project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

update

tags/v0
zhaohe 1 year ago
parent
abed2c8aba
commit
17a51f365c
7 changed files with 224 additions and 177 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 32
      README.md
  2. 28
      src/main/java/a8k/a8k_can_protocol/IOId.java
  3. 154
      src/main/java/a8k/a8k_can_protocol/ModuleId.java
  4. 4
      src/main/java/a8k/controller/TmpTestController.java
  5. 33
      src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
  6. 48
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  7. 100
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

32
README.md
View File

@ -3,9 +3,41 @@
1. 数据库文件是否被破坏检查
2. 数据库文件如果被破坏，自动恢复默认配置
坐标XY方向约定:
0 ----------------------->
| (X)
|
|
|
|
|
v(Y)
舵机位置约定:
1.抓手夹紧位置为1800
命名约定:
TH: TubeHolder
Ch: Channel
THCh: 试管架通道
SM : 步进电机
SV : 舵机
Z : 升降
X : X方向水平移动
Y : Y方向水平移动
电机命名:
GripperSV : 抓手舵机
GripperZM ：抓手升降电机
GripperYM : 抓手前后移动电机
ShakeM : 摇匀电机
ShakeClampingM:摇匀夹紧电机
```

28
src/main/java/a8k/a8k_can_protocol/IOId.java
View File

@ -1,26 +1,26 @@
package a8k.a8k_can_protocol;
public enum IOId {
TubeHeightDetecter(ModuleType.kboard, 60, 0), //高低试管检测IO
TubeHolderTransferChannelTubeDetecterOuter(ModuleType.kboard, 60, 1),//试管架转移通道有无检测 外
TubeHolderTransferChannelTubeDetecterInter(ModuleType.kboard, 60, 2),//试管架转移通道有无检测 内
SampleExitTubeHolderlDetecter(ModuleType.kboard, 60, 3),//试管出料位置 试管架有无检测
TubeExistDetecter(ModuleType.kboard, 60, 4),//试管有无光电
SampleEnterTubeHolderlDetecter(ModuleType.kboard, 60, 5),//试管架入料位置 试管架有无检测
TubeHeightPPS(ModuleType.kboard, 60, 0), //高低试管检测IO
THChOuterPPS(ModuleType.kboard, 60, 1),//试管架转移通道有无检测 外
THChInterPPS(ModuleType.kboard, 60, 2),//试管架转移通道有无检测 内
OutfeedPPS(ModuleType.kboard, 60, 3),//试管出料位置 试管架有无检测
TubeExitPPS(ModuleType.kboard, 60, 4),//试管有无光电
InfeedPPS(ModuleType.kboard, 60, 5),//试管架入料位置 试管架有无检测
WasteBucketOverflowedDetector(ModuleType.kboard, 40, 2),//废料桶满溢检测
WasteBucketOverflowedDetectorPowerCtrl(ModuleType.kboard, 40, 0),//废料桶光栅电源
RecycleBinOverflowPPS(ModuleType.kboard, 40, 2),//废料桶满溢检测
RecycleBinOverflowPPSPowerCtrl(ModuleType.kboard, 40, 0),//废料桶光栅电源
PlateBoxCoverClosureDetector(ModuleType.kboard, 20, 0),//板夹仓舱盖闭合检测
PlateBoxPlateStuckDetector(ModuleType.kboard, 20, 1),//板夹仓卡板检测
PlateBoxCoverClosurePPS(ModuleType.kboard, 20, 0),//板夹仓舱盖闭合检测
PlateBoxPlateStuckPPS(ModuleType.kboard, 20, 1),//板夹仓卡板检测
//转盘逻辑相关光电
//钩板电机，零点光电，终点光电
PlaterHookerMotorZeroPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorTestCardPullModule,0),
PlaterHookerMotorEndPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorTestCardPullModule,1),
PullerMZeroPPS(ModuleType.ktmc_step_motor,ModuleId.OptModPullM,0),
PullerMEndPPS(ModuleType.ktmc_step_motor,ModuleId.OptModPullM,1),
//推板电机，零点光电，终点光电
PlaterPusherMotorZeroPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorCardWarehousePushModule,0),
PlaterPusherMotorEndPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorCardWarehousePushModule,1),
