoard";

11
src/main/java/a8k/appbean/AppErrorCode.java
View File

@ -7,24 +7,21 @@ public enum AppErrorCode {
LargeBufferNotEnough("大瓶缓冲液不足", 3), // LargeBufferNotEnough("大瓶缓冲液不足", 3), //
PasswdError("密码错误", 4), // PasswdError("密码错误", 4), //
UserDoesNotExist("用户不存在", 5), // UserDoesNotExist("用户不存在", 5), //
GripperPosError("抓手舵机位置异常", 6), //
GripperLiftMotorPosError("抓手升降电机位置异常", 8), //
GripperHorizontalMovementMotorPosError("抓手前后移动舵机位置异常", 9),//
GripperMPosError("抓手舵机位置异常", 6), //
GripperZMPosError("抓手升降电机位置异常", 8), //
GripperYMPosError("抓手前后移动舵机位置异常", 9),//
TubesInShakeModule("摇匀模组位置有试管", 10),// TubesInShakeModule("摇匀模组位置有试管", 10),//
PlateStuckDetectorSensorTrigger("卡板检查光电触发", 11),//
; ;
final private String chName; final private String chName;
final private int errorIndex; final private int errorIndex;
public int mid;
private AppErrorCode(String chname, int errorIndex) { private AppErrorCode(String chname, int errorIndex) {
this.chName = chname; this.chName = chname;
this.errorIndex = errorIndex; this.errorIndex = errorIndex;
} }
public String getChName() { public String getChName() {
return chName; return chName;
} }

6
src/main/java/a8k/appbean/HardwareException.java
View File

@ -1,7 +1,7 @@
package a8k.appbean; package a8k.appbean;
import a8k.a8k_can_protocol.Errorcode; import a8k.a8k_can_protocol.Errorcode;
import a8k.a8k_can_protocol.ModuleId;
import a8k.a8k_can_protocol.ModId;
public class HardwareException extends Exception { public class HardwareException extends Exception {
// 构造函数 // 构造函数
@ -14,9 +14,7 @@ public class HardwareException extends Exception {
} }
public HardwareException(int moduleId, int HardwareErrorCode) { public HardwareException(int moduleId, int HardwareErrorCode) {
super(String.format("Module ID %s has error code %s", ModuleId.ModuleId2Name(moduleId), Errorcode.toString(HardwareErrorCode)));
this.moduleId = moduleId;
this.errorCode = HardwareErrorCode;
super(String.format("Module ID %s has error code %s", ModId.ModuleId2Name(moduleId), Errorcode.toString(HardwareErrorCode)));
} }
int getModuleId() { int getModuleId() {

29
src/main/java/a8k/appbean/ecode/AppEcode.java
View File

@ -0,0 +1,29 @@
package a8k.appbean.ecode;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.AppErrorCode;
public class AppEcode {
AppErrorCode errorCode;
MId mid;
public AppEcode(AppErrorCode errorCode, MId mid) {
this.errorCode = errorCode;
this.mid = mid;
}
public AppEcode(AppErrorCode errorCode) {
this.errorCode = errorCode;
this.mid = MId.NotSet;
}
public boolean isOk() {
return errorCode == AppErrorCode.Success;
}
public MId getMid() {
return mid;
}
}

