update

src/main/java/a8k/config/CorsConfig.java

@@ -0,0 +1,18 @@
+package a8k.config;
+
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.servlet.config.annotation.CorsRegistry;
+import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
+
+@Configuration
+public class CorsConfig implements WebMvcConfigurer {
+
+	@Override
+	public void addCorsMappings(CorsRegistry registry) {
+		// 允许所有域名进行跨域访问，实际使用时应根据需要进行配置
+		registry.addMapping("/**")
+				.allowedOrigins("*")
+				.allowedMethods("GET", "POST", "PUT", "DELETE")
+				.allowedHeaders("*");
+	}
+}

src/main/java/a8k/extapi/service/ExtApiTabCfgService.java

@@ -7,12 +7,11 @@ import a8k.service.app.background.BackgroudProcessCtrlService;
 import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
-import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
 import a8k.service.app.devicectrl.init.MiniServoReferencePointIniter;
 import a8k.service.app.devicectrl.param.LowerDeviceParamMgr;
 import a8k.service.app.devicectrl.param.calibration.*;
 import a8k.service.test.*;
-import a8k.service.verification.PipetteGunVerification;
+import a8k.service.verification.*;
 import jakarta.annotation.PostConstruct;
 import lombok.Data;
 import org.springframework.stereotype.Component;
@@ -85,13 +84,16 @@ public class ExtApiTabCfgService {
 
 		cfgList.add(new Config(PipetteGunTest.class, "测试.PipetteGun", TabType.LowLevelApiTest));
 		cfgList.add(new Config(PosMeasureUtils.class, "测试.坐标测量", TabType.LowLevelApiTest));
-		cfgList.add(new Config(A8kOptTest.class, "测试.光学测试", TabType.LowLevelApiTest));
 
 		cfgList.add(new Config(PipetteCtrlDriver.class, "硬件驱动.移液枪测试", TabType.LowLevelApiTest));
 		cfgList.add(new Config(StepMotorCtrlDriver.class, "硬件驱动.步进电机测试", TabType.LowLevelApiTest));
 		cfgList.add(new Config(TubeFeedingCtrlService.class, "硬件控制.入料模块", TabType.LowLevelApiTest));
 
-		cfgList.add(new Config(PipetteGunVerification.class, "验证.移液枪验证", TabType.Verify));
+
+		cfgList.add(new Config(A8kVerificationUtils.class, "验证.工具", TabType.Verify));
+		cfgList.add(new Config(PipetteGunVerificationV2.class, "验证.移液枪验证", TabType.Verify));
+		cfgList.add(new Config(A8kTemperaturaVerfication.class, "验证.温度控制验证", TabType.Verify));
+		cfgList.add(new Config(A8kOptVerification.class, "验证.光学模组", TabType.Verify));
 
 
 		for (Config cfg : cfgList) {

src/main/java/a8k/hardware/A8kModParamInitializer.java

@@ -118,10 +118,10 @@ public class A8kModParamInitializer {
 
 		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_look_zero_edge_speed, 10);
 
-		canBus.moduleSetReg(MId.IncubatorTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_kp, 3000);
+		canBus.moduleSetReg(MId.IncubatorTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_kp, 6000);
 		canBus.moduleSetReg(MId.IncubatorTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_ki, 100);
 		canBus.moduleSetReg(MId.IncubatorTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_compute_interval, 9000);
-		canBus.moduleSetReg(MId.PlatesBoxTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_kp, 3000);
+		canBus.moduleSetReg(MId.PlatesBoxTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_kp, 6000);
 		canBus.moduleSetReg(MId.PlatesBoxTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_ki, 100);
 		canBus.moduleSetReg(MId.PlatesBoxTCM, RegIndex.kreg_water_cooling_tmp_controler_pid_compute_interval, 9000);
 

src/main/java/a8k/service/app/appctrl/AppDeviceCtrlService.java

@@ -82,4 +82,5 @@ public class AppDeviceCtrlService {
 	}
 
 
+
 }

src/main/java/a8k/service/app/background/TemperatureCtrlService.java

@@ -15,6 +15,11 @@ import org.springframework.stereotype.Component;
 @Slf4j
 public class TemperatureCtrlService {
 
