探测物质和小瓶缓冲液坐标校准完成

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

@@ -70,7 +70,7 @@ public class A8kModParamInitializer {
 		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 3);
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
-//		pipetteCtrlModule.setReg(PipetteRegIndex.kreg_pipette_zm_io_trigger_append_distance, 0);
+		pipetteCtrlModule.setReg(PipetteRegIndex.kreg_pipette_zm_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 
 		canBus.moduleSetReg(MId.ShakeModGripperYSV, RegIndex.kreg_mini_servo_limit_torque, 700);
@@ -103,6 +103,8 @@ public class A8kModParamInitializer {
 		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_d1, 5);
 		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_vstop, 1);
 		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_tzerowait, 300);
+		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_run_to_zero_speed, 80);
+		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_look_zero_edge_speed, 10);
 
 
 

src/main/java/a8k/service/app/devicedriver/calibration/HbotLittleBottleConsumableCalibration.java

@@ -88,12 +88,10 @@ public class HbotLittleBottleConsumableCalibration {
 
 	LittleBottleConsumableType           littleBottleConsumableType     = LittleBottleConsumableType.BufferSolution;
 	List<LittleBottleConsumableRefPoint> littleBottleConsumableRefPoint = new java.util.ArrayList<>();
-	LittleBottleConsumablePosInfo        littleBottleConsumablePosInfo;
 
 
 	@ExtApiFn(name = "开始标定小瓶坐标", group = "标定小瓶XY坐标", order = 30)
 	public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException {
-		littleBottleConsumablePosInfo  = null;
 		littleBottleConsumableRefPoint = new java.util.ArrayList<>();
 		littleBottleConsumableType     = type;
 		moveToZero();
@@ -104,9 +102,9 @@ public class HbotLittleBottleConsumableCalibration {
 	public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException {
 		enableModule();
 		Pos2d xypos = hbotModule.readPos();
-		pipetteCtrlModule.zMotorMeasureDistance();
-		Integer                        z                    = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
-		LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, z));
+//		pipetteCtrlModule.zMotorMeasureDistance();
+//		Integer                        z                    = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
+		LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, 0));
 		this.littleBottleConsumableRefPoint.add(littleBufferRefPoint);
 		disableModule();
 		ObjectNode node = ZJsonHelper.createObjectNode();
@@ -115,8 +113,15 @@ public class HbotLittleBottleConsumableCalibration {
 		return node;
 	}
 
+	@ExtApiFn(name = "移除最后一个参考点", group = "标定小瓶XY坐标", order = 32)
+	public void removeTheLastLittleBottleGroupRefPoint() {
+		if (!littleBottleConsumableRefPoint.isEmpty()) {
+			littleBottleConsumableRefPoint.remove(littleBottleConsumableRefPoint.size() - 1);
+		}
+	}
 
-	@ExtApiFn(name = "计算坐标", group = "标定小瓶XY坐标", order = 32)
+
+	@ExtApiFn(name = "读取坐标计算结果", group = "标定小瓶XY坐标", order = 33)
 	public LittleBottleConsumablePosInfo computeLittleBottlePosInfo() {
 		//计算y0,所有group==0,1,2,同时0<=off<5的点，求平均
 		Double[] y   = new Double[2];
@@ -191,7 +196,7 @@ public class HbotLittleBottleConsumableCalibration {
 
 		var oldposInfo = hbotConsumablePosMgr.getLittleBottleConsumablePosInfo(littleBottleConsumableType);
 
-		littleBottleConsumablePosInfo        = new LittleBottleConsumablePosInfo();
+		var littleBottleConsumablePosInfo = new LittleBottleConsumablePosInfo();
 		littleBottleConsumablePosInfo.g0_000 = new Pos3d(x[0].intValue(), y[0].intValue(), oldposInfo.g0_000.z);
 		littleBottleConsumablePosInfo.g1_000 = new Pos3d(x[1].intValue(), y[0].intValue(), oldposInfo.g1_000.z);
 		littleBottleConsumablePosInfo.g2_000 = new Pos3d(x[2].intValue(), y[0].intValue(), oldposInfo.g2_000.z);
@@ -203,12 +208,12 @@ public class HbotLittleBottleConsumableCalibration {
 		return littleBottleConsumablePosInfo;
 	}
 