212
src/main/java/a8k/base_hardware/A8kCanBusService.java
View File

@ -1,6 +1,7 @@
package a8k.base_hardware; package a8k.base_hardware;
import a8k.a8k_can_protocol.*; import a8k.a8k_can_protocol.*;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException; import a8k.appbean.HardwareException;
import a8k.appbean.appevent.A8kHardwareReport; import a8k.appbean.appevent.A8kHardwareReport;
import a8k.service.AppEventBusService; import a8k.service.AppEventBusService;
@ -52,21 +53,21 @@ public class A8kCanBusService {
@Autowired @Autowired
private AppEventBusService eventBusService; private AppEventBusService eventBusService;
public String uri; // assign by application.yml
public String uri; // assign by application.yml
private WebSocketClient client; private WebSocketClient client;
// 接收回执上下文 // 接收回执上下文
public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<A8kPacket>(); // public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<A8kPacket>(); //
boolean isWaitingReceipt = false; //
int waitingReceiptIndex = 0;//
boolean isWaitingReceipt = false; //
int waitingReceiptIndex = 0;//
// 发送包的packetIndex // 发送包的packetIndex
int packetIndex = 0;// int packetIndex = 0;//
// 调试标志位 // 调试标志位
boolean debugFlag = true;//
boolean debugFlag = true;//
// websocket自动重连时间 // websocket自动重连时间
Timer autoConnectTimer = new Timer();//
Timer autoConnectTimer = new Timer();//
@PostConstruct @PostConstruct
public void init() throws URISyntaxException { public void init() throws URISyntaxException {
@ -111,8 +112,7 @@ public class A8kCanBusService {
client.connect(); client.connect();
} catch (IllegalStateException e) { } catch (IllegalStateException e) {
} }
} else if (client.getReadyState().equals(ReadyState.CLOSING)
|| client.getReadyState().equals(ReadyState.CLOSED)) {
} else if (client.getReadyState().equals(ReadyState.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) {
client.reconnect(); client.reconnect();
} }
} }
@ -121,8 +121,8 @@ public class A8kCanBusService {
} }
private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) { private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
int subCmdId = cmdId & 0xFF;
int mainCmdId = (cmdId >> 8) & 0xFFFF;
int subCmdId = cmdId & 0xFF;
int mainCmdId = (cmdId >> 8) & 0xFFFF;
int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType - int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType -
// ModuleId - Parameters // ModuleId - Parameters
ByteBuffer buffer = ByteBuffer.allocate(bufferSize); ByteBuffer buffer = ByteBuffer.allocate(bufferSize);
@ -141,139 +141,139 @@ public class A8kCanBusService {
// //
// module opeation // module opeation
// //
public void modulePing(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_ping);
public void modulePing(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_ping);
} }
public void moduleStop(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_stop);
public void moduleStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_stop);
} }
public ModuleStatus getModuleStatus(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_status);
public ModuleStatus getModuleStatus(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_status);
return ModuleStatus.valueOf(packet.getContentI32(0)); return ModuleStatus.valueOf(packet.getContentI32(0));
} }
public void moduleSetReg(int id, RegIndex regindex, int reg) throws HardwareException {
callcmd(id, CmdId.kmodule_set_reg, regindex.ordinal(), reg);
public void moduleSetReg(MId id, RegIndex regindex, int reg) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_set_reg, regindex.ordinal(), reg);
} }
public int moduleGetReg(int id, RegIndex regindex) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_reg, regindex.ordinal());
public int moduleGetReg(MId id, RegIndex regindex) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_reg, regindex.ordinal());
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public int moduleGetError(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_error);
public int moduleGetError(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_error);
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public void moduleClearError(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_clear_error);
public void moduleClearError(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_clear_error);
} }
public void moduleActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_active_cfg);
public void moduleActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_active_cfg);
} }
// //
// stepMotor // stepMotor
// //
public void stepMotorEnable(int mid, int enable) throws HardwareException {
callcmd(mid, CmdId.kstep_motor_enable, enable);
public void stepMotorEnable(MId mid, int enable) throws HardwareException {
callcmd(mid.toInt(), CmdId.kstep_motor_enable, enable);
} }
public int stepMotorReadPos(int id) throws HardwareException {
A8kPacket packet = callcmd(id, CmdId.kstep_motor_read_pos);
public int stepMotorReadPos(MId id) throws HardwareException {
A8kPacket packet = callcmd(id.toInt(), CmdId.kstep_motor_read_pos);
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public void stepMotorEasyRotate(int id, int direction) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_rotate, direction);
public void stepMotorEasyRotate(MId id, int direction) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_rotate, direction);
} }
public void stepMotorEasyMoveBy(int id, int dpos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_by, dpos);
public void stepMotorEasyMoveBy(MId id, int dpos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_by, dpos);
} }
public void stepMotorEasyMoveTo(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to, pos);
public void stepMotorEasyMoveTo(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to, pos);
} }
public void stepMotorEasyMoveToZero(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_zero);
public void stepMotorEasyMoveToZero(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_zero);
} }
public void stepMotorEasySetCurrentPos(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_set_current_pos, pos);
public void stepMotorEasySetCurrentPos(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_set_current_pos, pos);
} }
public void stepMotorEasyMoveToIo(int id, int io) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_io, io);
public void stepMotorEasyMoveToIo(MId id, int io) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_io, io);
} }
public void stepMotorStop(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_stop);
