22 changed files with 630 additions and 428 deletions
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BINapp.db
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2src/main/java/a8k/AppControlerExceptionProcesser.java
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6src/main/java/a8k/constant/OptConstant.java
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22src/main/java/a8k/extapi_controler/ExtApiControler.java
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2src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
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30src/main/java/a8k/hardware/A8kCanBusService.java
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2src/main/java/a8k/optalgo/A8kOptAlgo.java
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36src/main/java/a8k/optalgo/A8kOptAlgoUtils.java
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106src/main/java/a8k/optalgo/OptAlgoUtils.java
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8src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java
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32src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModuleCtrlService.java
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59src/main/java/a8k/service/app/devicectrl/driver/OptModuleDriver.java
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18src/main/java/a8k/service/app/devicectrl/driver/type/OptModuleRegIndex.java
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4src/main/java/a8k/service/app/devicectrl/exdriver/TubeTransportExDriver.java
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165src/main/java/a8k/service/app/devicectrl/param/calibration/OptModuleParamCalibration.java
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47src/main/java/a8k/service/app/devicectrl/param/param_mgr/OptModuleParamsMgr.java
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4src/main/java/a8k/service/db/type/a8kidcard/zenum/A8kOptType.java
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2src/main/java/a8k/service/test/fakeproj/FakeProjInfo.java
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11src/main/java/a8k/type/A8kScanCurve.java
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5src/main/java/a8k/type/OptScanDirection.java
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17src/main/java/a8k/type/appret/AppRet.java
@ -0,0 +1,6 @@ |
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package a8k.constant; |
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|
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public class OptConstant { |
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static public final Integer FOPT_LASTER_GAIN = 100; |
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static public final Integer TOPT_LASTER_GAIN = 100; |
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} |
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@ -0,0 +1,36 @@ |
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package a8k.optalgo; |
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|
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import a8k.optalgo.utils.Filter; |
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import a8k.optalgo.utils.SubSampling; |
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import a8k.optalgo.utils.SupperSampling; |
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|
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public class A8kOptAlgoUtils { |
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|
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static public Integer[] supperSamplingAndSubSampling(Integer[] data) { |
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double[] indata = new double[data.length]; |
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for (int i = 0; i < data.length; i++) { |
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indata[i] = data[i]; |
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} |
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var result = supperSamplingAndSubSampling(indata); |
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Integer[] outdata = new Integer[result.length]; |
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for (int i = 0; i < result.length; i++) { |
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outdata[i] = (int) result[i]; |
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} |
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return outdata; |
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} |
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|
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static public double[] supperSamplingAndSubSampling(double[] data) { |
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//过采样 |
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var afSupperVal = SupperSampling.process(data, 5); |
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//中值滤波 |
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var afSupperMedianVal = Filter.medianFiltering(afSupperVal, 25); |
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|
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//下采样到1000个点 |
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var raw1000 = SubSampling.process(afSupperMedianVal, 6); |
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//生成1000个的平滑曲线 |
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var avg1000 = Filter.smooth(raw1000, 13); |
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return SubSampling.process(avg1000, 4); |
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} |
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} |
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@ -1,106 +0,0 @@ |
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package a8k.optalgo; |
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|
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import a8k.optalgo.type.LinearResult; |
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import a8k.optalgo.type.OptAlgoResult; |
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import org.springframework.util.Assert; |
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|
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public class OptAlgoUtils { |
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|
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OptAlgoResult processOptData(Integer expectPeakNum, Float[] data) { |
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return null; |
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} |
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|
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Boolean feq(double a, double b, double epsilon) { |
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double dv = a - b; |
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if (dv < 0) |
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dv = -dv; |
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return dv <= epsilon; |
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} |
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|
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|
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|
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Float[] differentiate(Float[] inputRaw) { |
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/** |
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* @brief |
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* 巴迪泰源码，对原始数据添加了一些微小的值，原因未知 |
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*/ |
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for (int i = 0; i <= inputRaw.length - 8; i += 8) { |
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inputRaw[i + 1] = inputRaw[i + 1] + 0.001f; |
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inputRaw[i + 2] = inputRaw[i + 2] + 0.002f; |
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inputRaw[i + 3] = inputRaw[i + 3] + 0.003f; |
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inputRaw[i + 4] = inputRaw[i + 4] + 0.004f; |
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inputRaw[i + 5] = inputRaw[i + 5] + 0.005f; |
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inputRaw[i + 6] = inputRaw[i + 6] + 0.004f; |
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inputRaw[i + 7] = inputRaw[i + 7] + 0.003f; |
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inputRaw[i + 8] = inputRaw[i + 8] + 0.002f; |
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} |
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/** |
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* @brief |
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* @Warning: 此处求导和巴迪泰的存在差异， |
