添加光学校准

src/main/java/a8k/AppControlerExceptionProcesser.java

@@ -14,7 +14,7 @@ public class AppControlerExceptionProcesser {
 
 	@ResponseBody
 	@ExceptionHandler(value = Exception.class)
-	public AppRet<?> controllerExceptionHandler(Exception e) {
+	public AppRet controllerExceptionHandler(Exception e) {
 		logger.info("捕获到异常 : ", e);
 		return AppRet.fail(e);
 	}

src/main/java/a8k/constant/OptConstant.java

@@ -0,0 +1,6 @@
+package a8k.constant;
+
+public class OptConstant {
+	static public final Integer FOPT_LASTER_GAIN = 100;
+	static public final Integer TOPT_LASTER_GAIN = 100;
+}

src/main/java/a8k/extapi_controler/ExtApiControler.java

@@ -23,7 +23,7 @@ import java.util.Map;
 public class ExtApiControler {
 	@PostMapping("/api/service-config/service-list")
 	@ResponseBody
-	public AppRet<Object> services() {
+	public AppRet services() {
 		List<Map<String, Object>> services = new ArrayList<>();
 		var                       classes  = SpringBootBeanUtil.getBeans();
 		for (var clazz : classes) {
@@ -43,7 +43,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-params-list")
 	@ResponseBody
-	public AppRet<Object> serviceParams(@RequestBody Map<String, Object> params)
+	public AppRet serviceParams(@RequestBody Map<String, Object> params)
 			throws InvocationTargetException, IllegalAccessException {
 		String                    serviceKey   = (String) params.get("serviceKey");
 		var                       paramService = this.getServiceParamHandlerByServiceKey(serviceKey);
@@ -77,7 +77,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-params-update")
 	@ResponseBody
-	public AppRet<Object> serviceParamsUpdate(@RequestBody Map<String, Object> params) throws Exception {
+	public AppRet serviceParamsUpdate(@RequestBody Map<String, Object> params) throws Exception {
 		String              serviceKey = (String) params.get("serviceKey");
 		Map<String, Object> newParams  = (Map<String, Object>) params.get("params");
 
@@ -119,7 +119,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-params-reset")
 	@ResponseBody
-	public AppRet<Object> serviceParamsReset(@RequestBody Map<String, Object> params) throws Exception {
+	public AppRet serviceParamsReset(@RequestBody Map<String, Object> params) throws Exception {
 		//		String serviceKey = (String) params.get("serviceKey");
 		//		HardwareServiceSetting.deleteAllByServiceName(serviceKey);
 		return AppRet.success();
@@ -127,7 +127,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-status-list")
 	@ResponseBody
-	public AppRet<Object> serviceStatus(@RequestBody Map<String, Object> params) throws InvocationTargetException, IllegalAccessException {
+	public AppRet serviceStatus(@RequestBody Map<String, Object> params) throws InvocationTargetException, IllegalAccessException {
 		String   serviceKey   = (String) params.get("serviceKey");
 		Class<?> serviceClass = null;
 		var      classes      = SpringBootBeanUtil.getBeans();
@@ -166,7 +166,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-action-list")
 	@ResponseBody
-	public AppRet<Object> serviceActionList(@RequestBody Map<String, Object> params) throws Exception {
+	public AppRet serviceActionList(@RequestBody Map<String, Object> params) throws Exception {
 		String   serviceKey   = (String) params.get("serviceKey");
 		Class<?> serviceClass = null;
 		var      classes      = SpringBootBeanUtil.getBeans();
@@ -244,7 +244,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-action-exec")
 	@ResponseBody
-	public AppRet<Object> serviceActionExecute(@RequestBody Map<String, Object> params) throws Throwable {
+	public AppRet serviceActionExecute(@RequestBody Map<String, Object> params) throws Throwable {
 		String serviceKey = (String) params.get("serviceKey");
 		var    service    = this.getServiceInstanceByServiceKey(serviceKey);
 		Assert.isTrue(service != null, "service not found");
@@ -277,7 +277,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/service-action-exec-by-map")
 	@ResponseBody
-	public AppRet<Object> serviceActionExecuteByMap(@RequestBody Map<String, Object> params) throws Throwable {
+	public AppRet serviceActionExecuteByMap(@RequestBody Map<String, Object> params) throws Throwable {
 		String serviceKey = (String) params.get("serviceKey");
 		var    service    = this.getServiceInstanceByServiceKey(serviceKey);
 		Assert.isTrue(service != null, "service not found");
@@ -322,7 +322,7 @@ public class ExtApiControler {
 
