update

src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModuleCtrlService.java

@@ -52,6 +52,7 @@ public class OptScanModuleCtrlService {
 	TurnableMoveCtrlService turnableMoveCtrlService;
 
 
+
 	public void pullPlate(IncubatorPos turntablePosIndex) throws AppException {
 		turnableMoveCtrlService.trunableMoveToPullPos(turntablePosIndex);
 		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
@@ -68,24 +69,28 @@ public class OptScanModuleCtrlService {
 
 	public Integer[] startOptScan(A8kOptType optType, Integer rawScanGain) throws AppException {
 		Integer forwardScanPos = optModuleExtParamsMgr.getOptScanStartPos(optType);
-
+		Integer backwardScanPos = forwardScanPos - 1200;
 		//		Double  scanGain    = optModuleExtParamsMgr.getScanGain(optType);
 		//		Integer rawScanGain = OptGainConvert.scanerToRawGain(optType, scanGain);
 		Integer lasterGain = optModuleExtParamsMgr.getOptEmissionIntensity(optType);
 
+
 		switch (optType) {
 			case TOPT -> {
 				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_t_pos_offset, forwardScanPos);
-				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset, forwardScanPos - 1200);
+				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset, backwardScanPos);
 				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_pointnum, 1200);
 			}
 			case FOPT -> {
 				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_f_pos_offset, forwardScanPos);
-				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset, forwardScanPos - 1200);
+				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset, backwardScanPos);
 				optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_pointnum, 1200);
 			}
 		}
 
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, forwardScanPos, overtime);
+
+
 		switch (optType) {
 			case TOPT -> optModuleDriver.optTStartScan(OptScanDirection.FORWARD, lasterGain, rawScanGain);
 			case FOPT -> optModuleDriver.optFStartScan(OptScanDirection.FORWARD, lasterGain, rawScanGain);

src/main/java/a8k/service/app/devicectrl/driver/OptModuleDriver.java

@@ -1,5 +1,6 @@
 package a8k.service.app.devicectrl.driver;
 
+import a8k.OS;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
@@ -24,13 +25,19 @@ public class OptModuleDriver {
 	@Resource
 	A8kCanBusService canBus;
 
+
 	public void optTStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
+
 		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_t_start_scan, scanDirection.getInteger(), lasterGain, scanGain);
+		//TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件
+		OS.forceSleep(6000);
 		canBus.waitForMod(MId.OptMod, actionOvertime);
 	}
 
 	public void optFStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
 		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_f_start_scan, scanDirection.getInteger(), lasterGain, scanGain);
+		//TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件
+		OS.forceSleep(9000);
 		canBus.waitForMod(MId.OptMod, actionOvertime);
 	}
 

src/main/java/a8k/service/app/devicectrl/param/calibration/OptModuleParamCalibration.java

@@ -92,7 +92,7 @@ public class OptModuleParamCalibration {
 	 * From:       0号仓
 	 * TrunablePos:0号仓到
 	 */
-	@ExtApiFn(name = "推板到光学模组", group = "测试工具", order = 100)
+	@ExtApiFn(name = "推板到光学模组(自动丢弃当前板)", group = "测试工具", order = 100)
 	public void pushOnePlateToOptModule() throws AppException {
 		//先清空当前通道
 		optScanModuleCtrlService.dropPlate();
@@ -104,7 +104,7 @@ public class OptModuleParamCalibration {
 		optScanModuleCtrlService.pullPlate(IncubatorPos.SPACE01);
 	}
 
-	@ExtApiFn(name = "拉板到光学模组", group = "测试工具", order = 101)
+	@ExtApiFn(name = "丢板", group = "测试工具", order = 101)
 	public void dropPlate() throws AppException {
 		optScanModuleCtrlService.dropPlate();
 	}
@@ -145,7 +145,10 @@ public class OptModuleParamCalibration {
 	//FOptScanAmplVal
 
 	@ExtApiFn(name = "设置F光学扫描偏移", group = "F光学", order = 300)
-	public void setFOptScanShift(Integer shift) {
+	public void setFOptScanShift(Integer shift) throws AppException {
+		if (shift < 0) {
+			throw AppException.of("扫描偏移量必须大于0");
+		}
 		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.FOptScanShift, shift);
 	}
 
@@ -172,7 +175,10 @@ public class OptModuleParamCalibration {
 	//
 
 	@ExtApiFn(name = "设置T光学扫描偏移", group = "T光学", order = 400)
-	public void setTOptScanShift(Integer shift) {
+	public void setTOptScanShift(Integer shift) throws AppException {
+		if (shift < 0) {
+			throw AppException.of("扫描偏移量必须大于0");
+		}
 		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.TOptScanShift, shift);
 	}
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/OptModuleExtParamsMgr.java

@@ -9,6 +9,7 @@ import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
+import org.springframework.util.Assert;
 
 /**
  * HBOT二维码扫描坐标参数
@@ -35,8 +36,11 @@ public class OptModuleExtParamsMgr extends ParamMgr {
 			case FOPT -> getParam(OptModuleExtParam.FOptScanShift, Integer.class);
 		};
 
+		Assert.notNull(shift, "扫描偏移量不能为空");
+		Assert.isTrue(shift > 0, "扫描偏移量必须大于0");
+
 		Integer scanStartPos = getParam(OptModuleExtParam.OptScanRefPos, Integer.class);
-		scanStartPos = scanStartPos + shift;
+		scanStartPos = scanStartPos - shift;
 
 		return scanStartPos;
 	}