PusherMZeroPPS(ModuleType.ktmc_step_motor,ModuleId.PlatesBoxPusherM,0),
PusherMEndPPS(ModuleType.ktmc_step_motor,ModuleId.PlatesBoxPusherM,1),
;

154
src/main/java/a8k/a8k_can_protocol/ModuleId.java
View File

@ -1,101 +1,93 @@
package a8k.a8k_can_protocol;
public class ModuleId {
public static final int ArmXYBoardModule = 10;//机械臂板模块
public static final int ArmXYModule = 11;//机械臂XY
public static final int MotorCardWarehouseMoveBoardModule = 20;//板夹仓模块
public static final int MotorCardWarehouseMoveModule = 21;//板夹仓移动电机
public static final int MotorCardWarehousePushModule = 22;//板夹仓推杆电机
public static final int CardWarehouseScanerModule = 23;//板夹仓扫码模组
public static final int ShakeModuleBoard = 30;//摇匀模组板
public static final int MotorTubeScanClampModule = 31;//试管固定夹爪电机
public static final int MotorTubeMoveUpDownModule = 32;//摇匀升降电机
public static final int MotorTubeShakeModule = 33;//试管摇匀电机
public static final int ServoTubeMoveFrontBackModule = 34;//摇匀前后电机
public static final int ServoTubeCapClipModule = 35;//摇匀试管帽夹爪
public static final int ServoTubeRackTubePushModule = 36;//试管架旋转固定舵机
public static final int ServoTubeRackTubeRotateModule = 37;//试管架旋转舵机
public static final int HbotBoard = 10;//机械臂板模块
public static final int HbotM = 11;//机械臂XY
public static final int ReactionCardBoxTemperatureCtrlBoard = 40;//反应板夹温度控制板
public static final int ReactionCardBoxTemperatureModule = 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 PlatesBoxBoard = 20;//板夹仓模块
public static final int PlatesBoxYM = 21;//板夹仓移动电机
public static final int PlatesBoxPusherM = 22;//板夹仓推杆电机
public static final int PlatesBoxScanner = 23;//板夹仓扫码模组
public static final int IncubatorTempCtrlBoard = 50;//温度控制
public static final int IncubatorTempCtrlModule = 51;//温度控制
public static final int ShakeModBoard = 30;//摇匀模组板
public static final int ShakeModClampingM = 31;//试管固定夹爪电机
public static final int ShakeModGripperZM = 32;//摇匀升降电机
public static final int ShakeModShakeM = 33;//试管摇匀电机
public static final int ShakeModGripperYM = 34;//摇匀前后电机
public static final int ShakeModGripperSV = 35;//摇匀试管帽夹爪
public static final int ShakeModTubeScanerClampingSV = 36;//试管架旋转固定舵机
public static final int ShakeModTubeScanerRotateSV = 37;//试管架旋转舵机
public static final int FeederBoard = 60;//出入料模块
public static final int MotorTubeRackFeedModule = 61;//入料电机
public static final int MotorTubeRackMoveModule = 62;//试管架平移电机
public static final int MotorTubeRackExitModule = 63;//出料电机
public static final int TubeRackScannerModule = 64;//试管架扫码器
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 WbTubeFanModule = 42;//气溶胶风扇
public static final int MotorIncubatorRotateBoard = 70;//孵育盘旋转板
public static final int MotorIncubatorRotateModule = 71;//孵育盘旋转
public static final int IncubatorTCMBoard = 50;//温度控制
public static final int IncubatorTCM = 51;//温度控制
public static final int ArmZBoard = 80;//机械臂Z轴板