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* 巴迪泰的是当前数值减去下一个数值， |
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* 而此处是当前数值减去上一个数值 |
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*/ |
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Float[] differentiateRaw = new Float[inputRaw.length]; |
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for (int i = 1; i < differentiateRaw.length; i++) { |
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differentiateRaw[i] = inputRaw[i] - inputRaw[i - 1]; |
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} |
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differentiateRaw[0] = differentiateRaw[1]; |
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return differentiateRaw; |
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} |
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Float[] least_square_method_differentiate(Float[] inputRaw, int windows_size) { |
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Assert.isTrue((windows_size > 0), "windows_size > 0"); |
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Assert.isTrue((windows_size % 2 == 1), "windows_size % 2 == 1"); |
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Float[] differentiateRaw = new Float[inputRaw.length]; |
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Float[] windowsRaw = new Float[windows_size]; |
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int windows_size_half = (windows_size - 1) / 2; |
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for (int index = windows_size_half; index < inputRaw.length - windows_size_half; index++) { |
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// windowsRaw = getwindowspoint(inputRaw, index, windows_size); |
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float intercept = 0; |
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// linear_least_squares(windowsRaw, windows_size, differentiateRaw[index], |
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// intercept); |
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} |
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for (int i = 0; i < windows_size_half; i++) { |
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differentiateRaw[i] = differentiateRaw[windows_size_half]; |
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} |
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for (int i = inputRaw.length - windows_size_half; i < inputRaw.length; i++) { |
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differentiateRaw[i] = differentiateRaw[inputRaw.length - windows_size_half - 1]; |
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} |
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return differentiateRaw; |
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} |
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float get_avg_in_windows(double[] src, int off, int windows) { |
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float sum = 0; |
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Assert.isTrue((windows % 2 == 1),"(windows % 2 == 1)"); |
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for (int i = off - windows / 2; i <= off + windows / 2; i++) { |
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sum += (float) src[i]; |
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} |
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return sum / windows; |
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} |
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void sort_vector(Float[] src) { |
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// 实现冒泡排序 |
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for (int i = 0; i < src.length; i++) { |
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for (int j = 0; j < src.length - i - 1; j++) { |
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if (src[j] > src[j + 1]) { |
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float temp = src[j]; |
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src[j] = src[j + 1]; |
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src[j + 1] = temp; |
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} |
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} |
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} |
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} |
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} |
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@ -0,0 +1,59 @@ |
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package a8k.service.app.devicectrl.driver; |
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.CmdId; |
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import a8k.hardware.type.a8kcanprotocol.MId; |
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import a8k.service.app.devicectrl.driver.type.OptModuleRegIndex; |
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import a8k.type.OptScanDirection; |
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import a8k.type.exception.AppException; |
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import a8k.utils.ByteArray; |
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import jakarta.annotation.Resource; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.ArrayList; |
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import java.util.Arrays; |
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import java.util.List; |
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@Component |
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@Slf4j |
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public class OptModuleDriver { |
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static Integer actionOvertime = 10000; |
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@Resource |
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A8kCanBusService canBus; |
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public void optTStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException { |
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canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_t_start_scan, scanDirection.getInteger(), lasterGain, scanGain); |
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canBus.waitForMod(MId.OptMod, actionOvertime); |
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} |
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public void optFStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException { |
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canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_f_start_scan, scanDirection.getInteger(), lasterGain, scanGain); |
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canBus.waitForMod(MId.OptMod, actionOvertime); |
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} |
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public Integer[] optReadRaw() throws AppException { |
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int i = 0; |
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List<Integer> result = new ArrayList<>(); |
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while (true) { |
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var rxPacket = canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_read_raw, i++); |
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if (rxPacket.getCmdContent().length == 0) { |
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break; |
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} |
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var rawdata = ByteArray.readU16bitArray(rxPacket.getCmdContent()); |
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result.addAll(Arrays.asList(rawdata)); |
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} |
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return result.toArray(new Integer[0]); |
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} |
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public Integer readReg(OptModuleRegIndex regIndex) throws AppException { |
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return canBus.moduleGetReg(MId.OptMod, regIndex.regIndex); |
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} |
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public void setReg(OptModuleRegIndex regIndex, Integer value) throws AppException { |
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canBus.moduleSetReg(MId.OptMod, regIndex.regIndex, value); |
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} |
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} |
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@ -0,0 +1,18 @@ |
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package a8k.service.app.devicectrl.driver.type; |