 	@PostMapping("/api/service-config/class-struct-info-get")
 	@ResponseBody
-	public AppRet<Object> classStructInfoGet(@RequestBody Map<String, Object> params) throws Exception {
+	public AppRet classStructInfoGet(@RequestBody Map<String, Object> params) throws Exception {
 		String                    className = (String) params.get("class");
 		Class<?>                  clazz     = Class.forName(className);
 		List<Map<String, Object>> struct    = new ArrayList<>();
@@ -331,7 +331,7 @@ public class ExtApiControler {
 	}
 
 	// execute service action and get response
-	private AppRet<Object> executeServiceActionAndGetResponse(Object service, Method method, List<Object> actionParams) throws Throwable {
+	private AppRet executeServiceActionAndGetResponse(Object service, Method method, List<Object> actionParams) throws Throwable {
 		Object actionResult = null;
 		try {
 			var actionParamList = actionParams.toArray();
@@ -353,7 +353,7 @@ public class ExtApiControler {
 		}
 
 		if (actionResult instanceof AppRet) {
-			return (AppRet<Object>) actionResult;
+			return (AppRet) actionResult;
 		}
 		return AppRet.success(actionResult);
 	}

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -27,6 +27,7 @@ public enum ExtApiTabConfig {
 	HbotProbeSubstancePosCalibration("校准.探测物质位置校准", true),
 	PipetteGunLLDParamCalibration("校准.移液枪LLD参数校准", true),
 	PipetteGunLLFParamCalibration("校准.移液枪LLF参数校准", true),
+	OptModuleParamCalibration("校准.光学模块参数校准", true),
 
 
 	VirtualDeviceSimulationTest("测试.虚拟设备测试", true),
@@ -35,6 +36,7 @@ public enum ExtApiTabConfig {
 	A8kPipetteCtrlModule("硬件驱动测试.移液枪测试", true),
 
 
+
 	ActionReactorService("底层调试.单步调试", false),//OK
 	ReactionPlatesTransmitCtrl("ReactionPlatesTransmitCtrl", false),
 	HbotControlService("HbotControlService", false),

src/main/java/a8k/hardware/A8kCanBusService.java

@@ -168,37 +168,7 @@ public class A8kCanBusService {
 	}
 
 
-	public void optTStartScan(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
-		callcmd(id.toInt(), CmdId.a8k_opt_v2_t_start_scan.toInt(), scanDirection.getInteger(), lasterGain, scanGain);
-	}
-
-	public void optTStartScanBlock(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain, Integer actionOvertime) throws AppException {
-		optTStartScan(id, scanDirection, lasterGain, scanGain);
-		waitForMod(id, actionOvertime);
-	}
-
-	public void optFStartScan(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
-		callcmd(id.toInt(), CmdId.a8k_opt_v2_f_start_scan.toInt(), scanDirection.getInteger(), lasterGain, scanGain);
-	}
 
-	public void optFStartScanBlock(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain, Integer actionOvertime) throws AppException {
-		optFStartScan(id, scanDirection, lasterGain, scanGain);
-		waitForMod(id, actionOvertime);
-	}
-
-	public List<Integer> optReadRaw(MId id) throws AppException {
-		int           i      = 0;
-		List<Integer> result = new ArrayList<>();
-		while (true) {
-			var rxPacket = callcmd(id.toInt(), CmdId.a8k_opt_v2_read_raw.toInt(), i++);
-			if (rxPacket.getCmdContent().length == 0) {
-				break;
-			}
-			var rawdata = ByteArray.readU16bitArray(rxPacket.getCmdContent());
-			result.addAll(Arrays.asList(rawdata));
-		}
-		return result;
-	}
 
 
 	public void plateCodeScanerPushCardAndScan(MId id, Integer finalStopPos) throws AppException {

src/main/java/a8k/optalgo/OptAlgo.java → src/main/java/a8k/optalgo/A8kOptAlgo.java