public void stepMotorStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_stop);
} }
public void stepMotorActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_active_cfg);
public void stepMotorActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_active_cfg);
} }
public int stepMotorReadIoState(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kstep_motor_read_io_state);
public int stepMotorReadIoState(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kstep_motor_read_io_state);
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public void stepMotorEasyMoveToEndPoint(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_end_point);
public void stepMotorEasyMoveToEndPoint(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_end_point);
} }
public void stepMotorEasyReciprocatingMotion(int id, int startpos, int endpos, int times) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times);
public void stepMotorEasyReciprocatingMotion(MId id, int startpos, int endpos, int times) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times);
} }
// //
// MINI_SERVO // MINI_SERVO
// //
public void miniServoEnable(int id, int enable) throws HardwareException {
callcmd(id, CmdId.kmini_servo_enable, enable);
public void miniServoEnable(MId id, int enable) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_enable, enable);
} }
public int miniServoReadPos(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmini_servo_read_pos);
public int miniServoReadPos(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_pos);
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public void miniServoActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_active_cfg);
public void miniServoActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_active_cfg);
} }
public void miniServoStop(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_stop);
public void miniServoStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_stop);
} }
public void miniServoSetMidPoint(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_set_mid_point);
public void miniServoSetMidPoint(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_set_mid_point);
} }
public int miniServoReadIoState(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmini_servo_read_io_state);
public int miniServoReadIoState(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_io_state);
return packet.getContentI32(0); return packet.getContentI32(0);
} }
public void miniServoMoveTo(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kmini_servo_move_to, pos);
public void miniServoMoveTo(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_move_to, pos);
} }
public void miniServoRotate(int id, int direction) throws HardwareException {
callcmd(id, CmdId.kmini_servo_rotate, direction);
public void miniServoRotate(MId id, int direction) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_rotate, direction);
} }
public void miniServoRotateWithTorque(int id, int torque) throws HardwareException {
callcmd(id, CmdId.kmini_servo_rotate_with_torque, torque);
public void miniServoRotateWithTorque(MId id, int torque) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_rotate_with_torque, torque);
} }
public boolean getIOState(IOId ioid) throws HardwareException { public boolean getIOState(IOId ioid) throws HardwareException {
@ -296,51 +296,67 @@ public class A8kCanBusService {
} }
} }
public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
long startedAt = System.currentTimeMillis();
do {
try {
var status = getModuleStatus(mid);
if (status == ModuleStatus.IDLE) {
break;
} else if (status == ModuleStatus.ERROR) {
throw new HardwareException(mid.toInt(), moduleGetError(mid));
}
} catch (HardwareException ignored) {
}
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
throw new HardwareException(mid.toInt(), Errorcode.kovertime);
}
Thread.sleep(100);
} while (true);
}
public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] {});
return this.callcmd(moduleId, cmdId, new Integer[]{});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0 });
return this.callcmd(moduleId, cmdId, new Integer[]{p0});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1 });
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2)
throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 });
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3)
throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 });
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3});
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3,
Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2,
Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] {}, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime);
} }
// TODO // TODO
@ -374,8 +390,7 @@ public class A8kCanBusService {
return null; return null;
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime)
throws HardwareException, InterruptedException {
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {
var packet = this.packParamsToPacket(moduleId, cmdId, params); var packet = this.packParamsToPacket(moduleId, cmdId, params);
this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME); this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
@ -385,7 +400,7 @@ public class A8kCanBusService {
long startedAt = System.currentTimeMillis(); long startedAt = System.currentTimeMillis();
do { do {
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[] {});
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{});
var status = pack.getContentI32(0); var status = pack.getContentI32(0);
if (0 == status) { if (0 == status) {
break; break;
@ -403,7 +418,7 @@ public class A8kCanBusService {
private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException { private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException {
pack.setPacketIndex(packetIndex); pack.setPacketIndex(packetIndex);
waitingReceiptIndex = packetIndex; waitingReceiptIndex = packetIndex;
packetIndex = packetIndex + 1;
packetIndex = packetIndex + 1;
if (packetIndex > 10000) { if (packetIndex > 10000) {
packetIndex = 1; packetIndex = 1;
} }
@ -458,8 +473,7 @@ public class A8kCanBusService {
logger.info("RX {}:({})", packet, rx); logger.info("RX {}:({})", packet, rx);
} }
if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK
|| packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
if (isWaitingReceipt) { if (isWaitingReceipt) {
if (waitingReceiptIndex == packet.getPacketIndex()) { if (waitingReceiptIndex == packet.getPacketIndex()) {
receiptQueue.add(packet); receiptQueue.add(packet);