-	@ExtApiFn(name = "保存计算结果", group = "标定小瓶XY坐标", order = 33)
+	@ExtApiFn(name = "保存计算结果", group = "标定小瓶XY坐标", order = 34)
 	public void saveLittleBottleConsumablePosInfo() throws AppException {
-		hbotConsumablePosMgr.setLittleBottleConsumablePosInfo(littleBottleConsumableType, littleBottleConsumablePosInfo);
+		hbotConsumablePosMgr.setLittleBottleConsumablePosInfo(littleBottleConsumableType, computeLittleBottlePosInfo());
 	}
 
-	@ExtApiFn(name = "读取所有参考点", group = "标定小瓶XY坐标", order = 33)
+	@ExtApiFn(name = "读取所有参考点", group = "标定小瓶XY坐标", order = 35)
 	public Object readAllRefPoint() throws AppException {
 		return littleBottleConsumableRefPoint;
 	}
@@ -220,20 +225,26 @@ public class HbotLittleBottleConsumableCalibration {
 
 	@ExtApiFn(name = "校准.小瓶穿孔Z轴位置", group = "标定Z轴", order = 101)
 	public void setLittleBSPierceZPos() throws AppException {
+		enableModule();
 		pipetteCtrlModule.zMotorMeasureDistance();
 		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSPierceZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		disableModule();
 	}
 
 	@ExtApiFn(name = "校准.小瓶取样Z轴位置", group = "标定Z轴", order = 102)
 	public void setLittleBSSampleZPos() throws AppException {
+		enableModule();
 		pipetteCtrlModule.zMotorMeasureDistance();
 		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		disableModule();
 	}
 
 	@ExtApiFn(name = "校准.探测物质取样Z轴位置", group = "标定Z轴", order = 103)
 	public void setProbeSubstanceSampleZPos() throws AppException {
+		enableModule();
 		pipetteCtrlModule.zMotorMeasureDistance();
 		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.ProbeSubstanceSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		disableModule();
 	}
 
 

src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java

@@ -35,12 +35,16 @@ public class HbotConsumablePosMgr {
 	LowerDeviceParameterDBService lowerDeviceParameterDBService;
 	PosParameterReader posReader = null;
 
-	static Integer nowParaVersion = 3;
+	static Integer nowParaVersion = 2;
 
 	@PostConstruct
 	void initialize() {
 		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
 		Integer paraVersion = posReader.getVersion();
+
+		for (HbotConsumablePosParam param : HbotConsumablePosParam.values()) {
+			posReader.setParamChName(param, param.chName);
+		}
 		if (!nowParaVersion.equals(paraVersion)) {
 			paramReset();
 		}
@@ -57,7 +61,7 @@ public class HbotConsumablePosMgr {
 
 		posReader.updatePos(HbotConsumablePosParam.TipGroup1_000Pos, new Pos3d());
 		posReader.updatePos(HbotConsumablePosParam.TipGroup1_SpaceingX, 0.0);
-		posReader.updatePos(HbotConsumablePosParam.TipGroup2_SpaceingY, 0.0);
+		posReader.updatePos(HbotConsumablePosParam.TipGroup1_SpaceingY, 0.0);
 
 		posReader.updatePos(HbotConsumablePosParam.TipGroup2_000Pos, new Pos3d());
 		posReader.updatePos(HbotConsumablePosParam.TipGroup2_SpaceingX, 0.0);
@@ -88,19 +92,15 @@ public class HbotConsumablePosMgr {
 		posReader.updatePos(HbotConsumablePosParam.LargeBuffer_DX, 0.0);
 		posReader.updatePos(HbotConsumablePosParam.LargeBuffer_DY, 0.0);
 
+		posReader.updatePos(HbotConsumablePosParam.LittleBSPierceZPos, 0.0);
+		posReader.updatePos(HbotConsumablePosParam.LittleBSSampleZPos, 0.0);
+		posReader.updatePos(HbotConsumablePosParam.ProbeSubstanceSampleZPos, 0.0);
+		posReader.updatePos(HbotConsumablePosParam.LargeBSSSampleZPos, 0.0);
 