@@ -12,7 +12,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 @Slf4j
-public class OptAlgo {
+public class A8kOptAlgo {
 	public static OptAlgoResult processOptData(Integer expectPeakNum, Integer searchStart, double[] data) {
 
 		LineProcessContext cxt = new LineProcessContext();

src/main/java/a8k/optalgo/A8kOptAlgoUtils.java

@@ -0,0 +1,36 @@
+package a8k.optalgo;
+
+import a8k.optalgo.utils.Filter;
+import a8k.optalgo.utils.SubSampling;
+import a8k.optalgo.utils.SupperSampling;
+
+public class A8kOptAlgoUtils {
+
+	static public Integer[] supperSamplingAndSubSampling(Integer[] data) {
+		double[] indata = new double[data.length];
+		for (int i = 0; i < data.length; i++) {
+			indata[i] = data[i];
+		}
+
+		var       result  = supperSamplingAndSubSampling(indata);
+		Integer[] outdata = new Integer[result.length];
+		for (int i = 0; i < result.length; i++) {
+			outdata[i] = (int) result[i];
+		}
+		return outdata;
+	}
+
+	static public double[] supperSamplingAndSubSampling(double[] data) {
+		//过采样
+		var afSupperVal = SupperSampling.process(data, 5);
+		//中值滤波
+		var afSupperMedianVal = Filter.medianFiltering(afSupperVal, 25);
+
+		//下采样到1000个点
+		var raw1000 = SubSampling.process(afSupperMedianVal, 6);
+		//生成1000个的平滑曲线
+		var avg1000 = Filter.smooth(raw1000, 13);
+
+		return SubSampling.process(avg1000, 4);
+	}
+}

src/main/java/a8k/optalgo/OptAlgoUtils.java

@@ -1,106 +0,0 @@
-package a8k.optalgo;
-
-import a8k.optalgo.type.LinearResult;
-import a8k.optalgo.type.OptAlgoResult;
-import org.springframework.util.Assert;
-
-public class OptAlgoUtils {
-
-	OptAlgoResult processOptData(Integer expectPeakNum, Float[] data) {
-		return null;
-	}
-
-	Boolean feq(double a, double b, double epsilon) {
-		double dv = a - b;
-		if (dv < 0)
-			dv = -dv;
-		return dv <= epsilon;
-	}
-
-
-
-
-
-
-	Float[] differentiate(Float[] inputRaw) {
-		/**
-		 * @brief
-		 *        巴迪泰源码，对原始数据添加了一些微小的值，原因未知
-		 */
-		for (int i = 0; i <= inputRaw.length - 8; i += 8) {
-			inputRaw[i + 1] = inputRaw[i + 1] + 0.001f;
-			inputRaw[i + 2] = inputRaw[i + 2] + 0.002f;
-			inputRaw[i + 3] = inputRaw[i + 3] + 0.003f;
-			inputRaw[i + 4] = inputRaw[i + 4] + 0.004f;
-			inputRaw[i + 5] = inputRaw[i + 5] + 0.005f;
-			inputRaw[i + 6] = inputRaw[i + 6] + 0.004f;
-			inputRaw[i + 7] = inputRaw[i + 7] + 0.003f;
-			inputRaw[i + 8] = inputRaw[i + 8] + 0.002f;
-		}
-
-		/**
-		 * @brief
-		 * @Warning: 此处求导和巴迪泰的存在差异，
-		 *           巴迪泰的是当前数值减去下一个数值，
-		 *           而此处是当前数值减去上一个数值
-		 */
-
-		Float[] differentiateRaw = new Float[inputRaw.length];
-		for (int i = 1; i < differentiateRaw.length; i++) {
-			differentiateRaw[i] = inputRaw[i] - inputRaw[i - 1];
-		}
-		differentiateRaw[0] = differentiateRaw[1];
-		return differentiateRaw;
-	}
-
-	Float[] least_square_method_differentiate(Float[] inputRaw, int windows_size) {
-		Assert.isTrue((windows_size > 0), "windows_size > 0");
-		Assert.isTrue((windows_size % 2 == 1), "windows_size % 2 == 1");
-
-		Float[] differentiateRaw = new Float[inputRaw.length];
-		Float[] windowsRaw = new Float[windows_size];
-
-		int windows_size_half = (windows_size - 1) / 2;
-
-		for (int index = windows_size_half; index < inputRaw.length - windows_size_half; index++) {
-			// windowsRaw = getwindowspoint(inputRaw, index, windows_size);
-			float intercept = 0;
-			// linear_least_squares(windowsRaw, windows_size, differentiateRaw[index],
-			// intercept);
-		}
-
-		for (int i = 0; i < windows_size_half; i++) {
-			differentiateRaw[i] = differentiateRaw[windows_size_half];
-		}
-
-		for (int i = inputRaw.length - windows_size_half; i < inputRaw.length; i++) {
-			differentiateRaw[i] = differentiateRaw[inputRaw.length - windows_size_half - 1];
-		}
-		return differentiateRaw;
-	}
-
-	float get_avg_in_windows(double[] src, int off, int windows) {
-		float sum = 0;
-		Assert.isTrue((windows % 2 == 1),"(windows % 2 == 1)");
-		for (int i = off - windows / 2; i <= off + windows / 2; i++) {
-			sum += (float) src[i];
-		}
-		return sum / windows;
-	}
-
-	void sort_vector(Float[] src) {
-		// 实现冒泡排序
-		for (int i = 0; i < src.length; i++) {
-			for (int j = 0; j < src.length - i - 1; j++) {
-				if (src[j] > src[j + 1]) {
-					float temp = src[j];
-					src[j] = src[j + 1];
-					src[j + 1] = temp;
-				}
-			}
-		}
-	}
-
-
-
-}

