project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 1 year ago
parent
f5e0197d97
commit
0ea87c2df7
8 changed files with 46 additions and 151 deletions
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  1. 4
      src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java
  2. 12
      src/main/java/a8k/appbean/cfg/BottlesPosInfo.java
  3. 12
      src/main/java/a8k/appbean/cfg/LargeBottleBufferPos.java
  4. 2
      src/main/java/a8k/appbean/cfg/Plates2dCodeScanPos.java
  5. 115
      src/main/java/a8k/appbean/cfg/SmallBottleBufferPos.java
  6. 2
      src/main/java/a8k/canbus/protocol/A8kPacket.java
  7. 41
      src/main/java/a8k/service/hardware/HbotControlService.java
  8. 9
      src/main/java/a8k/utils/HbotScanerPosComputer.java

4
src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java
View File

@ -1,5 +1,7 @@
package a8k.appbean.cfg;
import a8k.utils.HbotScanerPosComputer;
public class BottleGroupsPosInfo {
static public Integer cgetMAX_GROUP_COL() {return 2;}
@ -57,7 +59,7 @@ public class BottleGroupsPosInfo {
if (topLelf == null) {
return null;
}
return new Pos2d(topLelf.x + scanCodeRelaPos.x, topLelf.y + scanCodeRelaPos.y);
return HbotScanerPosComputer.getScanPos(new Pos2d(topLelf.x + scanCodeRelaPos.x, topLelf.y + scanCodeRelaPos.y));
}
Pos2d cgetSamllBottlePos(Integer group, Integer bottleIndex) {

12
src/main/java/a8k/appbean/cfg/BottlesPosInfo.java
View File

@ -8,21 +8,21 @@ public class BottlesPosInfo {
static public Integer cgetMAX() {return cgetMAX_COL() * cgetMAX_ROW();}
public Pos2d topLelf;
public Pos2d relaTopLelf;
public Integer xSpacing;
public Integer ySpacing;
public Integer piercedPosZ;
public BottlesPosInfo() {
topLelf = new Pos2d(0, 0);
relaTopLelf = new Pos2d(0, 0);
xSpacing = 0;
ySpacing = 0;
piercedPosZ = 0;
}
public BottlesPosInfo(Pos2d topLelf, Integer xSpacing, Integer ySpacing, Integer piercedPosZ) {
this.topLelf = topLelf;
public BottlesPosInfo(Pos2d relaTopLelf, Integer xSpacing, Integer ySpacing, Integer piercedPosZ) {
this.relaTopLelf = relaTopLelf;
this.xSpacing = xSpacing;
this.ySpacing = ySpacing;
this.piercedPosZ = piercedPosZ;
@ -32,8 +32,8 @@ public class BottlesPosInfo {
Integer row = index / cgetMAX_COL();
Integer col = index % cgetMAX_COL();
Integer x = topLelf.x + col * xSpacing;
Integer y = topLelf.y + row * ySpacing;
Integer x = relaTopLelf.x + col * xSpacing;
Integer y = relaTopLelf.y + row * ySpacing;
return new Pos2d(x + groupPos.x, y + groupPos.y);

12
src/main/java/a8k/appbean/cfg/LargeBottleBufferPos.java
View File

@ -1,5 +1,7 @@
package a8k.appbean.cfg;
import a8k.utils.HbotScanerPosComputer;
import java.security.PublicKey;
/**
@ -36,11 +38,11 @@ public class LargeBottleBufferPos {
sampleZDepth = 0;
}
public LargeBottleBufferPos(Pos2d topLelf, Integer xSpacing, Integer ySpacing, Integer scancodeRelaPos, Integer sampleZPos, Integer sampleZDepth) {
public LargeBottleBufferPos(Pos2d topLelf, Integer xSpacing, Integer ySpacing, Integer relaPos, Integer sampleZPos, Integer sampleZDepth) {
this.topLelf = topLelf;
this.xSpacing = xSpacing;
this.ySpacing = ySpacing;
this.scancodeRelaPos = scancodeRelaPos;
this.scancodeRelaPos = 0;
this.sampleZPos = sampleZPos;
this.sampleZDepth = sampleZDepth;
}
@ -56,8 +58,8 @@ public class LargeBottleBufferPos {
}
public Pos2d cgetScanPos(Integer bottleIndex) {
Integer row = bottleIndex / cgetCOL();
Integer dy = 0;
int row = bottleIndex / cgetCOL();
Integer dy = 0;
if (row == 0) {
dy = -scancodeRelaPos;
} else if (row == 1) {
@ -65,6 +67,6 @@ public class LargeBottleBufferPos {
}
Pos2d bottlePos = cgetBottlePos(bottleIndex);
return new Pos2d(bottlePos.x, bottlePos.y + dy);
return HbotScanerPosComputer.getScanPos(bottlePos);
}
}

