diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java index d4f115e..0080f0c 100644 --- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java +++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java @@ -128,6 +128,12 @@ public class HbotCtrlService { hbotBaseMoveExDriver.hbotMoveTo(toPos); } + public void moveToLargeBufferPosEnd(ConsumableGroup group) throws AppException { + Pos3d toPos = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(group); + hbotBaseMoveExDriver.hbotMoveTo(toPos); + } + + public void moveToSamplePos(HbotSamplePos pos) throws AppException { hbotBaseMoveExDriver.hbotMoveTo(hbotSamplePosParamMgr.getSamplePos(pos)); } diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLargeBottleBSPosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLargeBottleBSPosCalibration.java index 8a00cc0..c58fef7 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLargeBottleBSPosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLargeBottleBSPosCalibration.java @@ -31,7 +31,7 @@ public class HbotLargeBottleBSPosCalibration { static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotLargeBottleBSPosCalibration.class); @Resource - PipetteCtrlDriver pipetteCtrlDriver; + PipetteCtrlDriver pipetteCtrlDriver; @Resource HbotDriver hbotDriver; @Resource @@ -88,96 +88,137 @@ public class HbotLargeBottleBSPosCalibration { } - List refpoints = new java.util.ArrayList<>(); - - - @ExtApiFn(name = "开始标定大瓶坐标", group = "标定大瓶缓液XY坐标", order = 30) - public void startCalibrate() throws AppException { - refpoints = new java.util.ArrayList<>(); - moveToZero(); - disableModule(); - } - - @ExtApiFn(name = "添加大瓶参考点", group = "标定大瓶缓液XY坐标", order = 31) - public Object addRefPoint(ConsumableGroup group) throws AppException { + // List refpoints = new java.util.ArrayList<>(); + // + // + // @ExtApiFn(name = "开始标定大瓶坐标", group = "标定大瓶缓液XY坐标", order = 30) + // public void startCalibrate() throws AppException { + // refpoints = new java.util.ArrayList<>(); + // moveToZero(); + // disableModule(); + // } + // + // @ExtApiFn(name = "添加大瓶参考点", group = "标定大瓶缓液XY坐标", order = 31) + // public Object addRefPoint(ConsumableGroup group) throws AppException { + // enableModule(); + // Pos2d xypos = hbotDriver.readPos(); + // // pipetteCtrlModule.zMotorMeasureDistance(); + // // Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult(); + // LargeBottleConsumableRefPoint refPoints = new LargeBottleConsumableRefPoint(group, new Pos3d(xypos.x, xypos.y, 0)); + // this.refpoints.add(refPoints); + // disableModule(); + // ObjectNode node = ZJsonHelper.createObjectNode(); + // node.put("newPoint", ZJsonHelper.createObjectNode(refPoints)); + // node.put("computeResult", ZJsonHelper.createObjectNode(computeLittleBottlePosInfo())); + // return node; + // } + // + // @ExtApiFn(name = "移除最后一个参考点", group = "标定大瓶缓液XY坐标", order = 32) + // public void removeTheLastRefPoint() { + // if (!refpoints.isEmpty()) { + // refpoints.remove(refpoints.size() - 1); + // } + // } + // + // + // @ExtApiFn(name = "读取坐标计算结果", group = "标定大瓶缓液XY坐标", order = 33) + // public LargeBottoleConsumablePosInfo computeLittleBottlePosInfo() { + // //第一排x求平均 + // // x[0] = ZSimplAlgo.computeAverage( + // // littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 0 && point.index % 5 == 0). + // // map(point -> point.pos.x).toList() + // // ); + // + // var p00 = refpoints.stream().filter(point -> point.group == ConsumableGroup.GROUP0).findFirst().orElse(null); + // Double x, y, dx = null, dy = null; + // + // x = ZSimplAlgo.computeAverage( + // refpoints.stream().filter(point -> point.group.ordinal() / 3 == 0). + // map(point -> point.pos.x).toList()); + // //第一列y求平均 + // y = ZSimplAlgo.computeAverage( + // refpoints.stream().filter(point -> point.group.ordinal() % 3 == 0). + // map(point -> point.pos.y).toList()); + // //除了第一列的所有点，减少x,相加，求平均 + // if (p00 != null) { + // dx = ZSimplAlgo.computeAverage( + // refpoints.stream().filter(point -> point.getCol() != 0). + // map(point -> (point.pos.x - p00.pos.x) * 1.0 / point.getCol()).toList()); + // //除了第一排的所有点，减少y,相加，求平均 + // dy = ZSimplAlgo.computeAverage( + // refpoints.stream().filter(point -> point.getRow() != 0). + // map(point -> (point.pos.y - p00.pos.y) * 1.0 / point.getRow()).toList()); + // } + // + // return new LargeBottoleConsumablePosInfo(new Pos3d(x.intValue(), y.intValue(), 0), dx, dy); + // } + // + // @ExtApiFn(name = "保存计算结果", group = "标定大瓶缓液XY坐标", order = 34) + // public void savePosInfo() throws AppException { + // posMgr.setLargeBufferGroupPosInfo(computeLittleBottlePosInfo()); + // } + // + // @ExtApiFn(name = "读取所有参考点", group = "标定大瓶缓液XY坐标", order = 35) + // public Object readAllRefPoint() throws AppException { + // return refpoints; + // } + @ExtApiFn(name = "标定1号耗材坐标", group = "标定耗材1号坐标", order = 30) + public Pos2d calibrationPos1() throws AppException { enableModule(); Pos2d xypos = hbotDriver.readPos(); - // pipetteCtrlModule.zMotorMeasureDistance(); - // Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult(); - LargeBottleConsumableRefPoint refPoints = new LargeBottleConsumableRefPoint(group, new Pos3d(xypos.x, xypos.y, 0)); - this.refpoints.add(refPoints); disableModule(); - ObjectNode node = ZJsonHelper.createObjectNode(); - node.put("newPoint", ZJsonHelper.createObjectNode(refPoints)); - node.put("computeResult", ZJsonHelper.createObjectNode(computeLittleBottlePosInfo())); - return node; + posMgr.setPos0(xypos); + return xypos; } - @ExtApiFn(name = "移除最后一个参考点", group = "标定大瓶缓液XY坐标", order = 32) - public void removeTheLastRefPoint() { - if (!refpoints.isEmpty()) { - refpoints.remove(refpoints.size() - 1); - } - } + Pos2d pos01; + Pos2d pos06; - @ExtApiFn(name = "读取坐标计算结果", group = "标定大瓶缓液XY坐标", order = 33) - public LargeBottoleConsumablePosInfo computeLittleBottlePosInfo() { - //第一排x求平均 - // x[0] = ZSimplAlgo.computeAverage( - // littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 0 && point.index % 5 == 0). - // map(point -> point.pos.x).toList() - // ); - - var p00 = refpoints.stream().filter(point -> point.group == ConsumableGroup.GROUP0).findFirst().orElse(null); - Double x, y, dx = null, dy = null; - - x = ZSimplAlgo.computeAverage( - refpoints.stream().filter(point -> point.group.ordinal() / 3 == 0). - map(point -> point.pos.x).toList()); - //第一列y求平均 - y = ZSimplAlgo.computeAverage( - refpoints.stream().filter(point -> point.group.ordinal() % 3 == 0). - map(point -> point.pos.y).toList()); - //除了第一列的所有点，减少x,相加，求平均 - if (p00 != null) { - dx = ZSimplAlgo.computeAverage( - refpoints.stream().filter(point -> point.getCol() != 0). - map(point -> (point.pos.x - p00.pos.x) * 1.0 / point.getCol()).toList()); - //除了第一排的所有点，减少y,相加，求平均 - dy = ZSimplAlgo.computeAverage( - refpoints.stream().filter(point -> point.getRow() != 0). - map(point -> (point.pos.y - p00.pos.y) * 1.0 / point.getRow()).toList()); - } + @ExtApiFn(name = "步骤1.测量1号坐标", group = "标定Dy和Dy", order = 31) + public Pos2d measurePos01() throws AppException { + enableModule(); + pos01 = hbotDriver.readPos(); + disableModule(); + return pos01; + } - return new LargeBottoleConsumablePosInfo(new Pos3d(x.intValue(), y.intValue(), 0), dx, dy); + @ExtApiFn(name = "步骤2.