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java

@@ -82,6 +82,14 @@ public class PLATE_OPT_SCAN extends A8kStepAction {
 			return reactionResults;
 		}
 
+		//
+		// 判断T光学是否需要扫描，T光学扫描方向，扫描范围
+		// 判断F光学是否需要扫描，F光学扫描方向，扫描范围
+		// 获取扫描起始位置，峰的数量，接收放大倍数，扫描放大倍数，是否自动调整放大倍数
+		// 根据峰计算最终结果
+		//
+
+
 		//TODO 扫描反应板
 		//丢板
 		optScanModuleCtrlService.dropPlate();

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

@@ -1,12 +1,17 @@
 package a8k.service.app.devicectrl.ctrlservice;
 
+import a8k.constant.OptConstant;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicectrl.driver.OptModuleDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.OptModuleRegIndex;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.param.param_mgr.OptModuleParamsMgr;
 import a8k.service.bases.ActionReactorService;
+import a8k.service.db.type.a8kidcard.zenum.A8kOptType;
 import a8k.type.IncubatorPos;
+import a8k.type.OptScanDirection;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
@@ -23,6 +28,8 @@ public class OptScanModuleCtrlService {
 	StepMotorCtrlDriver  stepMotorCtrlDriver;
 	@Resource
 	ActionReactorService actionReactor;
+	@Resource
+	OptModuleDriver      optModuleDriver;
 
 	@Resource
 	OptModuleParamsMgr      optModuleParamsMgr;
@@ -43,4 +50,29 @@ public class OptScanModuleCtrlService {
 		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
 	}
 
+
+	public Integer[] startOptScan(A8kOptType optType, OptScanDirection direction, Integer lasterGain, Integer scanGain) throws AppException {
+		Integer forwardScanPos = optModuleParamsMgr.getOptScanStartPos(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_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_scan_pointnum, 1200);
+			}
+		}
+
+		switch (optType) {
+			case TOPT -> optModuleDriver.optTStartScan(direction, lasterGain, scanGain);
+			case FOPT -> optModuleDriver.optFStartScan(direction, lasterGain, scanGain);
+		}
+
+		return optModuleDriver.optReadRaw();
+	}
+
+
 }