 	}
 
-	public List<ObjectNode> getParams() {
-		List<ObjectNode> list = new java.util.ArrayList<>();
-		for (HbotConsumablePosParam param : HbotConsumablePosParam.values()) {
-			ObjectNode posNode = ZJsonHelper.createObjectNode();
-			posNode.put("pos", ZJsonHelper.createObjectNode(posReader.getPos(param.name(), Pos3d.class)));
-			posNode.put("name", param.name());
-			posNode.put("chName", param.chName);
-			list.add(posNode);
-		}
-		return list;
+	public Object getParams() {
+		return posReader.getParams();
 	}
 
 
@@ -127,13 +127,14 @@ public class HbotConsumablePosMgr {
 			tipDyPos  = HbotConsumablePosParam.TipGroup2_SpaceingY;
 		}
 
-		Assert.isTrue(tip000Pos != null,"tip000Pos != null");
+		Assert.isTrue(tip000Pos != null, "tip000Pos != null");
 
 		posReader.updatePos(tip000Pos, tip000);
 		posReader.updatePos(tipDxPos, dx);
 		posReader.updatePos(tipDyPos, dy);
 	}
 
+
 	public LittleBottleConsumablePosInfo getLittleBufferGroupPosInfo() {
 		LittleBottleConsumablePosInfo info = new LittleBottleConsumablePosInfo();
 		info.g0_000 = posReader.getPos(HbotConsumablePosParam.LittleBufferGroup0_000Pos, Pos3d.class);
@@ -227,9 +228,9 @@ public class HbotConsumablePosMgr {
 			dx     = posReader.getPos(HbotConsumablePosParam.TipGroup2_SpaceingX, Double.class);
 			dy     = posReader.getPos(HbotConsumablePosParam.TipGroup2_SpaceingY, Double.class);
 		}
-		Assert.isTrue(tip000 != null,"tip000 != null");
-		Assert.isTrue(dx != null,"dx != null");
-		Assert.isTrue(dy != null,"dy != null");
+		Assert.isTrue(tip000 != null, "tip000 != null");
+		Assert.isTrue(dx != null, "dx != null");
+		Assert.isTrue(dy != null, "dy != null");
 
 		int xoff = tipoff % 12;
 		int yoff = tipoff / 12;

src/main/java/a8k/service/db/LowerDeviceParameterDBService.java

@@ -2,6 +2,7 @@ package a8k.service.db;
 
 import a8k.service.db.type.Parameter;
 import a8k.service.db.utils.PosParameterReader;
+import a8k.utils.ZJsonHelper;
 import a8k.utils.ZSqliteJdbcHelper;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -37,6 +38,23 @@ public class LowerDeviceParameterDBService {
 		return (Parameter) ZSqliteJdbcHelper.rowMapper(rs, tClass);
 	}
 
+	public void setParamChName(String service, String key, String chName) {
+		Parameter parameter = getParam(service, key);
+		if (parameter == null) {
+			parameter         = new Parameter();
+			parameter.service = service;
+			parameter.key     = key;
+			parameter.chName  = chName;
+			ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, parameter);
+		} else {
+			if (parameter.chName.equals(chName)) {
+				return;
+			}
+			parameter.chName = chName;
+			ZSqliteJdbcHelper.updateObj(jdbcTemplate, tableName, tClass, parameter);
+		}
+
+	}
 
 	public <T> T getParam(String service, String key, Class<T> tClass) {
 		List<Parameter> list = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key);
@@ -45,38 +63,43 @@ public class LowerDeviceParameterDBService {
 		}
 