+	enum TemperaControlMode {
+		kFixTemperature,
+		kAutoChangeFromAppSetting
+	}
+
 
 	@Resource
 	TemperatureControlDriver temperatureControlDriver;
@@ -24,7 +29,8 @@ public class TemperatureCtrlService {
 	@Resource
 	AppSettingsMgrService appSettingsMgrService;
 
-	Integer temperature           = 0;
+	Integer            targetTemperature     = 0;
+	TemperaControlMode controlMode           = TemperaControlMode.kFixTemperature;
 	Thread             temperatureCtrlThread = null;
 
 	@PostConstruct
@@ -33,6 +39,21 @@ public class TemperatureCtrlService {
 	}
 
 	public void startTemperatureControl() throws AppException {
+		stopTemperatureControl();
+		controlMode       = TemperaControlMode.kAutoChangeFromAppSetting;
+		targetTemperature = 0;
+		startTemperatureControlInternal();
+	}
+
+	public void startTemperatureControl(Integer tem) throws AppException {
+		stopTemperatureControl();
+		controlMode       = TemperaControlMode.kFixTemperature;
+		targetTemperature = tem;
+		startTemperatureControlInternal();
+	}
+
+
+	public void startTemperatureControlInternal() throws AppException {
 		if (virtualDevice.isEnable()) {
 			return;
 		}
@@ -41,9 +62,12 @@ public class TemperatureCtrlService {
 			return;
 		}
 
+		if (controlMode.equals(TemperaControlMode.kAutoChangeFromAppSetting)) {
 			AppSetting setting = appSettingsMgrService.getAppSettings();
-		temperature = setting.getTemperature();
-		temperatureControlDriver.startCtrlTemperature(temperature.doubleValue());
+			targetTemperature = setting.getTemperature();
+		}
+			temperatureControlDriver.startCtrlTemperature(targetTemperature.doubleValue());
+
 
 		/*
 		 *	启动线程，定时检查温度设定值，如果发生变化则调用温度控制器
@@ -53,10 +77,12 @@ public class TemperatureCtrlService {
 				try {
 
 					Thread.sleep(1000);
-					Integer targetTemperature = appSettingsMgrService.getAppSettings().getTemperature();
-					if (!targetTemperature.equals(temperature)) {
-						temperature = targetTemperature;
-						temperatureControlDriver.startCtrlTemperature(temperature.doubleValue());
+					if (controlMode.equals(TemperaControlMode.kAutoChangeFromAppSetting)) {
+						Integer settingTem = appSettingsMgrService.getAppSettings().getTemperature();
+						if (!targetTemperature.equals(settingTem)) {
+							targetTemperature = settingTem;
+							temperatureControlDriver.startCtrlTemperature(targetTemperature.doubleValue());
+						}
 					}
 
 				} catch (InterruptedException e) {

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

@@ -62,6 +62,16 @@ public class HbotCtrlService {
 		checker.checkTakeTip((pipetteCtrlDriver.isHasTip()));
 	}
 
+	public Boolean takeTipNoCheck(TipGroup tipGroup, Integer index) throws AppException {
+		log.info("takeTipNoCheck groupId:{} index:{}", tipGroup.ordinal(), index);
+		checkTipIndex(tipGroup, index);
+
+		Pos3d tipPos = hbotConsumableParamMgr.getTipPos(tipGroup, index);
+		hbotBaseMoveExDriver.hbotMoveTo(tipPos);
+		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
+		return pipetteCtrlDriver.isHasTip();
+	}
+
 	public void takeTip(TipPos pos) throws AppException {
 		Assert.isTrue(pos != null, "TipPos is null");
 		takeTip(pos.group, pos.index);

src/main/java/a8k/service/test/A8kOptTest.java → src/main/java/a8k/service/verification/A8kOptVerification.java