public static final int ArmZModule = 81;//机械臂Z
public static final int PipetteModule = 82;//移液枪
public static final int MaterialScannerModule = 83;//物料扫码器
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 FeedingModScannerM = 64;//试管架扫码器
public static final int OptScanModuleBoard = 90;//光学模组板
public static final int MotorTestCardScanModule = 91;//板卡扫描电机
public static final int MotorTestCardPullModule = 92;//板卡推杆电机
public static final int ScannerModule = 93;//扫描仪
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 IdCardReaderBoard = 100; //A8K读卡器板
public static final int IdCardReaderModule = 101; //A8K读卡器
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 PipetteMod = 82;//移液枪
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 String ModuleId2Name(int moduleId) {
return switch (moduleId) {
case ArmXYBoardModule -> "ArmXYBoardModule";
case ArmXYModule -> "ArmXYModule";
case MotorCardWarehouseMoveBoardModule -> "MotorCardWarehouseMoveBoardModule";
case MotorCardWarehouseMoveModule -> "MotorCardWarehouseMoveModule";
case MotorCardWarehousePushModule -> "MotorCardWarehousePushModule";
case CardWarehouseScanerModule -> "CardWarehouseScanerModule";
public static final int A8kIdCardReaderBoard = 100; //A8K读卡器板
public static final int A8kIdCardReader = 101; //A8K读卡器
case ShakeModuleBoard -> "ShakeModuleBoard";
case MotorTubeScanClampModule -> "MotorTubeScanClampModule";
case MotorTubeMoveUpDownModule -> "MotorTubeMoveUpDownModule";
case MotorTubeShakeModule -> "MotorTubeShakeModule";
case ServoTubeMoveFrontBackModule -> "ServoTubeMoveFrontBackModule";
case ServoTubeCapClipModule -> "ServoTubeCapClipModule";
case ServoTubeRackTubePushModule -> "ServoTubeRackTubePushModule";
case ServoTubeRackTubeRotateModule -> "ServoTubeRackTubeRotateModule";
case ReactionCardBoxTemperatureCtrlBoard -> "ReactionCardBoxTemperatureCtrlBoard";
case ReactionCardBoxTemperatureModule -> "ReactionCardBoxTemperatureModule";
public static String ModuleId2Name(int moduleId) {
return switch (moduleId) {
case HbotBoard -> "HbotBoard";
case HbotM -> "HbotM";
case PlatesBoxBoard -> "PlatesBoxBoard";
case PlatesBoxYM -> "PlatesBoxYM";
case PlatesBoxPusherM -> "PlatesBoxPusherM";
case PlatesBoxScanner -> "PlatesBoxScanner";
case ShakeModBoard -> "ShakeModBoard";
case ShakeModClampingM -> "ShakeModClampingM";
case ShakeModGripperZM -> "ShakeModGripperZM";
case ShakeModShakeM -> "ShakeModShakeM";
case ShakeModGripperYM -> "ShakeModGripperYM";
case ShakeModGripperSV -> "ShakeModGripperSV";
case ShakeModTubeScanerClampingSV -> "ShakeModTubeScanerClampingSV";
case ShakeModTubeScanerRotateSV -> "ShakeModTubeScanerRotateSV";
case PlatesBoxTCMBoard -> "PlatesBoxTCMBoard";
case PlatesBoxTCM -> "PlatesBoxTCM";
case WbTubeFanModule -> "WbTubeFanModule";
case IncubatorTempCtrlBoard -> "IncubatorTempCtrlBoard";
case IncubatorTempCtrlModule -> "IncubatorTempCtrlModule";
case FeederBoard -> "FeederBoard";