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

@@ -0,0 +1,59 @@
+package a8k.service.app.devicectrl.driver;
+
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.CmdId;
+import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.service.app.devicectrl.driver.type.OptModuleRegIndex;
+import a8k.type.OptScanDirection;
+import a8k.type.exception.AppException;
+import a8k.utils.ByteArray;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+@Component
+@Slf4j
+public class OptModuleDriver {
+
+	static Integer actionOvertime = 10000;
+
+	@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);
+		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);
+		canBus.waitForMod(MId.OptMod, actionOvertime);
+	}
+
+	public Integer[] optReadRaw() throws AppException {
+		int           i      = 0;
+		List<Integer> result = new ArrayList<>();
+		while (true) {
+			var rxPacket = canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_read_raw, i++);
+			if (rxPacket.getCmdContent().length == 0) {
+				break;
+			}
+			var rawdata = ByteArray.readU16bitArray(rxPacket.getCmdContent());
+			result.addAll(Arrays.asList(rawdata));
+		}
+		return result.toArray(new Integer[0]);
+	}
+
+	public Integer readReg(OptModuleRegIndex regIndex) throws AppException {
+		return canBus.moduleGetReg(MId.OptMod, regIndex.regIndex);
+	}
+
+	public void setReg(OptModuleRegIndex regIndex, Integer value) throws AppException {
+		canBus.moduleSetReg(MId.OptMod, regIndex.regIndex, value);
+	}
+
+}

src/main/java/a8k/service/app/devicectrl/driver/type/OptModuleRegIndex.java

@@ -0,0 +1,18 @@
+package a8k.service.app.devicectrl.driver.type;
+
+import a8k.hardware.type.regindex.RegIndex;
+
+public enum OptModuleRegIndex {
+	kreg_a8k_opt_t_pos_offset(RegIndex.kreg_a8k_opt_t_pos_offset),
+	kreg_a8k_opt_f_pos_offset(RegIndex.kreg_a8k_opt_f_pos_offset),
+	kreg_a8k_opt_t_reverse_scan_pos_offset(RegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset),
+	kreg_a8k_opt_f_reverse_scan_pos_offset(RegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset),
+	kreg_a8k_opt_scan_step_interval(RegIndex.kreg_a8k_opt_scan_step_interval),
+	kreg_a8k_opt_scan_pointnum(RegIndex.kreg_a8k_opt_scan_pointnum),
+	;
+
+	public final RegIndex regIndex;
+	OptModuleRegIndex(RegIndex regIndex) {
+		this.regIndex = regIndex;
+	}
+}

src/main/java/a8k/service/app/devicectrl/exdriver/TubeTransportExDriver.java

@@ -28,8 +28,6 @@ public class TubeTransportExDriver {
 	@Resource
 	MiniServoDriver  miniServoDriver;
 
-	@Resource
-	TubeFeedingModuleParamMgr tubeScanPosMgr;
 
 	@Resource
 	StepMotorCtrlDriver stepMotorCtrlDriver;
@@ -71,7 +69,6 @@ public class TubeTransportExDriver {
 	}
 
 
-	@ExtApiFn(name = "扫描夹紧机构夹紧", group = "基础方法", order = 1)
 	public void scanClampModClamp() throws AppException {
 		logger.info("扫描夹紧机构夹紧");
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
@@ -81,7 +78,6 @@ public class TubeTransportExDriver {
 		//		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
 	}
 
-	@ExtApiFn(name = "扫描夹紧机构复位", group = "基础方法", order = 2)
 	public void scanClampModRelease() throws AppException {
 		logger.info("扫描夹紧机构复位");
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);