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import a8k.hardware.type.regindex.RegIndex; |
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public enum OptModuleRegIndex { |
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kreg_a8k_opt_t_pos_offset(RegIndex.kreg_a8k_opt_t_pos_offset), |
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kreg_a8k_opt_f_pos_offset(RegIndex.kreg_a8k_opt_f_pos_offset), |
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kreg_a8k_opt_t_reverse_scan_pos_offset(RegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset), |
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kreg_a8k_opt_f_reverse_scan_pos_offset(RegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset), |
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kreg_a8k_opt_scan_step_interval(RegIndex.kreg_a8k_opt_scan_step_interval), |
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kreg_a8k_opt_scan_pointnum(RegIndex.kreg_a8k_opt_scan_pointnum), |
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; |
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public final RegIndex regIndex; |
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OptModuleRegIndex(RegIndex regIndex) { |
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this.regIndex = regIndex; |
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} |
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} |
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@ -0,0 +1,165 @@ |
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package a8k.service.app.devicectrl.param.calibration; |
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import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; |
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import a8k.extapi_controler.utils.ExtApiFn; |
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import a8k.extapi_controler.utils.ExtApiTab; |
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import a8k.optalgo.A8kOptAlgoUtils; |
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import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService; |
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import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService; |
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import a8k.service.app.devicectrl.driver.OptModuleDriver; |
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import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver; |
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import a8k.service.app.devicectrl.driver.type.StepMotorMId; |
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import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver; |
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import a8k.service.app.devicectrl.param.param_mgr.OptModuleParamsMgr; |
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import a8k.service.db.type.Parameter; |
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import a8k.service.db.type.a8kidcard.zenum.A8kOptType; |
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import a8k.type.*; |
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import a8k.type.exception.AppException; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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import java.util.ArrayList; |
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import java.util.List; |
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/** |
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* |
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* |
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* 1.下面三个位置在ReactionPlatesTransmitControlerCalibration进行标定 |
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* PullerTargetPos("拉板目标位置"), |
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* OptScanerDropPos("丢板坐标"), |
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* OptScanerScandbyPos("扫描待机位"), |
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* |
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* 2. 该模块只用来标定 |
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* TOptScanStartPos (T光学扫描起始位置) |
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* FOptScanStartPos (F光学扫描起始位置) |
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*/ |
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@ExtApiTab(cfg = ExtApiTabConfig.OptModuleParamCalibration) |
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@Component |
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public class OptModuleParamCalibration { |
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Integer actionOvertime = 5000; |
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@Resource |
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OptModuleParamsMgr optModuleParamsMgr; |
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@Resource |
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MotorEnableExDriver motorEnableExDriver; |
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@Resource |
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StepMotorCtrlDriver stepMotorCtrlDriver; |
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@Resource |
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PlateBoxCtrlService plateBoxCtrlService; |
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@Resource |
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OptScanModuleCtrlService optScanModuleCtrlService; |
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@Resource |
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OptModuleDriver optModuleDriver; |
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@ExtApiFn(name = "获得参数", group = "基础", order = 1) |
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public List<Parameter> getParams() throws AppException { |
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return optModuleParamsMgr.getParams(); |
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} |
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@ExtApiFn(name = "归零", group = "测试工具", order = 11) |
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public void deviceReset() throws AppException { |
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enableModule(); |
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//板夹仓初始化 |
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stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxYM, actionOvertime); |
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stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM, actionOvertime); |
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//光学模组初始化 |
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stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM, actionOvertime); |
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stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM, actionOvertime); |
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//转盘归零 |
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stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM, actionOvertime); |
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} |
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|
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@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12) |
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public void enableModule() throws AppException { |
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motorEnableExDriver.enableAllMotor(); |
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} |
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@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13) |
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public void disableModule() throws AppException { |
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motorEnableExDriver.forceDisableAllMotor(); |
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} |
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// |
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// 辅助方法 |
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// |
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/** |
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* From: 0号仓 |
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* TrunablePos:0号仓到 |
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*/ |
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@ExtApiFn(name = "推板到光学模组", group = "测试工具", order = 100) |
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public void pushOnePlateToOptModule() throws AppException { |
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//先清空当前通道 |
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optScanModuleCtrlService.dropPlate(); |
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optScanModuleCtrlService.pullPlate(IncubatorPos.SPACE01); |