测量6号坐标", group = "标定Dy和Dy", order = 32) + public Pos2d measurePos25() throws AppException { + enableModule(); + pos06 = hbotDriver.readPos(); + disableModule(); + return pos06; } - @ExtApiFn(name = "保存计算结果", group = "标定大瓶缓液XY坐标", order = 34) - public void savePosInfo() throws AppException { - posMgr.setLargeBufferGroupPosInfo(computeLittleBottlePosInfo()); + @ExtApiFn(name = "步骤3.计算Dx和Dy", group = "标定Dy和Dy", order = 33) + public Object computeDxAndDy() throws AppException { + ObjectNode node = ZJsonHelper.createObjectNode(); + node.put("dx", (pos06.x - pos01.x) / 2.0); + node.put("dy", (pos06.y - pos01.y)); + return node; } - @ExtApiFn(name = "读取所有参考点", group = "标定大瓶缓液XY坐标", order = 35) - public Object readAllRefPoint() throws AppException { - return refpoints; + @ExtApiFn(name = "步骤4.设置Dx和Dy", group = "标定Dy和Dy", order = 34) + public void setDxAndDy(Double dx, Double dy) throws AppException { + posMgr.setDxAndDy(dx, dy); } // // 标定Z轴 // - public void setZPos(HbotLargeBottleBSPos posName) throws AppException { + public void setZPos(HbotLargeBottleBSPos posName, Integer off) throws AppException { enableModule(); pipetteCtrlDriver.zMotorMeasureDistance(); - posMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()); + posMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult() + off); disableModule(); } @ExtApiFn(name = "校准.大瓶缓冲液Z轴位置", group = "标定Z轴", order = 104) - public void setLargeBSSSampleZPos() throws AppException {setZPos(HbotLargeBottleBSPos.LargeBSSSampleZPos);} + public void setLargeBSSSampleZPos() throws AppException {setZPos(HbotLargeBottleBSPos.LargeBSSSampleZPos, 0);} @ExtApiFn(name = "校准.大瓶缓冲液Z轴结束位置", group = "标定Z轴", order = 105) - public void setLargeBSSSampleEndZPos() throws AppException {setZPos(HbotLargeBottleBSPos.LargeBSSSampleEndZPos);} + public void setLargeBSSSampleEndZPos() throws AppException {setZPos(HbotLargeBottleBSPos.LargeBSSSampleEndZPos, -20);} // // 校验 @@ -187,11 +228,14 @@ public class HbotLargeBottleBSPosCalibration { public void testMoveToLargeBufferPos() throws AppException { resetStopFlag(); enableModule(); + pipetteCtrlDriver.zMotorMoveZeroBlock(); for (ConsumableGroup group : ConsumableGroup.values()) { - hbotCtrlService.moveToLargeBufferPos(group); + hbotCtrlService.moveToLargeBufferPosEnd(group); + pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); if (checkStopFlag()) - return; + break; } + disableModule(); } @ExtApiFn(name = "停止校验", group = "校验", order = 304) diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java index e7ba9ea..0fae143 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java @@ -76,13 +76,13 @@ public class HbotLittleBSPosCalibration { return hbotLittleBSPosMgr.getParams(); } - // @ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12) + @ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12) public void enableModule() throws AppException { pipetteCtrlDriver.zMotorEnable(1); hbotBaseMoveExDriver.enable(1); } - // @ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13) + @ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13) public void disableModule() throws AppException { pipetteCtrlDriver.zMotorEnable(0); hbotBaseMoveExDriver.enable(0); @@ -122,8 +122,8 @@ public class HbotLittleBSPosCalibration { @ExtApiFn(name = "步骤3.