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

@@ -0,0 +1,165 @@
+package a8k.service.app.devicectrl.param.calibration;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.optalgo.A8kOptAlgoUtils;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService;
+import a8k.service.app.devicectrl.driver.OptModuleDriver;
+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.OptModuleParamsMgr;
+import a8k.service.db.type.Parameter;
+import a8k.service.db.type.a8kidcard.zenum.A8kOptType;
+import a8k.type.*;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ *
+ *
+ * 1.下面三个位置在ReactionPlatesTransmitControlerCalibration进行标定
+ * 		PullerTargetPos("拉板目标位置"),
+ *      OptScanerDropPos("丢板坐标"),
+ *      OptScanerScandbyPos("扫描待机位"),
+ *
+ * 2. 该模块只用来标定
+ *			TOptScanStartPos (T光学扫描起始位置)
+ *			FOptScanStartPos (F光学扫描起始位置)
+ */
+@ExtApiTab(cfg = ExtApiTabConfig.OptModuleParamCalibration)
+@Component
+public class OptModuleParamCalibration {
+
+	Integer actionOvertime = 5000;
+
+	@Resource
+	OptModuleParamsMgr optModuleParamsMgr;
+
+	@Resource
+	MotorEnableExDriver      motorEnableExDriver;
+	@Resource
+	StepMotorCtrlDriver      stepMotorCtrlDriver;
+	@Resource
+	PlateBoxCtrlService      plateBoxCtrlService;
+	@Resource
+	OptScanModuleCtrlService optScanModuleCtrlService;
+	@Resource
+	OptModuleDriver          optModuleDriver;
+
+
+	@ExtApiFn(name = "获得参数", group = "基础", order = 1)
+	public List<Parameter> getParams() throws AppException {
+		return optModuleParamsMgr.getParams();
+	}
+
+	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
+	public void deviceReset() throws AppException {
+		enableModule();
+		//板夹仓初始化
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxYM, actionOvertime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM, actionOvertime);
+		//光学模组初始化
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM, actionOvertime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM, actionOvertime);
+		//转盘归零
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM, actionOvertime);
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
+	public void enableModule() throws AppException {
+		motorEnableExDriver.enableAllMotor();
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
+	public void disableModule() throws AppException {
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+	//
+	// 辅助方法
+	//
+
+	/**
+	 * 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)
+	public void pushOnePlateToOptModule() throws AppException {
+		//先清空当前通道
+		optScanModuleCtrlService.dropPlate();
+		optScanModuleCtrlService.pullPlate(IncubatorPos.SPACE01);
+		optScanModuleCtrlService.dropPlate();
+
+		//推板到光学模组
+		plateBoxCtrlService.pushPlateQuick(ConsumableGroup.GROUP0, IncubatorPos.SPACE01);
+		optScanModuleCtrlService.pullPlate(IncubatorPos.SPACE01);
+	}
+
+	@ExtApiFn(name = "拉板到光学模组", group = "测试工具", order = 101)
+	public void dropPlate() throws AppException {
+		optScanModuleCtrlService.dropPlate();
+	}
+
+	//	@ExtApiFn(name = "曲线显示测试", group = "测试工具", order = 102)
+	//	public A8kScanCurve testCurveDisplay() {
+	//		A8kScanCurve result = new A8kScanCurve();
+	//		result.refCurve       = List.of(40, 80, 120, 160, 200);
+	//		result.scanDataCurve = new ArrayList<>();
+	//		for (int i = 0; i < 250; i++) {
+	//			result.scanDataCurve.add(i * 10);
+	//		}
+	//		return result;
+	//	}
+
+	A8kScanCurve createScanCurve1200Point(Integer[] optScanResult) {
+		//		Integer[]     optScanResult250 = A8kOptAlgoUtils.supperSamplingAndSubSampling(optScanResult);
+		List<Integer> refCurve = new ArrayList<>();
+		for (int i = 1; i < 6; i++) {
+			refCurve.add((int) (40 * 4.8 * i));
+		}
+
+		var result = new A8kScanCurve();
+		result.refCurve      = refCurve;
+		result.scanDataCurve = List.of(optScanResult);
+		return result;
+	}
+
+	@ExtApiFn(name = "设置光学扫描参考点", group = "设置", order = 200)
+	public void setCurrentAsScanRefPos() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1);
+		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModScannerM, 10000);
+		optModuleParamsMgr.setOptScanRefPos(pos);
+	}
+
+	@ExtApiFn(name = "设置F光学扫描偏移", group = "设置", order = 201)
+	public void setFOptScanShift(Integer shift) {
+		optModuleParamsMgr.setFOptScanShift(shift);
+	}
+
+	@ExtApiFn(name = "设置T光学扫描偏移", group = "设置", order = 202)
+	public void setTOptScanShift(Integer shift) {
+		optModuleParamsMgr.setTOptScanShift(shift);
+	}
+
+
+	@ExtApiFn(name = "F光学扫描", group = "扫描", order = 102)
+	public A8kScanCurve FOptScan(Integer lasterGain, Integer scanGain) throws AppException {
+		var result = optScanModuleCtrlService.startOptScan(A8kOptType.FOPT, OptScanDirection.FORWARD, lasterGain, scanGain);
+		return createScanCurve1200Point(result);
+	}
+
+	@ExtApiFn(name = "T光学扫描", group = "扫描", order = 102)
+	public A8kScanCurve TOptScan(Integer lasterGain, Integer scanGain) throws AppException {
+		var result = optScanModuleCtrlService.startOptScan(A8kOptType.TOPT, OptScanDirection.FORWARD, lasterGain, scanGain);
+		return createScanCurve1200Point(optModuleDriver.optReadRaw());
+	}
+
+}