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optScanModuleCtrlService.dropPlate(); |
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|
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//推板到光学模组 |
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plateBoxCtrlService.pushPlateQuick(ConsumableGroup.GROUP0, IncubatorPos.SPACE01); |
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optScanModuleCtrlService.pullPlate(IncubatorPos.SPACE01); |
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} |
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|
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@ExtApiFn(name = "拉板到光学模组", group = "测试工具", order = 101) |
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public void dropPlate() throws AppException { |
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optScanModuleCtrlService.dropPlate(); |
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} |
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// @ExtApiFn(name = "曲线显示测试", group = "测试工具", order = 102) |
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// public A8kScanCurve testCurveDisplay() { |
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// A8kScanCurve result = new A8kScanCurve(); |
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// result.refCurve = List.of(40, 80, 120, 160, 200); |
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// result.scanDataCurve = new ArrayList<>(); |
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// for (int i = 0; i < 250; i++) { |
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// result.scanDataCurve.add(i * 10); |
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// } |
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// return result; |
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// } |
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A8kScanCurve createScanCurve1200Point(Integer[] optScanResult) { |
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// Integer[] optScanResult250 = A8kOptAlgoUtils.supperSamplingAndSubSampling(optScanResult); |
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List<Integer> refCurve = new ArrayList<>(); |
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for (int i = 1; i < 6; i++) { |
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refCurve.add((int) (40 * 4.8 * i)); |
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} |
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var result = new A8kScanCurve(); |
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result.refCurve = refCurve; |
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result.scanDataCurve = List.of(optScanResult); |
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return result; |
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} |
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|
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@ExtApiFn(name = "设置光学扫描参考点", group = "设置", order = 200) |
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public void setCurrentAsScanRefPos() throws AppException { |
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1); |
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Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModScannerM, 10000); |
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optModuleParamsMgr.setOptScanRefPos(pos); |
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} |
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|
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@ExtApiFn(name = "设置F光学扫描偏移", group = "设置", order = 201) |
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public void setFOptScanShift(Integer shift) { |
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optModuleParamsMgr.setFOptScanShift(shift); |
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} |
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@ExtApiFn(name = "设置T光学扫描偏移", group = "设置", order = 202) |
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public void setTOptScanShift(Integer shift) { |
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optModuleParamsMgr.setTOptScanShift(shift); |
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} |
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@ExtApiFn(name = "F光学扫描", group = "扫描", order = 102) |
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public A8kScanCurve FOptScan(Integer lasterGain, Integer scanGain) throws AppException { |
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var result = optScanModuleCtrlService.startOptScan(A8kOptType.FOPT, OptScanDirection.FORWARD, lasterGain, scanGain); |
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return createScanCurve1200Point(result); |
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} |
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|
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@ExtApiFn(name = "T光学扫描", group = "扫描", order = 102) |
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public A8kScanCurve TOptScan(Integer lasterGain, Integer scanGain) throws AppException { |
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var result = optScanModuleCtrlService.startOptScan(A8kOptType.TOPT, OptScanDirection.FORWARD, lasterGain, scanGain); |
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return createScanCurve1200Point(optModuleDriver.optReadRaw()); |
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} |
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} |
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@ -1,6 +1,6 @@ |
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package a8k.service.db.type.a8kidcard.zenum; |
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public enum A8kOptType { |
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F, |
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T, |
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FOPT, |
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TOPT, |
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} |
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@ -1,17 +1,14 @@ |
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package a8k.type; |
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|
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import java.util.ArrayList; |
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import java.util.List; |
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|
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public class A8kScanCurve { |
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public List<Integer> scanDataCurve; |
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public List<Integer> refCurve; |
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public List<Integer> refLine; |
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public List<Integer> scanDataCurve = new ArrayList<>(); |
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public List<Integer> refCurve = new ArrayList<>(); |
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public List<Integer> refLine = new ArrayList<>(); |
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|
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public A8kScanCurve() { |
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} |
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|
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public A8kScanCurve(List<Integer> scanDataCurve, List<Integer> refLine) { |
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this.scanDataCurve = scanDataCurve; |
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this.refLine = refLine; |
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} |
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} |
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@ -1,9 +1,10 @@ |
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package a8k.type; |
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|
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public enum OptScanDirection { |
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POSITIVE, NEGATIVE; |
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FORWARD, //从左向右扫描 |
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BACKWARD; |
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|
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public Integer getInteger() { |
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return this == POSITIVE ? 1 : -1; |
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return this == FORWARD ? 1 : -1; |
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} |
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} |
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