2
src/main/java/a8k/appbean/cfg/Plates2dCodeScanPos.java
View File

@ -1,5 +1,7 @@
package a8k.appbean.cfg;
import a8k.utils.HbotScanerPosComputer;
/**
* 板夹仓扫码信息
*/

115
src/main/java/a8k/appbean/cfg/SmallBottleBufferPos.java
View File

@ -1,115 +0,0 @@
package a8k.appbean.cfg;
public class SmallBottleBufferPos {
public Pos2d topLelf0;//小孔topf
public Pos2d topLelf1;//大孔topf
public Integer xSpacing0; //小孔,x间隔
public Integer ySpacing0; //小孔,y间隔
public Integer xSpacing1; //大孔,x间隔
public Integer ySpacing1; //大孔,y间隔
public Integer groupXSpacing; //x间隔
public Integer groupYSpacing; //y间隔
public Integer sampleZPos; //取样开始位置
public Integer sampleZDepth; //取样深度
public Pos2d scanRelaPos;//扫码相对配置
public Integer piercedZPos; //刺破高度
public Integer smallBottleBufDistributeZPos; //小瓶缓冲液吐液高度
public Integer detectMaterialDistributeZpos; //探测物质吐液高度
public Integer cgetMAX_COL() {return 5;}
public Integer cgetMAX_ROW() {return 5;}
public Integer cgetBottomNum() {return 5 * 5;}
//
// public SmallBottleBufferPos() {
// g0TopLelf = new Pos2d(0, 0);
// g1TopLelf = new Pos2d(0, 0);
// g2TopLelf = new Pos2d(0, 0);
// g3TopLelf = new Pos2d(0, 0);
// g4TopLelf = new Pos2d(0, 0);
// g5TopLelf = new Pos2d(0, 0);
// xSpacing = 0;
// ySpacing = 0;
// sampleZPos = 0;
// sampleZDepth = 0;
// scanRelaPos = new Pos2d(0, 0);
// piercedZPos = 0;
// smallBottleBufDistributeZPos = 0;
// detectMaterialDistributeZpos = 0;
// }
//
// public SmallBottleBufferPos(Pos2d g0TopLelf,
// Pos2d g1TopLelf,
// Pos2d g2TopLelf,
// Pos2d g3TopLelf,
// Pos2d g4TopLelf,
// Pos2d g5TopLelf,
// Integer xSpacing,
// Integer ySpacing,
// Integer sampleZPos,
// Integer sampleZDepth,
// Pos2d scanRelaPos,
// Integer piercedZPos,
// Integer smallBottleBufDistributeZPos,
// Integer detectMaterialDistributeZpos) {
//
// this.g0TopLelf = g0TopLelf;
// this.g1TopLelf = g1TopLelf;
// this.g2TopLelf = g2TopLelf;
// this.g3TopLelf = g3TopLelf;
// this.g4TopLelf = g4TopLelf;
// this.g5TopLelf = g5TopLelf;
// this.xSpacing = xSpacing;
// this.ySpacing = ySpacing;
// this.sampleZPos = sampleZPos;
// this.sampleZDepth = sampleZDepth;
// this.scanRelaPos = scanRelaPos;
// this.piercedZPos = piercedZPos;
// this.smallBottleBufDistributeZPos = smallBottleBufDistributeZPos;
// this.detectMaterialDistributeZpos = detectMaterialDistributeZpos;
// }
//
// Pos2d cgetTopLelf(Integer group) {
// return switch (group) {
// case 0 -> g0TopLelf;
// case 1 -> g1TopLelf;
// case 2 -> g2TopLelf;
// case 3 -> g3TopLelf;
// case 4 -> g4TopLelf;
// case 5 -> g5TopLelf;
// default -> null;
// };
// }
//
// public Pos2d cgetScanPos(Integer group) {
// Pos2d topLelf = cgetTopLelf(group);
// if (topLelf == null) {
// return null;
// }
// return new Pos2d(topLelf.x + scanRelaPos.x, topLelf.y + scanRelaPos.y);
// }
//
// Pos2d cgetBottlePos(Integer group, Integer bottleIndex) {
// Pos2d topLelf = cgetTopLelf(group);
// assert topLelf != null;
// int col = bottleIndex % 5;
// int row = bottleIndex / 5;
// return new Pos2d(topLelf.x + col * xSpacing, topLelf.y + row * ySpacing);
// }
//
// Pos3d cgetBottlePiercedPos(Integer group, Integer bottleIndex) {
// Pos2d bottlePos = cgetBottlePos(group, bottleIndex);
// return new Pos3d(bottlePos.x, bottlePos.y, piercedZPos);
// }
//
}