 		Parameter parameter = list.get(0);
-		try {
-			return new ObjectMapper().readValue(parameter.val, tClass);
-		} catch (JsonProcessingException e) {
-			throw new RuntimeException(e);
+		return ZJsonHelper.objectFromJson(parameter.val, tClass);
+	}
+
+	public Parameter getParam(String service, String key) {
+		List<Parameter> list = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key);
+		if (list.isEmpty()) {
+			return null;
 		}
+
+		return list.get(0);
+	}
+
+	public List<Parameter> getParams(String service) {
+		return jdbcTemplate.query("select * from " + tableName + " where service = ?;", this::rowMapper, service);
 	}
 
 	public void updateParam(String service, String key, Object pos) {
 		logger.info("updateParam: service={}, key={}, pos={}", service, key, pos);
-		try {
-			ObjectMapper    objectMapper = new ObjectMapper();
-			List<Parameter> list         = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key);
-			if (list.isEmpty()) {
-				Parameter parameter = new Parameter();
-				parameter.service = service;
-				parameter.key     = key;
-				parameter.val     = objectMapper.writeValueAsString(pos);
-				parameter.valType = pos.getClass().getSimpleName();
-				ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, parameter);
-				return;
-			}
-
-			Parameter parameter = list.get(0);
-			parameter.val     = objectMapper.writeValueAsString(pos);
+		ObjectMapper    objectMapper = new ObjectMapper();
+		List<Parameter> list         = jdbcTemplate.query("select * from " + tableName + " where service = ? and key = ?;", this::rowMapper, service, key);
+		if (list.isEmpty()) {
+			Parameter parameter = new Parameter();
 			parameter.service = service;
 			parameter.key     = key;
+			parameter.val     = ZJsonHelper.createObjectNode(pos);
 			parameter.valType = pos.getClass().getSimpleName();
-			ZSqliteJdbcHelper.updateObj(jdbcTemplate, tableName, tClass, parameter);
-
-		} catch (JsonProcessingException e) {
-			throw new RuntimeException(e);
+			ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, parameter);
+			return;
 		}
+
+		Parameter parameter = list.get(0);
+		parameter.val     = ZJsonHelper.createObjectNode(pos);
+		parameter.service = service;
+		parameter.key     = key;
+		parameter.valType = pos.getClass().getSimpleName();
+		ZSqliteJdbcHelper.updateObj(jdbcTemplate, tableName, tClass, parameter);
+
 	}
 
 	public void tryInitParam(String service, String key, Object pos) {

src/main/java/a8k/service/db/type/Parameter.java

@@ -1,9 +1,12 @@
 package a8k.service.db.type;
 
+import com.fasterxml.jackson.databind.node.ObjectNode;
+
 public class Parameter {
-	public int    id;
-	public String service;
-	public String key;
-	public String valType;
-	public String val;
+	public int        id;
+	public String     service;
+	public String     key;
+	public String     valType;
+	public ObjectNode val;
+	public String     chName;
 }

src/main/java/a8k/service/db/utils/PosParameterReader.java

@@ -1,6 +1,9 @@
 package a8k.service.db.utils;
 
 import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.type.Parameter;
+
+import java.util.List;
 
 public class PosParameterReader {
 	Class<?>                      service;
@@ -19,6 +22,19 @@ public class PosParameterReader {
 		return lowerDeviceParameterDBService.getParam(this.service.getSimpleName(), key.name(), tClass);
 	}
 
+	public Parameter getParamer(String key) {
+		return lowerDeviceParameterDBService.getParam(this.service.getSimpleName(), key);
+	}
+
+	public Parameter getParamer(Enum<?> key) {
+		return lowerDeviceParameterDBService.getParam(this.service.getSimpleName(), key.name());
+	}
+
+	public void setParamChName(Enum<?> key, String chName) {
+		lowerDeviceParameterDBService.setParamChName(service.getSimpleName(), key.name(), chName);
+	}
+
+
 	public void updatePos(String key, Object pos) {
 		lowerDeviceParameterDBService.updateParam(service.getSimpleName(), key, pos);
 	}
@@ -38,4 +54,8 @@ public class PosParameterReader {
 	public void setVersion(Integer version) {
 		lowerDeviceParameterDBService.setParamVersion(service.getSimpleName(), version);
 	}
+
+	public List<Parameter> getParams() {
+		return lowerDeviceParameterDBService.getParams(service.getSimpleName());
+	}
 }

src/main/java/a8k/type/HbotConsumablePosParam.java

@@ -37,7 +37,7 @@ public enum HbotConsumablePosParam {
 	LargeBuffer_DY("大瓶缓冲液的Y间距"),
 
