From 2aea3b7b0c590fb857d85e4b79b7038a10272437 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 1 Aug 2024 12:31:41 +0800 Subject: [PATCH] update --- .../engineer/utils/EnginnerPageTabOrder.java | 8 +- .../java/a8k/service/appcfgs/AppCfgMgrService.java | 40 ++- .../appfrontend/AppFrontEndEventRouter.java | 34 +- .../a8k/service/hardware/HardwareTestScript.java | 7 +- .../a8k/service/hardware/HbotControlService.java | 6 +- .../hardware/MotorTubeRackMoveCtrlService.java | 2 +- .../ReactionPlatesTransmitCtrlService.java | 2 +- .../SamplesPreProcessModuleCtrlService.java | 2 +- .../service/hardware/canbus/protocol/A8kEcode.java | 1 + .../hardwarev2/commonctrl/HardwareCommonCtrl.java | 231 +++++++++++++ .../hardwarev2/ctrl/SamplesPreProcesCtrl.java | 372 +++++++++++++++++++++ .../a8k/service/hardwarev2/param/PosParam.java | 87 +++++ .../a8k/service/hardwarev2/param/TimeParam.java | 23 ++ src/main/java/a8k/utils/ZEQ.java | 7 + 14 files changed, 793 insertions(+), 29 deletions(-) create mode 100644 src/main/java/a8k/service/hardwarev2/commonctrl/HardwareCommonCtrl.java create mode 100644 src/main/java/a8k/service/hardwarev2/ctrl/SamplesPreProcesCtrl.java create mode 100644 src/main/java/a8k/service/hardwarev2/param/PosParam.java create mode 100644 src/main/java/a8k/service/hardwarev2/param/TimeParam.java create mode 100644 src/main/java/a8k/utils/ZEQ.java diff --git a/src/main/java/a8k/controler/engineer/utils/EnginnerPageTabOrder.java b/src/main/java/a8k/controler/engineer/utils/EnginnerPageTabOrder.java index e0a43b0..3a6f539 100644 --- a/src/main/java/a8k/controler/engineer/utils/EnginnerPageTabOrder.java +++ b/src/main/java/a8k/controler/engineer/utils/EnginnerPageTabOrder.java @@ -11,11 +11,17 @@ public enum EnginnerPageTabOrder { AppCfgMgrService, AppFrontEndEventRouter, + MotorTubeRackMoveCtrlService, SamplesPreProcessModuleCtrlService, ReactionPlatesTransmitCtrlService, - MotorTubeRackMoveCtrlService, HbotControlService, HardwareTestScript, + PosParam, + TimeParam, + HardwareCommonCtrl, + SamplesPreProcesCtrl, + + Max; } diff --git a/src/main/java/a8k/service/appcfgs/AppCfgMgrService.java b/src/main/java/a8k/service/appcfgs/AppCfgMgrService.java index 3c8d3ae..8b48adf 100644 --- a/src/main/java/a8k/service/appcfgs/AppCfgMgrService.java +++ b/src/main/java/a8k/service/appcfgs/AppCfgMgrService.java @@ -3,6 +3,7 @@ package a8k.service.appcfgs; import a8k.appbase.appret.AppRet; import a8k.controler.engineer.utils.EngineerPageTab; import a8k.controler.engineer.utils.EnginnerPageAction; +import a8k.controler.engineer.utils.EnginnerPageTabOrder; import a8k.service.appcfgs.base.A8kDeviceCfg; import a8k.service.appcfgs.base.EmergencyCfg; import a8k.appbase.type.BloodType; @@ -12,10 +13,23 @@ import a8k.service.hardware.canbus.protocol.A8kEcode; import org.springframework.stereotype.Component; @Component -@EngineerPageTab(name = "AppCfgMgrService") +@EngineerPageTab(name = "应用-测试任务提交", order = EnginnerPageTabOrder.AppCfgMgrService) public class AppCfgMgrService { A8kDeviceCfg deviceCfg = new A8kDeviceCfg(); + static class ORDER { + static final int getA8kDeviceCfg = 1; + static final int addCfg = 2; + static final int removeCfg = 3; + static final int activeCfg = 4; + static final int updateTubeUsrCfg = 5; + static final int clearTubeProjectCfg = 6; + static final int addTubeProjectCode = 7; + static final int setTubeBloodType = 8; + static final int getEmergencyCfg = 9; + static final int addEmergencyCfg = 10; + } + private SampleTubeHolderCfg dbFindCfg(String tubeHolderCfgUUID) { for (SampleTubeHolderCfg cfg : deviceCfg.cfgs) { @@ -39,26 +53,30 @@ public class AppCfgMgrService { } - @EnginnerPageAction(name = "获取设备配置", group = "基础", groupOrder = 1) + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // EXTERNAL API + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + + @EnginnerPageAction(name = "获取设备配置", group = "基础", order = ORDER.getA8kDeviceCfg) public A8kDeviceCfg getA8kDeviceCfg() { return deviceCfg; } - @EnginnerPageAction(name = "添加<试管架>配置", group = "试管架", groupOrder = 2) + @EnginnerPageAction(name = "添加<试管架>配置", group = "试管架", order = ORDER.addCfg) public AppRet addCfg() { SampleTubeHolderCfg cfg = new SampleTubeHolderCfg(); deviceCfg.cfgs.add(cfg); return AppRet.success(cfg); } - @EnginnerPageAction(name = "删除<试管架>配置", group = "试管架") + @EnginnerPageAction(name = "删除<试管架>配置", group = "试管架", order = ORDER.removeCfg) public AppRet removeCfg(String tubeHolderCfgUUID) { dbRemoveCfg(tubeHolderCfgUUID); return AppRet.success(); } - @EnginnerPageAction(name = "激活<试管架>配置", group = "试管架") + @EnginnerPageAction(name = "激活<试管架>配置", group = "试管架", order = ORDER.activeCfg) public AppRet activeCfg(String tubeHolderCfgUUID, Boolean active) { SampleTubeHolderCfg cfg = dbFindCfg(tubeHolderCfgUUID); if (cfg == null) { @@ -69,7 +87,7 @@ public class AppCfgMgrService { } - @EnginnerPageAction(name = "修改<试管>用户信息配置", group = "试管", groupOrder = 3) + @EnginnerPageAction(name = "修改<试管>用户信息配置", group = "试管", order = ORDER.updateTubeUsrCfg) public AppRet updateTubeUsrCfg(String uuid, Integer tubeIndex, String udpid, String barcodeid) { SampleTubeHolderCfg cfg = dbFindCfg(uuid); assert cfg != null; @@ -79,7 +97,7 @@ public class AppCfgMgrService { } - @EnginnerPageAction(name = "清除<试管>项目信息", group = "试管") + @EnginnerPageAction(name = "清除<试管>项目信息", group = "试管", order = ORDER.clearTubeProjectCfg) public AppRet clearTubeProjectCfg(String uuid, Integer tubeIndex) { SampleTubeHolderCfg cfg = dbFindCfg(uuid); assert cfg != null; @@ -88,7 +106,7 @@ public class AppCfgMgrService { return AppRet.success(cfg.tubeCfgs.get(tubeIndex)); } - @EnginnerPageAction(name = "添加<试管>项目信息", group = "试管") + @EnginnerPageAction(name = "添加<试管>项目信息", group = "试管", order = ORDER.addTubeProjectCode) public AppRet addTubeProjectCode(String uuid, Integer tubeIndex, String pjc) { SampleTubeHolderCfg cfg = dbFindCfg(uuid); assert cfg != null; @@ -98,7 +116,7 @@ public class AppCfgMgrService { return AppRet.success(tubeCfg); } - @EnginnerPageAction(name = "设置<试管>血型", group = "试管") + @EnginnerPageAction(name = "设置<试管>血型", group = "试管", order = ORDER.setTubeBloodType) public AppRet setTubeBloodType(String uuid, Integer tubeIndex, BloodType bloodType) { SampleTubeCfg tubeCfg = dbFindTubeCfg(uuid, tubeIndex); assert tubeCfg != null; @@ -106,12 +124,12 @@ public class AppCfgMgrService { return AppRet.success(); } - @EnginnerPageAction(name = "获取<急诊位>配置", group = "急诊位", groupOrder = 4) + @EnginnerPageAction(name = "获取<急诊位>配置", group = "急诊位", order = ORDER.getEmergencyCfg) public AppRet getEmergencyCfg() { return AppRet.success(deviceCfg.emergencyCfg); } - @EnginnerPageAction(name = "添加<急诊位>配置", group = "急诊位") + @EnginnerPageAction(name = "添加<急诊位>配置", group = "急诊位", order = ORDER.addEmergencyCfg) public AppRet addEmergencyCfg(EmergencyCfg cfg) { deviceCfg.emergencyCfg = cfg; return AppRet.success(deviceCfg.emergencyCfg); diff --git a/src/main/java/a8k/service/appfrontend/AppFrontEndEventRouter.java b/src/main/java/a8k/service/appfrontend/AppFrontEndEventRouter.java index 17f41af..0eb2d19 100644 --- a/src/main/java/a8k/service/appfrontend/AppFrontEndEventRouter.java +++ b/src/main/java/a8k/service/appfrontend/AppFrontEndEventRouter.java @@ -1,5 +1,6 @@ package a8k.service.appfrontend; +import a8k.controler.engineer.utils.EnginnerPageTabOrder; import a8k.service.appeventbus.AppEventListener; import a8k.appbase.appret.AppRet; import a8k.controler.engineer.utils.EngineerPageTab; @@ -15,10 +16,14 @@ import org.springframework.stereotype.Component; import java.util.Queue; @Component -@EngineerPageTab(name = "FrontEndEventRouter") +@EngineerPageTab(name = "应用-前端事件路由器", order = EnginnerPageTabOrder.AppFrontEndEventRouter) public class AppFrontEndEventRouter implements AppEventListener { static Logger logger = org.slf4j.LoggerFactory.getLogger(AppFrontEndEventRouter.class); + static class ORDER { + static final int pollAppEvent = 1; + } + @Resource AppEventBusService eventBus; @@ -30,17 +35,30 @@ public class AppFrontEndEventRouter implements AppEventListener { eventBus.regListener(this); } - public Boolean filterEvent(AppEvent event) { + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // Internal APIs + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + + /** + * 过滤事件 + * @param event 事件 + * @return 是否过滤 + */ + Boolean filterEvent(AppEvent event) { if (event instanceof A8kHardwareReport) { return true; } return false; } - synchronized public AppEvent _pollAppEvent() { + synchronized AppEvent pollAppEventFromQueue() { return appEventQueue.poll(); } + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // 事件处理 + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + @Override public void onAppEvent(AppEvent event) { if (filterEvent(event)) { return; @@ -49,13 +67,17 @@ public class AppFrontEndEventRouter implements AppEventListener { appEventQueue.add(event); if (appEventQueue.size() >= 10) { logger.warn("too many events in queue, drop some"); - _pollAppEvent(); + pollAppEventFromQueue(); } } - @EnginnerPageAction(name = "pollAppEvent") + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // Exposed APIs + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + + @EnginnerPageAction(name = "读取挂起事件") public AppRet pollAppEvent() { - AppEvent event = _pollAppEvent(); + AppEvent event = pollAppEventFromQueue(); return AppRet.success(event); } diff --git a/src/main/java/a8k/service/hardware/HardwareTestScript.java b/src/main/java/a8k/service/hardware/HardwareTestScript.java index e6c3c88..3411076 100644 --- a/src/main/java/a8k/service/hardware/HardwareTestScript.java +++ b/src/main/java/a8k/service/hardware/HardwareTestScript.java @@ -4,14 +4,11 @@ import a8k.appbase.ConsumableGroup; import a8k.appbase.HardwareException; import a8k.appbase.cfg.*; import a8k.appbase.appret.AppRet; +import a8k.controler.engineer.utils.*; import a8k.service.hardware.canbus.A8kCanBusService; import a8k.service.hardware.canbus.protocol.A8kEcode; import a8k.service.hardware.canbus.protocol.MId; import a8k.service.hardware.canbus.protocol.RegIndex; -import a8k.controler.engineer.utils.EnginnerParamReader; -import a8k.controler.engineer.utils.EngineerPageTab; -import a8k.controler.engineer.utils.EnginnerPageAction; -import a8k.controler.engineer.utils.EnginnerPageParams; import jakarta.annotation.Resource; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -22,7 +19,7 @@ import java.util.HashMap; import java.util.Map; @Component -@EngineerPageTab(name = "测试脚本") +@EngineerPageTab(name = "测试-测试脚本", order = EnginnerPageTabOrder.HardwareTestScript) @EnginnerPageParams(service = HardwareTestScript.class) public class HardwareTestScript { static Logger logger = LoggerFactory.getLogger(HardwareTestScript.class); diff --git a/src/main/java/a8k/service/hardware/HbotControlService.java b/src/main/java/a8k/service/hardware/HbotControlService.java index 619fb5a..601753b 100644 --- a/src/main/java/a8k/service/hardware/HbotControlService.java +++ b/src/main/java/a8k/service/hardware/HbotControlService.java @@ -21,7 +21,7 @@ import org.springframework.stereotype.Component; * Hbot控制服务 */ @Component -@EngineerPageTab(name = "Hbot控制") +@EngineerPageTab(name = "硬件-Hbot控制", order = EnginnerPageTabOrder.HbotControlService) @EnginnerPageParams(service = HbotControlService.class) public class HbotControlService implements HardwareCtrlModule { static Logger logger = LoggerFactory.getLogger(HbotControlService.class); @@ -54,7 +54,7 @@ public class HbotControlService implements HardwareCtrlModule { } @EnginnerPageParam(name = "急诊位", group = "简单位置坐标") - public Pos3d getEmergencyPos() { + public Pos3d getEmergencyPos() { return new