6
src/main/java/a8k/controller/TmpTestController.java
View File

@ -1,7 +1,7 @@
package a8k.controller; package a8k.controller;
import a8k.a8k_can_protocol.CmdId; import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.ModuleId;
import a8k.a8k_can_protocol.ModId;
import a8k.appbean.AppErrorCode; import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException; import a8k.appbean.HardwareException;
import a8k.base_hardware.A8kCanBusService; import a8k.base_hardware.A8kCanBusService;
@ -58,8 +58,8 @@ public class TmpTestController {
@GetMapping("/tmp-test/a8k-can-bus-service-call") @GetMapping("/tmp-test/a8k-can-bus-service-call")
@ResponseBody @ResponseBody
public String a8kCanBusServiceCall() throws HardwareException, InterruptedException { public String a8kCanBusServiceCall() throws HardwareException, InterruptedException {
this.a8kCanBusService.callcmd(ModuleId.ShakeModTubeScanerRotateSV, CmdId.kmini_servo_enable, new Integer[]{1});
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModInfeedM, CmdId.kstep_motor_easy_move_by, new Integer[]{5000}, 20000);
this.a8kCanBusService.callcmd(ModId.ShakeModTubeScanerRotateSV, CmdId.kmini_servo_enable, new Integer[]{1});
this.a8kCanBusService.callblockcmd(ModId.FeedingModInfeedM, CmdId.kstep_motor_easy_move_by, new Integer[]{5000}, 20000);
return "OK"; return "OK";
} }

109
src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
View File

@ -1,8 +1,10 @@
package a8k.service.ctrl_service; package a8k.service.ctrl_service;
import a8k.a8k_can_protocol.ModuleId;
import a8k.a8k_can_protocol.IOId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.AppErrorCode; import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException; import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppEcode;
import a8k.base_hardware.A8kCanBusService; import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService; import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
import jakarta.annotation.Resource; import jakarta.annotation.Resource;
@ -10,6 +12,7 @@ import org.slf4j.Logger;
import org.slf4j.LoggerFactory; import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
@Component @Component
public class DeviceInitializationCtrlService { public class DeviceInitializationCtrlService {
public static final Logger logger = LoggerFactory.getLogger(DeviceInitializationCtrlService.class); public static final Logger logger = LoggerFactory.getLogger(DeviceInitializationCtrlService.class);
@ -23,7 +26,6 @@ public class DeviceInitializationCtrlService {
* 2.试管夹紧 * 2.试管夹紧
* 3.抓手平移 * 3.抓手平移
* 4.抓手 * 4.抓手
* 0.
* 1. 抓手尝试移动到夹紧位置,等待一定时间，如果没有移动到夹紧位置，则返回错误。 * 1. 抓手尝试移动到夹紧位置,等待一定时间，如果没有移动到夹紧位置，则返回错误。
* 2. 试管夹紧电机归零，超时一定时间，没有归零，则返回错误。 * 2. 试管夹紧电机归零，超时一定时间，没有归零，则返回错误。
* 3. 抓手平移电机，移动到待机位，如果移动不到，则返回错误。 * 3. 抓手平移电机，移动到待机位，如果移动不到，则返回错误。
@ -48,9 +50,11 @@ public class DeviceInitializationCtrlService {
* 7. 试管架平移电机复位 * 7. 试管架平移电机复位
* 8. 板夹仓平移电机复位 * 8. 板夹仓平移电机复位
* 9. 板夹仓推杆电机复位 * 9. 板夹仓推杆电机复位