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

@@ -2,6 +2,8 @@ package a8k.service.app.devicectrl.param.param_mgr;
 
 
 import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
+import a8k.service.db.type.a8kidcard.zenum.A8kOptType;
+import a8k.type.OptScanDirection;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -11,7 +13,7 @@ import org.springframework.stereotype.Component;
  * HBOT二维码扫描坐标参数
  */
 @Component
-public class OptModuleParamsMgr  extends ParamMgr {
+public class OptModuleParamsMgr extends ParamMgr {
 	static final Logger logger = LoggerFactory.getLogger(OptModuleParamsMgr.class);
 
 
@@ -19,8 +21,9 @@ public class OptModuleParamsMgr  extends ParamMgr {
 		PullerTargetPos("拉板目标位置"),
 		OptScanerDropPos("丢板坐标"),
 		OptScanerScandbyPos("扫描待机位"),
-		TOptScanStartPos("T光学扫描起始坐标"),
-		FOptScanStartPos("F光学扫描起始坐标"),
+		OptScanRefPos("光学扫描参考坐标"),
+		TOptScanShift("T光学扫描偏移"),
+		FOptScanShift("F光学扫描偏移"),
 		;
 		public final String chName;
 
@@ -42,8 +45,9 @@ public class OptModuleParamsMgr  extends ParamMgr {
 		setParam(POS.PullerTargetPos, 1147);
 		setParam(POS.OptScanerDropPos, -349);
 		setParam(POS.OptScanerScandbyPos, 305);
-		setParam(POS.TOptScanStartPos, 3723);
-		setParam(POS.FOptScanStartPos, 2559);
+		setParam(POS.OptScanerScandbyPos, 4000);
+		setParam(POS.TOptScanShift, 277);
+		setParam(POS.FOptScanShift, 1441);
 	}
 
 	public Integer getPullerTargetPos() {
@@ -58,13 +62,6 @@ public class OptModuleParamsMgr  extends ParamMgr {
 		return getParam(POS.OptScanerScandbyPos, Integer.class);
 	}
 
-	public Integer getTOptScanStartPos() {
-		return getParam(POS.TOptScanStartPos, Integer.class);
-	}
-
-	public Integer getFOptScanStartPos() {
-		return getParam(POS.FOptScanStartPos, Integer.class);
-	}
 
 	public void setPullerTargetPos(Integer pos) {
 		setParam(POS.PullerTargetPos, pos);
@@ -78,12 +75,32 @@ public class OptModuleParamsMgr  extends ParamMgr {
 		setParam(POS.OptScanerScandbyPos, pos);
 	}
 
-	public void setTOptScanStartPos(Integer pos) {
-		setParam(POS.TOptScanStartPos, pos);
+
+	public void setOptScanRefPos(Integer pos) {
+		setParam(POS.OptScanRefPos, pos);
 	}
 
-	public void setFOptScanStartPos(Integer pos) {
-		setParam(POS.FOptScanStartPos, pos);
+	public void setTOptScanShift(Integer pos) {
+		setParam(POS.TOptScanShift, pos);
 	}
+
+	public void setFOptScanShift(Integer pos) {
+		setParam(POS.FOptScanShift, pos);
+	}
+
+
+	public Integer getOptScanStartPos(A8kOptType type) {
+		Integer shift = switch (type) {
+			case TOPT -> getParam(POS.TOptScanShift, Integer.class);
+			case FOPT -> getParam(POS.FOptScanShift, Integer.class);
+		};
+
+		Integer scanStartPos = getParam(POS.OptScanRefPos, Integer.class);
+		scanStartPos = scanStartPos + shift;
+
+		return scanStartPos;
+	}
+
+
 }
 

src/main/java/a8k/service/db/type/a8kidcard/zenum/A8kOptType.java

@@ -1,6 +1,6 @@
 package a8k.service.db.type.a8kidcard.zenum;
 