case MotorTubeRackFeedModule -> "MotorTubeRackFeedModule";
case MotorTubeRackMoveModule -> "MotorTubeRackMoveModule";
case MotorTubeRackExitModule -> "MotorTubeRackExitModule";
case TubeRackScannerModule -> "TubeRackScannerModule";
case MotorIncubatorRotateBoard -> "MotorIncubatorRotateBoard";
case MotorIncubatorRotateModule -> "MotorIncubatorRotateModule";
case ArmZBoard -> "ArmZBoard";
case ArmZModule -> "ArmZModule";
case PipetteModule -> "PipetteModule";
case MaterialScannerModule -> "MaterialScannerModule";
case OptScanModuleBoard -> "OptScanModuleBoard";
case MotorTestCardScanModule -> "MotorTestCardScanModule";
case MotorTestCardPullModule -> "MotorTestCardPullModule";
case ScannerModule -> "ScannerModule";
case IdCardReaderBoard -> "IdCardReaderBoard";
case IdCardReaderModule -> "IdCardReaderModule";
case IncubatorTCMBoard -> "IncubatorTCMBoard";
case IncubatorTCM -> "IncubatorTCM";
case FeedingModBoard -> "FeedingModBoard";
case FeedingModInfeedM -> "FeedingModInfeedM";
case FeedingModXM -> "FeedingModXM";
case FeedingModOutfeedM -> "FeedingModOutfeedM";
case FeedingModScannerM -> "FeedingModScannerM";
case IncubatorRotateBoard -> "IncubatorRotateBoard";
case IncubatorRotateCtrlM -> "IncubatorRotateCtrlM";
case PipetteModBoard -> "PipetteModBoard";
case PipetteModZMotor -> "PipetteModZMotor";
case PipetteMod -> "PipetteMod";
case PipetteModCodeScanner -> "PipetteModCodeScanner";
case OptModBoard -> "OptModBoard";
case OptModScannerMotor -> "OptModScannerMotor";
case OptModPullM -> "OptModPullM";
case OptMod -> "OptMod";
case A8kIdCardReaderBoard -> "A8kIdCardReaderBoard";
case A8kIdCardReader -> "A8kIdCardReader";
default -> "UnknownModuleId(" + moduleId + ")";
};
}

4
src/main/java/a8k/controller/TmpTestController.java
View File

@ -56,8 +56,8 @@ public class TmpTestController {
@GetMapping("/tmp-test/a8k-can-bus-service-call")
@ResponseBody
public String a8kCanBusServiceCall() throws HardwareException, InterruptedException {
this.a8kCanBusService.callcmd(ModuleId.ServoTubeRackTubeRotateModule, CmdId.kmini_servo_enable, new Integer[]{1});
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackFeedModule, CmdId.kstep_motor_easy_move_by, new Integer[]{5000}, 20000);
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);
return "OK";
}

33
src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
View File

@ -1,6 +1,8 @@
package a8k.service.ctrl_service;
import a8k.a8k_can_protocol.ModuleId;
import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException;
import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
import jakarta.annotation.Resource;
@ -26,6 +28,28 @@ public class DeviceInitializationCtrlService {
* 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。
*
*
* 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
*
* 初始化顺序：
* 1. 试管夹紧复位
* 2. 抓手复位
* 3. 抓手平移电机复位
* 4. 抓手升降复位
* 1. 试管扫码夹紧复位
* 5. 试管摇匀复位
* 6. 机械臂Z轴复位
* 7. Hbot复位
*
* 7. 试管架平移电机复位
* 8. 板夹仓平移电机复位
* 9. 板夹仓推杆电机复位
* 10.
