update

src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java

@@ -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) {

src/main/java/a8k/appbean/cfg/BottlesPosInfo.java

@@ -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);
 

src/main/java/a8k/appbean/cfg/LargeBottleBufferPos.java

@@ -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);
 	}
 }

src/main/java/a8k/appbean/cfg/Plates2dCodeScanPos.java

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

src/main/java/a8k/appbean/cfg/SmallBottleBufferPos.java

@@ -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);
-//	}
-//
-
-}

src/main/java/a8k/canbus/protocol/A8kPacket.java

@@ -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));
 				}

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -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();

src/main/java/a8k/utils/HbotScanerPosComputer.java

@@ -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);
+	}
+}