2
src/main/java/a8k/canbus/protocol/A8kPacket.java
View File

@ -88,7 +88,7 @@ public class A8kPacket {
if (cmdId.equals(CmdId.module_get_reg) || cmdId.equals(CmdId.module_set_reg)) {
RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
if (regIndex != null) {
ret = String.format("[CMD ] index:[%d] %s %s(%d) %d", getPacketIndex(), cmdId, regIndex, regIndex.index, getContentI32(1));
ret = String.format("[CMD ] index:[%d] %s %s %s(%d) %d", getPacketIndex(), cmdId, MId.valueOf(getModuleId()),regIndex, regIndex.index, getContentI32(1));
} else {
ret = String.format("[CMD ] index:[%d] %s unkown_index(%d) %d", getPacketIndex(), cmdId, getContentI32(0), getContentI32(1));
}

41
src/main/java/a8k/service/hardware/HbotControlService.java
View File

@ -100,25 +100,24 @@ public class HbotControlService implements HardwareCtrlModule {
));
}
@HardwareServiceParam(name = "缓冲液位置", group = "位置坐标集合")
public BottleGroupsPosInfo getBottleBufferPosInfo() {
return settingReader.getObject("BottleBufferPosInfo", BottleGroupsPosInfo.class,
new BottleGroupsPosInfo(
new Pos2d(0, 0),
0,
0,
new Pos2d(0, 0),
new BottlesPosInfo(
new Pos2d(0, 0),
0,
0,
new Pos2d(741, 937),
1230,
1250,
new Pos2d(577, 1097),
new BottlesPosInfo/*大孔*/(
new Pos2d(175, 175),
210,
210,
0
),
new BottlesPosInfo(
new Pos2d(0, 0),
0,
0,
new BottlesPosInfo/*小孔*/(
new Pos2d(220, 220),
187,
187,
0
)
));
@ -138,27 +137,23 @@ public class HbotControlService implements HardwareCtrlModule {
public LargeBottleBufferPos getLargeBottleBufferPosInfo() {
return settingReader.getObject("LargeBottleBufferPosInfo", LargeBottleBufferPos.class,
new LargeBottleBufferPos(
new Pos2d(0, 0),
0,
0,
new Pos2d(4583, 1363),
280,
280,
0,
0,
0
));
}
@HardwareServiceParam(name = "公共区Y轴限制值", group = "限制值")
public Integer getCommonAreaYLimit() {
return settingReader.getInteger("CommonAreaYLimit", 0);
}
@HardwareServiceParam(name = "Hbot采样区", group = "限制值")
public HbotLimitArea getSampleCollectionArea() {
return settingReader.getObject("HbotPublicArea", HbotLimitArea.class,
new HbotLimitArea(0, 0, 601, 3151));
new HbotLimitArea(0, 3643, 5060, 4074));
}
//
public Integer getGripperZeroYPos() {
//之所以这样写，是因为是为了放置两个类之间的循环依赖
return appCxt.getBean(SamplesPreProcessModuleCtrlService.class).getGripperZeroYPos();

9
src/main/java/a8k/utils/HbotScanerPosComputer.java
View File

@ -0,0 +1,9 @@
package a8k.utils;
import a8k.appbean.cfg.Pos2d;
public class HbotScanerPosComputer {
static public Pos2d getScanPos(Pos2d tipPos) {
return new Pos2d(tipPos.x + 359, tipPos.y + 29);
}
}
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