 public enum A8kOptType {
-	F,
-	T,
+	FOPT,
+	TOPT,
 }

src/main/java/a8k/service/test/fakeproj/FakeProjInfo.java

@@ -88,7 +88,7 @@ public class FakeProjInfo {
 			/*光学配置*/
 			projOptConfig.subProjName               = String.format("%s_%d", projName, subIndex);
 			projOptConfig.subProjShortName          = String.format("%s_%d", projShortName, subIndex);
-			projOptConfig.subProjOptType            = A8kOptType.F;
+			projOptConfig.subProjOptType            = A8kOptType.FOPT;
 			projOptConfig.subProjScanRange          = 200;
 			projOptConfig.subProjScanDirection      = OptScanDirection.Forward;
 			projOptConfig.subProjPeakNum            = 3;

src/main/java/a8k/type/A8kScanCurve.java

@@ -1,17 +1,14 @@
 package a8k.type;
 
+import java.util.ArrayList;
 import java.util.List;
 
 public class A8kScanCurve {
-	public List<Integer> scanDataCurve;
-	public List<Integer> refCurve;
-	public List<Integer> refLine;
+	public List<Integer> scanDataCurve = new ArrayList<>();
+	public List<Integer> refCurve = new ArrayList<>();
+	public List<Integer> refLine = new ArrayList<>();
 
 	public A8kScanCurve() {
 	}
 
-	public A8kScanCurve(List<Integer> scanDataCurve, List<Integer> refLine) {
-		this.scanDataCurve = scanDataCurve;
-		this.refLine      = refLine;
-	}
 }

src/main/java/a8k/type/OptScanDirection.java

@@ -1,9 +1,10 @@
 package a8k.type;
 
 public enum OptScanDirection {
-	POSITIVE, NEGATIVE;
+	FORWARD, //从左向右扫描
+	BACKWARD;
 
 	public Integer getInteger() {
-		return this == POSITIVE ? 1 : -1;
+		return this == FORWARD ? 1 : -1;
 	}
 }

src/main/java/a8k/type/appret/AppRet.java

@@ -5,7 +5,7 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.type.exception.AppException;
 import lombok.Getter;
 
-public class AppRet<T> {
+public class AppRet {
 	public AppRetType appRetType = AppRetType.SUCCESS;
 	// 错误信息
 	public AppError   ecode      = null;
@@ -15,7 +15,7 @@ public class AppRet<T> {
 	public String     traceInfo  = null;
 	// 携带的对象
 	public String     dataType;
-	public T          data;
+	public Object     data;
 
 	// 接口请求时间
 	@Getter
@@ -29,32 +29,33 @@ public class AppRet<T> {
 		return !AppRetType.FAILURE.equals(appRetType);
 	}
 
-	public static <T> AppRet<T> success(T data) {
-		AppRet<T> r = new AppRet<>();
+	public static <T> AppRet success(T data) {
+		AppRet r = new AppRet();
 		r.appRetType = AppRetType.SUCCESS;
 		r.data       = data;
+		r.dataType   = data.getClass().getSimpleName();
 		return r;
 	}
 
-	public static <T> AppRet<T> success() {
-		AppRet<T> r = new AppRet<>();
+	public static AppRet success() {
+		AppRet r = new AppRet();
 		r.appRetType = AppRetType.SUCCESS;
 		return r;
 	}
 
-	public static <T> AppRet<T> fail(Exception e) {
+	public static AppRet fail(Exception e) {
 		StringBuilder traceSb = new StringBuilder();
 		for (var trace : e.getStackTrace()) {
 			traceSb.append(trace.toString()).append("\n");
 		}
 		String    trace = traceSb.toString();
-		AppRet<T> r     = new AppRet<>();
+		AppRet r     = new AppRet();
 		r.appRetType = AppRetType.FAILURE;
 
 		if (e instanceof AppException hexcep) {
-			r.ecode     = hexcep.error;
+			r.ecode = hexcep.error;
 		} else {
-			r.ecode     = new AppError(A8kEcode.CODEERROR);
+			r.ecode = new AppError(A8kEcode.CODEERROR);
 		}
 		r.traceInfo = trace;
 		r.message   = e.getMessage();