* 10.
* *
*/ */
final Integer actionOvertime = 5000;
@Resource @Resource
A8kCanBusService canBus; A8kCanBusService canBus;
@ -58,49 +62,78 @@ public class DeviceInitializationCtrlService {
SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams; SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams;
private AppErrorCode hardwareStaticInit() throws HardwareException {
/*
* 硬件初始化:
* 1.使能所有舵机
* 2.打开必要的电源
* 3.使能所有电机
*/
//使能所有电机
canBus.stepMotorEnable(MId.HbotM, 1);
canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
canBus.stepMotorEnable(MId.ShakeModGripperZM, 1);
canBus.stepMotorEnable(MId.ShakeModShakeM, 1);
canBus.stepMotorEnable(MId.ShakeModGripperYM, 1);
canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.stepMotorEnable(MId.OptModPullM, 1);
//使能所有舵机
canBus.miniServoEnable(MId.ShakeModGripperSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 1);
//打开必要的电源
canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true);
return AppErrorCode.Success;
}
private AppEcode checkDeviceState() throws HardwareException {
/*
* 初始化前检查:
* 1. 试管平移通道是否有障碍
* 2. 板夹仓盖子是否盖上
* 3. 板夹推杆是否在原点
* 4. 板夹拉取是否在终点或者原点
*/
//试管平移通道是否有障碍
boolean var = canBus.getIOState(IOId.THChInterPPS);
if (var)
return new AppEcode(AppErrorCode.PlateStuckDetectorSensorTrigger);
return new AppEcode(AppErrorCode.Success);
}
public AppErrorCode initializeDevice() { public AppErrorCode initializeDevice() {
logger.info("Initializing device ..."); logger.info("Initializing device ...");
try { try {
// canBus.getIOState(IOId.THChDetecterOuter,);
/*
* 复位思路
* 硬件初始化:
* 检查
* 复位
* 清空耗材
*/
canBus.stepMotorEasyMoveToZero(ModuleId.ShakeModGripperZM);
canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM);
canBus.waitForMod(MId.ShakeModGripperZM, actionOvertime);
} catch (HardwareException e) { } catch (HardwareException e) {
logger.error("HardwareException");
throw new RuntimeException(e);
} catch (InterruptedException e) {
logger.error("InterruptedException");
throw new RuntimeException(e); throw new RuntimeException(e);
} }
// this.a8kCanBusService.callblockcmd(
// ModuleId.ServoTubeCapClipModule,
// CmdId.kmini_servo_move_to,
// params.getGripperServo_standbyPos(),
// params.getActionOvertime()
// );
//
// this.a8kCanBusService.callblockcmd(
// ModuleId.MotorTubeMoveUpDownModule,
// CmdId.kstep_motor_easy_move_to_zero,
// params.getMoveToZeroOvertime()
// );
//
// this.a8kCanBusService.callblockcmd(
// ModuleId.ServoTubeMoveFrontBackModule,
// CmdId.kmini_servo_move_to,
// params.getHorizontalMotor_standbyPos(),
// params.getActionOvertime()
// );
//
// this.a8kCanBusService.callblockcmd(
// ModuleId.MotorTubeShakeModule,
// CmdId.kstep_motor_easy_move_to_zero,
// params.getMoveToZeroOvertime()
// );
//
// this.a8kCanBusService.callblockcmd(
// ModuleId.MotorTubeScanClampModule,
// CmdId.kstep_motor_easy_move_to_zero,
// params.getMoveToZeroOvertime()
// );
//
return AppErrorCode.Success; return AppErrorCode.Success;
} }

