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Merge branch 'master' of http://47.92.195.73:8081/project_boditech_vidas_a8000_v3/a8k_app

tags/v0
zhaohe 1 year ago
parent
c928e03e8e 8e23dbab90
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2a4a2c2631
2 changed files with 362 additions and 30 deletions
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  1. 3
      src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
  2. 389
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

3
src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
View File

@ -1,8 +1,11 @@
package a8k.service.db.dao;
import org.springframework.stereotype.Component;
/**
* 样本预处理相关参数访问
*/
@Component
public class SamplesPreProcessModuleCtrlParamsService {
/**

389
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -1,11 +1,28 @@
package a8k.service.hardware;
import a8k.appbean.Appecode;
import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.Errorcode;
import a8k.a8k_can_protocol.ModuleId;
import a8k.appbean.A8kTubeType;
import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException;
import a8k.appbean.SampleTubeState;
import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.A8kTubeInfoDao;
import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
import com.iflytop.uf.UfActuatorCmdExecutor;
import jakarta.annotation.Resource;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@Component
public class SamplesPreProcessModuleCtrlService {
@Resource
A8kTubeInfoDao tubeInfoDao;
@Resource
private A8kCanBusService a8kCanBusService;
@Resource
private SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParamsService;
/*
样品预处理模块
主要负责样品预处理的相关操作
@ -19,7 +36,40 @@ public class SamplesPreProcessModuleCtrlService {
/**
* 按照一定顺序归零设备
*/
public void moveToZero() {
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
/*
1. 假设没有试管在当前设备上的前提下归零设备
2. 舵机虽然没有零位，但需要将其移动到待机位置
@ -30,8 +80,32 @@ public class SamplesPreProcessModuleCtrlService {
* 使能模组
* @param enable 是否使能模组
*/
public void enableModule(boolean enable) {
public void enableModule(boolean enable) throws HardwareException {
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kmini_servo_enable,
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_enable,
enable ? 1 : 0
);
}
@ -48,14 +122,103 @@ public class SamplesPreProcessModuleCtrlService {
* @param tubeType TubeType_HighBlood,TubeType_ShortBlood,TubeType_Mini,TubeType_MiniBlood,TubeType_BulletTube1P5,TubeType_BulletTube0P5
* @param judgeCapExist 是否判断试管帽子存在与否
*/
public Appecode takeTube(String tubeType,boolean judgeCapExist) {
public AppErrorCode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime()
);
var motorUdTubeTaskPos = params.getZMotor_ShortBloodTakeCapHeight();
var tubeTypeValue = A8kTubeType.valueOf(tubeType);
if ( tubeTypeValue.equals(A8kTubeType.HighBlood) ) {
motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
motorUdTubeTaskPos,
params.getActionOvertime()
);
if ( judgeCapExist ) {
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_stop
);
var pos = this.a8kCanBusService.callcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_read_pos
);
if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) {
return AppErrorCode.TubeNotHasHat;
}
}
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_rotate_with_torque,
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
params.getZMotor_placeShakeHeight(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
/*
注意事项:
1. 取试管并将试管放在试管夹紧位置，同时升降电机和平移电机移动到待机位
2. 试管放置的水平高度和其在试管架中的高度保持一直
3. 取试管前，先通过试管夹紧功能判断一下试管帽是否存在（在试管没帽的边沿位置，抓手扭矩抓紧，如果等待一定时间后，抓手位置接近极限位置，则认为没有帽子，返回TubeNotHasHat错误）
4. 无论是否抓取成功，只要不向外抛出异常，方法结束时，该模块涉及到组件均需要返回待机位置。
*/
return Appecode.Success;
@ -64,22 +227,108 @@ public class SamplesPreProcessModuleCtrlService {
/**
* 取试管帽
*/
public Appecode takeTubeCap() {
//
//
//
//
return Appecode.Success;
public AppErrorCode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
var motorUdTakeCapPos = params.getZMotor_ShortBloodTakeCapHeight();
var tubeTypeValue = A8kTubeType.valueOf(tubeType);
if ( tubeTypeValue.equals(A8kTubeType.HighBlood) ) {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
return AppErrorCode.Success;
}
/**
* 盖试管帽，并将试管移动回试管架中
*/
public void pushBackTubeCapAndTakeBakTube(String tubeType) {
//
//
//
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
var motorUdTakeCapPos = params.getZMotor_ShortBloodTakeCapHeight();
var tubeTypeValue = A8kTubeType.valueOf(tubeType);
if ( tubeTypeValue.equals(A8kTubeType.HighBlood) ) {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kstep_motor_easy_move_to,
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kstep_motor_easy_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
}
@ -93,37 +342,117 @@ public class SamplesPreProcessModuleCtrlService {
* @param times 摇匀次数
* @param shakeDegree 摇匀角度
*/
public void ShakeTube(String tubeType, int times, int shakeDegree) {
public void ShakeTube(String tubeType, int times, int shakeDegree) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
var standByPos = params.getShakeMotor_standbyPos();
var startPos = standByPos - shakeDegree/2;
var endPos = standByPos + shakeDegree/2;
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_easy_reciprocating_motion,
startPos,
endPos,
times,
params.getActionOvertime()
);
}
/**
* 打开气溶胶风扇
*/
public void openAerosolFan() {
public void openAerosolFan() throws HardwareException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, params.getAerosolFanLevel());
}
/**
* 关闭气溶胶风扇
*/
public void closeAerosolFan() {
public void closeAerosolFan() throws HardwareException {
this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, 0);
}
/**
* 设备初始化时复位
*/
public void moduleResetWhenPowerOn() {
public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_move_to,
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
}
/**
* 设备运行时复位
*/
public void moduleRuntimeReset() {
public void moduleRuntimeReset() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeCapClipModule,
CmdId.kmini_servo_move_to,
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeMoveUpDownModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.ServoTubeMoveFrontBackModule,
CmdId.kmini_servo_move_to,
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeScanClampModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_easy_move_to,
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeShakeModule,
CmdId.kstep_motor_easy_move_to_zero,
params.getMoveToZeroOvertime()
);
}
}
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