@@ -1,4 +1,4 @@
-package a8k.service.test;
+package a8k.service.verification;
 
 import a8k.a8kproj.optalgo.type.OptScanResult;
 import a8k.extapi.utils.ExtApiFn;
@@ -31,7 +31,7 @@ import java.util.List;
  */
 @ExtApiTab()
 @Component
-public class A8kOptTest {
+public class A8kOptVerification {
 
 	Integer actionOvertime = 5000;
 
@@ -142,7 +142,7 @@ public class A8kOptTest {
 
 	@ExtApiFn(name = "获取光学报告", group = "光学测试", order = 202)
 	public String getOptReport(Integer subProjIndex) {
-		return "http://127.0.0.1/filemgr/index.html";
+		return "http://127.0.0.1/optfilemgr/";
 	}
 
 	@ExtApiFn(name = "读取项目信息", group = "光学测试", order = 203)

src/main/java/a8k/service/verification/A8kTemperaturaVerfication.java

@@ -0,0 +1,70 @@
+package a8k.service.verification;
+
+import a8k.a8kproj.optalgo.type.OptScanResult;
+import a8k.extapi.utils.ExtApiFn;
+import a8k.extapi.utils.ExtApiStatu;
+import a8k.extapi.utils.ExtApiTab;
+import a8k.service.app.appdata.FileMgrService;
+import a8k.service.app.appdata.ProjIdCardInfoMgrService;
+import a8k.service.app.appdata.ProjInfoMgrService;
+import a8k.service.app.background.SensorDataUpdateService;
+import a8k.service.app.background.TemperatureCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.TemperatureControlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.param.param_mgr.OptModuleExtParamsMgr;
+import a8k.type.A8kScanCurve;
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
+import a8k.type.exception.AppException;
+import a8k.utils.ProjBuildinInfo;
+import a8k.utils.ZList;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ *
+ *
+ */
+@ExtApiTab()
+@Component
+public class A8kTemperaturaVerfication {
+
+	@Resource
+	TemperatureCtrlService temperatureCtrlService;
+
+	@Resource
+	TemperatureControlDriver temperatureControlDriver;
+
+
+	@ExtApiFn(name = "启动温度控制", group = "温度控制", order = 1)
+	synchronized public void startCtrl(Integer targetTemperature) throws AppException {
+		temperatureCtrlService.startTemperatureControl(targetTemperature);
+	}
+
+	@ExtApiFn(name = "停止温度控制", group = "温度控制", order = 2)
+	synchronized public void stopCtrl() throws AppException {
+		temperatureCtrlService.stopTemperatureControl();
+	}
+
+	@ExtApiStatu(name = "孵育盘温度", group = "", order = 3)
+	public Double readIncubateBoxTemperature() throws AppException {
+		Double incubateBoxTemp = temperatureControlDriver.readIncubateBoxTemperature();
+		return (incubateBoxTemp);
+	}
+
+	@ExtApiStatu(name = "板夹仓温度", group = "", order = 4)
+	public Double readPlateBoxTemperature() throws AppException {
+		Double pbtemp = temperatureControlDriver.readPlateBoxTemperature();
+		return pbtemp ;
+	}
+
+}