48
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -52,24 +52,24 @@ public class MotorTubeRackMoveCtrlService {
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException { public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
} }
public void moveToZero() throws HardwareException, InterruptedException { public void moveToZero() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
var beforePosResponse = this.a8kCanBusService.callcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
var beforePosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
var beforePos = beforePosResponse.getContentI32(0); var beforePos = beforePosResponse.getContentI32(0);
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
var afterPosResponse = this.a8kCanBusService.callcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
var afterPosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
var afterPos = afterPosResponse.getContentI32(0); var afterPos = afterPosResponse.getContentI32(0);
var distance = beforePos - afterPos; var distance = beforePos - afterPos;
var dval = a8kCanBusService.module_read_reg(ModuleId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
var dval = a8kCanBusService.module_read_reg(ModId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal) { if (Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal) {
throw new HardwareException(ModuleId.FeedingModXM, Errorcode.kstep_motor_lost_step);
throw new HardwareException(ModId.FeedingModXM, Errorcode.kstep_motor_lost_step);
} }
//先通过move_to 指令移动到零点 //先通过move_to 指令移动到零点
@ -92,7 +92,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException { public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
} }
/** /**
@ -100,7 +100,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException { public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
} }
/** /**
@ -108,7 +108,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException { public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
} }
/** /**
@ -116,10 +116,10 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException { public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
this.moveTubeRackToScanPos(); this.moveTubeRackToScanPos();
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_start_scan, new Integer[]{});
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan, new Integer[]{});
Thread.sleep(500); Thread.sleep(500);
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_stop_scan, new Integer[]{});
var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan, new Integer[]{});
var contentBytes = response.getCmdContent(); var contentBytes = response.getCmdContent();
return new String(contentBytes); return new String(contentBytes);
} }
@ -138,7 +138,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType); var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var scanPos = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing; var scanPos = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
} }
/** /**
@ -149,10 +149,10 @@ public class MotorTubeRackMoveCtrlService {
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException { public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
this.moveTubeToScanPos(tubeType, tubeIndex); this.moveTubeToScanPos(tubeType, tubeIndex);
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_start_scan, new Integer[]{});
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan, new Integer[]{});
Thread.sleep(500); Thread.sleep(500);
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_stop_scan, new Integer[]{});
var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan, new Integer[]{});
var contentBytes = response.getCmdContent(); var contentBytes = response.getCmdContent();
return new String(contentBytes); return new String(contentBytes);
} }
@ -166,7 +166,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType); var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing; var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
} }
/** /**
@ -178,7 +178,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType); var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var pos = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing; var pos = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
} }
// //
@ -194,16 +194,16 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType); var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var pos = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing; var pos = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
} }
public boolean isTubeRackInEnterPos() throws HardwareException { public boolean isTubeRackInEnterPos() throws HardwareException {
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
return response.getContentI32(0) == 1; return response.getContentI32(0) == 1;
} }
public boolean isTubeRackInExitPos() throws HardwareException { public boolean isTubeRackInExitPos() throws HardwareException {
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
return response.getContentI32(0) == 1; return response.getContentI32(0) == 1;
} }
@ -214,7 +214,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException { public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException {
var index = 0 == photoelectricIndex ? 2 : 1; var index = 0 == photoelectricIndex ? 2 : 1;
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
return response.getContentI32(0) == 1; return response.getContentI32(0) == 1;
} }
@ -228,7 +228,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public void scanClampModuleCompress() throws HardwareException, InterruptedException { public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeClampPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeClampPos}, params.actionOvertime);
} }
/** /**
@ -236,7 +236,7 @@ public class MotorTubeRackMoveCtrlService {
*/ */
public void scanClampModuleReset() throws HardwareException, InterruptedException { public void scanClampModuleReset() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter(); var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeReleasePos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeReleasePos}, params.actionOvertime);
} }