计算Dx和Dy", group = "标定Dy和Dy", order = 33) public Object computeDxAndDy() throws AppException { ObjectNode node = ZJsonHelper.createObjectNode(); - node.put("dx", (pos25.x - pos01.x) / 4); - node.put("dy", (pos25.y - pos01.y) / 4); + node.put("dx", (pos25.x - pos01.x) / 4.0); + node.put("dy", (pos25.y - pos01.y) / 4.0); return node; } @@ -171,6 +171,7 @@ public class HbotLittleBSPosCalibration { if (checkStopFlag()) break; } + pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); disableModule(); } diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java index b1dff4a..e910d99 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java @@ -125,8 +125,8 @@ public class HbotProbeSubstancePosCalibration { @ExtApiFn(name = "步骤3.计算Dx和Dy", group = "标定Dy和Dy", order = 33) public Object computeDxAndDy() throws AppException { ObjectNode node = ZJsonHelper.createObjectNode(); - node.put("dx", (pos25.x - pos01.x) / 4); - node.put("dy", (pos25.y - pos01.y) / 4); + node.put("dx", (pos25.x - pos01.x) / 4.0); + node.put("dy", (pos25.y - pos01.y) / 4.0); return node; } @@ -168,6 +168,7 @@ public class HbotProbeSubstancePosCalibration { if (checkStopFlag()) break; } + pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); disableModule(); } diff --git a/src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLargeBottleBSPosMgr.java b/src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLargeBottleBSPosMgr.java index b71b52d..1363d02 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLargeBottleBSPosMgr.java +++ b/src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLargeBottleBSPosMgr.java @@ -3,6 +3,7 @@ package a8k.service.app.devicectrl.param.param_mgr; import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr; import a8k.service.app.devicectrl.param.type.HbotLargeBottleBSPos; import a8k.type.*; +import a8k.type.cfg.Pos2d; import a8k.type.cfg.Pos3d; import jakarta.annotation.PostConstruct; import org.slf4j.Logger; @@ -27,23 +28,23 @@ public class HbotLargeBottleBSPosMgr extends ParamMgr { setParam(param.name(), val); } - public LargeBottoleConsumablePosInfo getLargeBufferGroupPosInfo() { - LargeBottoleConsumablePosInfo info = new LargeBottoleConsumablePosInfo(); - info.pos00 = getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos3d.class); - info.dx = getParam(HbotLargeBottleBSPos.LargeBuffer_DX, Double.class); - info.dy = getParam(HbotLargeBottleBSPos.LargeBuffer_DY, Double.class); - return info; + public void setPos0(Pos2d pos) { + setParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, pos); } - - public void setLargeBufferGroupPosInfo(LargeBottoleConsumablePosInfo info) { - setParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, info.pos00); - setParam(HbotLargeBottleBSPos.LargeBuffer_DX, info.dx); - setParam(HbotLargeBottleBSPos.LargeBuffer_DY, info.dy); + public void setDxAndDy(double dx, double dy) { + setParam(HbotLargeBottleBSPos.LargeBuffer_DX, dx); + setParam(HbotLargeBottleBSPos.LargeBuffer_DY, dy); } +// public void setLargeBufferGroupPosInfo(LargeBottoleConsumablePosInfo info) { +// setParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, info.pos00); +// setParam(HbotLargeBottleBSPos.LargeBuffer_DX, info.dx); +// setParam(HbotLargeBottleBSPos.LargeBuffer_DY, info.dy); +// } + public Pos3d getSamplePos(ConsumableGroup group) { - Pos3d pos00 = getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos.name(), Pos3d.class); + Pos2d pos00 = getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos.name(), Pos2d.class); Double dx = getParam(HbotLargeBottleBSPos.LargeBuffer_DX, Double.class); Double dy = getParam(HbotLargeBottleBSPos.LargeBuffer_DY, Double.class); diff --git a/src/main/resources/app.db b/src/main/resources/app.db index 11e15c8..4d6b11e 100644 Binary files a/src/main/resources/app.db and b/src/main/resources/app.db differ