src/main/java/a8k/service/verification/A8kVerificationUtils.java

@@ -0,0 +1,52 @@
+package a8k.service.verification;
+
+import a8k.a8kproj.optalgo.type.OptScanResult;
+import a8k.controler.api.v1.app.ctrl.DeviceInit;
+import a8k.extapi.utils.ExtApiFn;
+import a8k.extapi.utils.ExtApiTab;
+import a8k.service.app.appdata.FileMgrService;
+import a8k.service.app.appdata.ProjInfoMgrService;
+import a8k.service.app.devicectrl.ctrlservice.DeviceInitCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.param.param_mgr.OptModuleExtParamsMgr;
+import a8k.type.A8kScanCurve;
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
+import a8k.type.checkpoint.CheckResult;
+import a8k.type.exception.AppException;
+import a8k.utils.ProjBuildinInfo;
+import a8k.utils.ZList;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ *
+ *
+ */
+@ExtApiTab()
+@Component
+public class A8kVerificationUtils {
+
+	@Resource
+	DeviceInitCtrlService deviceInitializationModule;
+
+	@ExtApiFn(name = "初始化设备", group = "测试工具", order = 11)
+	public List<CheckResult> initDevice() throws AppException {
+		List<CheckResult> checkResult = deviceInitializationModule.deviceMoveToZero();
+		for (CheckResult result : checkResult) {
+			if (!result.pass) {
+				return checkResult;
+			}
+		}
+		return checkResult;
+	}
+}