120
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -1,7 +1,7 @@
package a8k.service.hardware; package a8k.service.hardware;
import a8k.a8k_can_protocol.CmdId; import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.ModuleId;
import a8k.a8k_can_protocol.ModId;
import a8k.appbean.A8kTubeType; import a8k.appbean.A8kTubeType;
import a8k.appbean.AppErrorCode; import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException; import a8k.appbean.HardwareException;
@ -36,33 +36,33 @@ public class SamplesPreProcessModuleCtrlService {
public void moveToZero() throws HardwareException, InterruptedException { public void moveToZero() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
@ -79,27 +79,27 @@ public class SamplesPreProcessModuleCtrlService {
*/ */
public void enableModule(Boolean enable) throws HardwareException { public void enableModule(Boolean enable) throws HardwareException {
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_enable, CmdId.kstep_motor_enable,
enable ? 1 : 0 enable ? 1 : 0
); );
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_enable, CmdId.kstep_motor_enable,
enable ? 1 : 0 enable ? 1 : 0
); );
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_enable, CmdId.kstep_motor_enable,
enable ? 1 : 0 enable ? 1 : 0
); );
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_enable, CmdId.kmini_servo_enable,
enable ? 1 : 0 enable ? 1 : 0
); );
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_enable, CmdId.kmini_servo_enable,
enable ? 1 : 0 enable ? 1 : 0
); );
@ -133,7 +133,7 @@ public class SamplesPreProcessModuleCtrlService {
public AppErrorCode takeTube(String tubeType, Boolean judgeCapExist) throws HardwareException, InterruptedException { public AppErrorCode takeTube(String tubeType, Boolean judgeCapExist) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takeCapPos(), params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime() params.getActionOvertime()
@ -145,27 +145,27 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight(); motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight();
} }
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
motorUdTubeTaskPos, motorUdTubeTaskPos,
params.getActionOvertime() params.getActionOvertime()
); );
if ( judgeCapExist ) { if ( judgeCapExist ) {
this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperSV,
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
CmdId.kmini_servo_rotate_with_torque, CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque() params.getGripperServo_takeCapTorque()
); );
UfCommon.delay(3000); UfCommon.delay(3000);
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_stop, CmdId.kmini_servo_stop,
1 1
); );
UfCommon.delay(1000); UfCommon.delay(1000);
var pos = this.a8kCanBusService.callcmd( var pos = this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_read_pos CmdId.kmini_servo_read_pos
); );
if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) { if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) {
@ -174,63 +174,63 @@ public class SamplesPreProcessModuleCtrlService {
} }
this.a8kCanBusService.callcmd( this.a8kCanBusService.callcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_rotate_with_torque, CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque() params.getGripperServo_takeCapTorque()
); );
UfCommon.delay(3000); UfCommon.delay(3000);
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takePushCapPos(), params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
params.getShakeMotor_standbyPos(), params.getShakeMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
params.getTubeClampMotor_standbyPos(), params.getTubeClampMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
params.getZMotor_placeShakeHeight(), params.getZMotor_placeShakeHeight(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
@ -254,15 +254,15 @@ public class SamplesPreProcessModuleCtrlService {
public AppErrorCode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException { public AppErrorCode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takePushCapPos(), params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_move_to,
ModId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
@ -273,28 +273,28 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight(); motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
} }
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos, motorUdTakeCapPos,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
@ -308,14 +308,14 @@ public class SamplesPreProcessModuleCtrlService {
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException { public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takePushCapPos(), params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
@ -327,21 +327,21 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight(); motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
} }
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos, motorUdTakeCapPos,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
@ -349,7 +349,7 @@ public class SamplesPreProcessModuleCtrlService {
// 前后移至试管架取试管位置 // 前后移至试管架取试管位置
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takeCapPos(), params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime() params.getActionOvertime()
@ -361,15 +361,15 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTubePutPos = params.getZMotor_HighBloodTakeCapHeight(); motorUdTubePutPos = params.getZMotor_HighBloodTakeCapHeight();
} }
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
motorUdTubePutPos,
motorUdTubePutPos,
params.getActionOvertime() params.getActionOvertime()
); );
// 夹爪张开 // 夹爪张开
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
@ -377,7 +377,7 @@ public class SamplesPreProcessModuleCtrlService {
// 升降电机复位 // 升降电机复位
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
@ -385,7 +385,7 @@ public class SamplesPreProcessModuleCtrlService {
// 前后电机复位 // 前后电机复位
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
@ -409,7 +409,7 @@ public class SamplesPreProcessModuleCtrlService {
var startPos = standByPos - shakeDegree/2; var startPos = standByPos - shakeDegree/2;
var endPos = standByPos + shakeDegree/2; var endPos = standByPos + shakeDegree/2;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_reciprocating_motion, CmdId.kstep_motor_easy_reciprocating_motion,
startPos, startPos,
endPos, endPos,
@ -423,14 +423,14 @@ public class SamplesPreProcessModuleCtrlService {
*/ */
public void openAerosolFan() throws HardwareException { public void openAerosolFan() throws HardwareException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callcmd(ModuleId.WbTubeFanModule, CmdId.kfan_controler_set_speed, params.getAerosolFanLevel());
this.a8kCanBusService.callcmd(ModId.WbTubeFanMod, CmdId.kfan_controler_set_speed, params.getAerosolFanLevel());
} }
/** /**
* 关闭气溶胶风扇 * 关闭气溶胶风扇
*/ */
public void closeAerosolFan() throws HardwareException { public void closeAerosolFan() throws HardwareException {
this.a8kCanBusService.callcmd(ModuleId.WbTubeFanModule, CmdId.kfan_controler_set_speed, 0);
this.a8kCanBusService.callcmd(ModId.WbTubeFanMod, CmdId.kfan_controler_set_speed, 0);
} }
/** /**
@ -439,29 +439,29 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException { public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
@ -473,47 +473,47 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleRuntimeReset() throws HardwareException, InterruptedException { public void moduleRuntimeReset() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService; var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperSV,
ModId.ShakeModGripperSV,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(), params.getGripperServo_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperZM,
ModId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModGripperYM,
ModId.ShakeModGripperYM,
CmdId.kmini_servo_move_to, CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(), params.getHorizontalMotor_standbyPos(),
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModClampingM,
ModId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to, CmdId.kstep_motor_easy_move_to,
0, 0,
params.getActionOvertime() params.getActionOvertime()
); );
this.a8kCanBusService.callblockcmd( this.a8kCanBusService.callblockcmd(
ModuleId.ShakeModShakeM,
ModId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero, CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime() params.getMoveToZeroOvertime()
); );

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