*
*/
@Resource
A8kCanBusService canBus;
@ -36,10 +60,13 @@ public class DeviceInitializationCtrlService {
public AppErrorCode initializeDevice() {
logger.info("Initializing device ...");
try {
// canBus.getIOState(IOId.THChDetecterOuter,);
// canBus
canBus.stepMotorEasyMoveToZero(ModuleId.ShakeModGripperZM);
} catch (HardwareException e) {
throw new RuntimeException(e);
}
// this.a8kCanBusService.callblockcmd(
// ModuleId.ServoTubeCapClipModule,

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

@ -52,24 +52,24 @@ public class MotorTubeRackMoveCtrlService {
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
}
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter();
var beforePosResponse = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_read_pos, new Integer[]{0});
var beforePosResponse = this.a8kCanBusService.callcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
var beforePos = beforePosResponse.getContentI32(0);
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
var afterPosResponse = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_read_pos, new Integer[]{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});
var afterPos = afterPosResponse.getContentI32(0);
var distance = beforePos - afterPos;
var dval = a8kCanBusService.module_read_reg(ModuleId.MotorTubeRackMoveModule, RegIndex.kreg_step_motor_dpos);
var dval = a8kCanBusService.module_read_reg(ModuleId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal) {
throw new HardwareException(ModuleId.MotorTubeRackMoveModule, Errorcode.kstep_motor_lost_step);
throw new HardwareException(ModuleId.FeedingModXM, Errorcode.kstep_motor_lost_step);
}
//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 {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 {
this.moveTubeRackToScanPos();
this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_start_scan, new Integer[]{});
Thread.sleep(500);
var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
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 contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -138,7 +138,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var scanPos = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 {
this.moveTubeToScanPos(tubeType, tubeIndex);
this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.FeedingModScannerM, CmdId.kcode_scaner_start_scan, new Integer[]{});
Thread.sleep(500);
var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
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 contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -166,7 +166,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao.getParameter();
var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var pos = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
var pos = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing;
this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
}
public boolean isTubeRackInEnterPos() throws HardwareException {
var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
return response.getContentI32(0) == 1;
}
public boolean isTubeRackInExitPos() throws HardwareException {
var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
return response.getContentI32(0) == 1;
}
@ -214,7 +214,7 @@ public class MotorTubeRackMoveCtrlService {
*/
public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException {
var index = 0 == photoelectricIndex ? 2 : 1;
var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
var response = this.a8kCanBusService.callcmd(ModuleId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
return response.getContentI32(0) == 1;
}
@ -228,7 +228,7 @@ public class MotorTubeRackMoveCtrlService {
*/
public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.ServoTubeRackTubePushModule, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeClampPos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.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 {
var params = this.serviceParameterDao.getParameter();
this.a8kCanBusService.callblockcmd(ModuleId.ServoTubeRackTubePushModule, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeReleasePos}, params.actionOvertime);
this.a8kCanBusService.callblockcmd(ModuleId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeReleasePos}, params.actionOvertime);
}

100
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -1,18 +1,14 @@
package a8k.service.hardware;
import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.Errorcode;
import a8k.a8k_can_protocol.ModuleId;
import a8k.appbean.A8kTubeType;
import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException;
import a8k.appbean.SampleTubeState;
import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.A8kTubeInfoDao;
import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
import com.iflytop.uf.UfActuatorCmdExecutor;
import jakarta.annotation.Resource;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@Component
@ -39,33 +35,33 @@ public class SamplesPreProcessModuleCtrlService {
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
@ -82,27 +78,27 @@ public class SamplesPreProcessModuleCtrlService {
*/
public void enableModule(boolean enable) throws HardwareException {
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kmini_servo_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_enable,
enable ? 1 : 0
);
@ -125,7 +121,7 @@ public class SamplesPreProcessModuleCtrlService {
public AppErrorCode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime()
@ -137,7 +133,7 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
motorUdTubeTaskPos,
params.getActionOvertime()
@ -145,17 +141,17 @@ public class SamplesPreProcessModuleCtrlService {
if ( judgeCapExist ) {
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_stop
);
var pos = this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_read_pos
);
if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) {
@ -164,49 +160,49 @@ public class SamplesPreProcessModuleCtrlService {
}
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
params.getZMotor_placeShakeHeight(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -230,14 +226,14 @@ public class SamplesPreProcessModuleCtrlService {
public AppErrorCode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
@ -249,28 +245,28 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -284,14 +280,14 @@ public class SamplesPreProcessModuleCtrlService {
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
@ -303,28 +299,28 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -348,7 +344,7 @@ public class SamplesPreProcessModuleCtrlService {
var startPos = standByPos - shakeDegree/2;
var endPos = standByPos + shakeDegree/2;
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_easy_reciprocating_motion,
startPos,
endPos,
@ -378,28 +374,28 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_move_to,
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
@ -411,46 +407,46 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleRuntimeReset() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
ModuleId.ShakeModGripperSV,
CmdId.kmini_servo_move_to,
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
ModuleId.ShakeModGripperZM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
ModuleId.ShakeModGripperYM,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
ModuleId.ShakeModClampingM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
ModuleId.ShakeModShakeM,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);

Write Preview
Loading…
Cancel
Save