src/main/java/a8k/service/verification/PipetteGunVerificationV2.java

@@ -0,0 +1,202 @@
+package a8k.service.verification;
+
+import a8k.constant.AppConstant;
+import a8k.extapi.utils.ExtApiFn;
+import a8k.extapi.utils.ExtApiStatu;
+import a8k.extapi.utils.ExtApiTab;
+import a8k.hardware.type.LldType;
+import a8k.service.app.devicectrl.ctrlservice.DeviceInitCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
+import a8k.service.app.devicectrl.driver.HbotDriver;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.PipetteRegIndex;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
+import a8k.service.app.devicectrl.param.ext_param_mgr.PipetteGunParamExMgr;
+import a8k.service.app.devicectrl.param.param_mgr.*;
+import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
+import a8k.service.dao.type.Parameter;
+import a8k.type.ConsumableGroup;
+import a8k.type.cfg.Pos3d;
+import a8k.type.checkpoint.CheckResult;
+import a8k.type.exception.AppException;
+import a8k.type.pos.TipPos;
+import a8k.type.type.TipGroup;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@ExtApiTab()
+@Component
+@Slf4j
+public class PipetteGunVerificationV2 {
+	@Resource
+	HbotFixedPosParamMgr    hbotFixedPosParamMgr;
+	@Resource
+	HbotSamplePosParamMgr   hbotSamplePosParamMgr;
+	@Resource
+	HbotConsumableParamMgr  hbotConsumableParamMgr;
+	@Resource
+	HbotTipPosMgr           hbotTipPosMgr;
+	@Resource
+	PipetteGunLLDParamMgr   pipetteGunLLDParamMgr;
+	@Resource
+	PipetteGunLLFParamMgr   pipetteGunLLFParamMgr;
+	@Resource
+	HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr;
+
+	@Resource
+	PipetteCtrlDriver    pipetteCtrlDriver;
+	@Resource
+	HbotBaseMoveExDriver hbotBaseMoveExDriver;
+	@Resource
+	HbotDriver           hbotDriver;
+	@Resource
+	HbotCtrlService      hbotCtrlService;
+	@Resource
+	PipetteGunParamExMgr pipetteGunParamExMgr;
+
+
+	@Resource
+	DeviceInitCtrlService deviceInitializationModule;
+
+	Integer tipNum        = 0;
+	Integer loadUl        = 0;
+	Integer lldpThreshold = 20;
+
+	@PostConstruct
+	void initialize() {
+
+	}
+
+
+	@ExtApiFn(name = "初始化设备", group = "测试准备工作", order = 11)
+	public List<CheckResult> initDevice() throws AppException {
+		List<CheckResult> checkResult = deviceInitializationModule.deviceMoveToZero();
+		for (CheckResult result : checkResult) {
+			if (!result.pass) {
+				return checkResult;
+			}
+		}
+		return checkResult;
+	}
+
+	@ExtApiFn(name = "加载tip头", group = "测试准备工作", order = 12)
+	public void loadTip() throws AppException {
+		tipNum = AppConstant.TIP_NUM;
+	}
+
+
+	@ExtApiFn(name = "设置吸液量", group = "测试准备工作", order = 13)
+	public void setLoadUl(Integer loadUl) {
+		this.loadUl = loadUl;
+	}
+
+	@ExtApiFn(name = "设置LLD P阈值(建议20)", group = "测试准备工作", order = 14)
+	public void setLldpThreshold(Integer lldpThreshold) {
+		this.lldpThreshold = lldpThreshold;
+	}
+
+	Boolean takeOneTip() throws AppException {
+		hbotBaseMoveExDriver.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+		pipetteCtrlDriver.lldPrepareBlock();
+		TipPos tipPos = new TipPos();
+		tipPos.group = TipGroup.GROUP0;
+		if (tipNum == 0) {
+			throw AppException.ofAECodeError("Tip已经用完");
+		}
+		tipPos.index = AppConstant.TIP_NUM - tipNum;
+		tipNum--;
+		log.info(" 取TIP {}", tipPos);
+		return hbotCtrlService.takeTipNoCheck(tipPos.group, tipPos.index);//取tip
+	}
+
+
+	@ExtApiFn(name = "吸取并释放一次", group = "测试", order = 21)
+	public void aspirateAndDistruptOnce() throws AppException {
+		if (loadUl == 0) {
+			throw AppException.ofAECodeError("吸液量为0");
+		}
+
+		//
+		// param
+		//
+
+		Integer startZPos = hbotConsumableParamMgr.getLargeBufferSamplePos(ConsumableGroup.GROUP0).z;
+		Integer endZPos   = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(ConsumableGroup.GROUP0).z;
+		Integer llfv      = pipetteGunLLFParamMgr.getLargeBSBottleLlfVel();
+
+		//
+		//1. Init pipette gun and take tip
+		//2. lld prepare
+		//
+
+		if (!pipetteCtrlDriver.isHasTip()) {
+			while (true) {
+				if (takeOneTip()) {
+					break;
+				}
+			}
+		} else {
+			pipetteCtrlDriver.lldPrepareBlock();
+		}
+
+
+		//
+		// lld
+		//
+		hbotCtrlService.moveToLargeBSSamplePos(ConsumableGroup.GROUP0);
+		pipetteCtrlDriver.setStartZ(startZPos);
+		pipetteCtrlDriver.setEndZ(endZPos);
+		pipetteCtrlDriver.setLldType(LldType.kplld);
+		pipetteCtrlDriver.setLldCThreshold(15);
+		pipetteCtrlDriver.setLldPThreshold(lldpThreshold);
+		pipetteCtrlDriver.lldBlock();
+
+		if (!pipetteCtrlDriver.lldIsDetectLiquid()) {
+			throw AppException.ofAECodeError("没有液体");
+		}
+
+
+		//
+		// aspirate
+		//
+		pipetteCtrlDriver.setLlfStartZ(pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos));
+		pipetteCtrlDriver.setLlfStartZ(endZPos);
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfv);
+		pipetteCtrlDriver.aspiratePrepareBlock();
+		pipetteCtrlDriver.aspirateBlock(loadUl);
+		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
+
+		//
+		//	move to distrube pos
+		//
+		hbotCtrlService.moveToLargeBSSamplePos(ConsumableGroup.GROUP1);
+		pipetteCtrlDriver.aspirateBlock(-loadUl);
+		pipetteCtrlDriver.clearHangingLiquid(3);
+
+		hbotCtrlService.moveQuickToZero();
+	}
+
+
+	@ExtApiStatu(name = "val", group = "tipNum", order = 100)
+	public Integer readTipNum() throws AppException {
+		return tipNum;
+	}
+
+	@ExtApiStatu(name = "val", group = "loadUl", order = 101)
+	public Integer readLoadUl() throws AppException {
+		return loadUl;
+	}
+
+	@ExtApiStatu(name = "val", group = "lldpThreshold", order = 102)
+	public Integer readLldpThreshold() throws AppException {
+		return lldpThreshold;
+	}
+
+}