 	LittleBSPierceZPos("小瓶缓冲液刺破Z坐标"),
-	LittleBSSampleZPos("小瓶缓冲液刺破取样Z坐标"),
+	LittleBSSampleZPos("小瓶缓冲液取样Z坐标"),
 	ProbeSubstanceSampleZPos("探测物质取样Z坐标"),
 	LargeBSSSampleZPos("大瓶缓冲液取样Z坐标"),
 

src/main/java/a8k/utils/ZJsonHelper.java

@@ -20,9 +20,51 @@ public class ZJsonHelper {
 		return new ObjectMapper().createObjectNode();
 	}
 
+	public static <T> T objectFromJson(ObjectNode node, Class<T> tClass) {
+		ObjectMapper mapper = new ObjectMapper();
+
+		if (tClass.getTypeName().equals(Integer.class.getTypeName())) {
+			return (T) Integer.valueOf(node.get("value").asInt());
+		}
+		if (tClass.getTypeName().equals(String.class.getTypeName())) {
+			return (T) node.get("value").asText();
+		}
+		if (tClass.getTypeName().equals(Boolean.class.getTypeName())) {
+			return (T) Boolean.valueOf(node.get("value").asBoolean());
+		}
+		if (tClass.getTypeName().equals(Double.class.getTypeName())) {
+			return (T) Double.valueOf(node.get("value").asDouble());
+		}
+		if (tClass.getTypeName().equals(Float.class.getTypeName())) {
+			return (T) Float.valueOf(node.get("value").floatValue());
+		}
+
+
+		try {
+			return (T) mapper.treeToValue(node, tClass);
+		} catch (Exception e) {
+			throw new RuntimeException(e);
+		}
+	}
 
 	public static ObjectNode createObjectNode(Object obj) {
 		ObjectMapper ObjectMapper = new ObjectMapper();
+		if (obj instanceof Integer) {
+			return ObjectMapper.createObjectNode().put("value", (Integer) obj);
+		}
+		if (obj instanceof String) {
+			return ObjectMapper.createObjectNode().put("value", (String) obj);
+		}
+		if (obj instanceof Boolean) {
+			return ObjectMapper.createObjectNode().put("value", (Boolean) obj);
+		}
+		if (obj instanceof Double) {
+			return ObjectMapper.createObjectNode().put("value", (Double) obj);
+		}
+		if (obj instanceof Float) {
+			return ObjectMapper.createObjectNode().put("value", (Float) obj);
+		}
 		return ObjectMapper.valueToTree(obj);
 	}
+
 }

src/main/java/a8k/utils/ZSqliteJdbcHelper.java

@@ -2,6 +2,7 @@ package a8k.utils;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import org.springframework.jdbc.core.JdbcTemplate;
 
 import java.lang.reflect.InvocationTargetException;
@@ -90,6 +91,13 @@ public class ZSqliteJdbcHelper {
 					field.set(obj, null);
 				else
 					field.set(obj, new Date(rs.getLong(field.getName())));
+			} else if (field.getType().equals(ObjectNode.class)) {
+				ObjectMapper objectMapper = new ObjectMapper();
+				try {
+					field.set(obj, objectMapper.readTree(rs.getString(field.getName())));
+				} catch (JsonProcessingException e) {
+					throw new RuntimeException(e);
+				}
 			} else if (field.getType().isEnum()) {
 				Method methodValueOf = null;
 				try {
@@ -139,6 +147,9 @@ public class ZSqliteJdbcHelper {
 						args.add(date.getTime());
 				} else if (field.getType().isEnum()) {
 					args.add(field.get(obj).toString());
+				} else if (field.getType().equals(ObjectNode.class)) {
+					ObjectMapper objectMapper = new ObjectMapper();
+					args.add(objectMapper.writeValueAsString(field.get(obj)));
 				} else {
 					ObjectMapper objectMapper = new ObjectMapper();
 					args.add(objectMapper.writeValueAsString(field.get(obj)));