Pos3d( 4858, 3196, @@ -403,7 +403,7 @@ public class HbotControlService implements HardwareCtrlModule { Pos2d hbotRefPos = new Pos2d(0, 0); @EnginnerPageAction(name = "设置HBOT参考坐标", group = "坐标获取工具") - public void openCodeScaner(Integer x, Integer y) throws HardwareException, InterruptedException { + public void setHbotRefPos(Integer x, Integer y) throws HardwareException, InterruptedException { hbotRefPos.x = x; hbotRefPos.y = y; } diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java index a279402..c2ffa97 100644 --- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java +++ b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java @@ -12,7 +12,7 @@ import org.slf4j.LoggerFactory; import org.springframework.stereotype.Component; @Component -@EngineerPageTab(name = "进出料控制模组") +@EngineerPageTab(name = "硬件-进出料控制模组", order = EnginnerPageTabOrder.MotorTubeRackMoveCtrlService) @EnginnerPageParams(service = MotorTubeRackMoveCtrlService.class) public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule { diff --git a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java b/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java index 8a491f5..7f5efac 100644 --- a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java +++ b/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java @@ -19,7 +19,7 @@ import java.util.ArrayList; import java.util.List; @Component -@EngineerPageTab(name = "反应板条搬移服务", order= EnginnerPageTabOrder.ReactionPlatesTransmitCtrlService) +@EngineerPageTab(name = "硬件-反应板条搬移服务", order= EnginnerPageTabOrder.ReactionPlatesTransmitCtrlService) @EnginnerPageParams(service = ReactionPlatesTransmitCtrlService.class) public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule { static Logger logger = LoggerFactory.getLogger(ReactionPlatesTransmitCtrlService.class); diff --git a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java index 6ed80f7..03c0878 100644 --- a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java +++ b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java @@ -16,7 +16,7 @@ import java.lang.reflect.Method; import java.util.List; @Component -@EngineerPageTab(name = "样本预处理模块") +@EngineerPageTab(name = "硬件-样本预处理模块", order = EnginnerPageTabOrder.SamplesPreProcessModuleCtrlService) @EnginnerPageParams(service = SamplesPreProcessModuleCtrlService.class) public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule { static Logger logger = LoggerFactory.getLogger(SamplesPreProcessModuleCtrlService.class); diff --git a/src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java b/src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java index 397f70d..ba32d2d 100644 --- a/src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java +++ b/src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java @@ -31,6 +31,7 @@ public enum A8kEcode { ZMNotAtZPosWhenHbotTryMove(26, "HBOT启动时，Z轴电机没有在原点"),// TakeTipFail(27, "取Tip失败"),// PutTipFail(28, "放Tip失败"),// + StopByUser(29, "用户停止"),// PasswdError(100, "密码错误"), // UsrNotExitError(101, "用户不存在"), // diff --git a/src/main/java/a8k/service/hardwarev2/commonctrl/HardwareCommonCtrl.java b/src/main/java/a8k/service/hardwarev2/commonctrl/HardwareCommonCtrl.java new file mode 100644 index 0000000..a7a7c1c --- /dev/null +++ b/src/main/java/a8k/service/hardwarev2/commonctrl/HardwareCommonCtrl.java @@ -0,0 +1,231 @@ +package a8k.service.hardwarev2.commonctrl; + + +import a8k.appbase.HardwareException; +import a8k.appbase.appret.AppRet; +import a8k.controler.engineer.utils.EngineerPageTab; +import a8k.controler.engineer.utils.EnginnerPageAction; +import a8k.controler.engineer.utils.EnginnerPageParams; +import a8k.controler.engineer.utils.EnginnerPageTabOrder; +import a8k.service.hardware.canbus.A8kCanBusService; +import a8k.service.hardware.canbus.protocol.A8kEcode; +import a8k.service.hardware.canbus.protocol.IOId; +import a8k.service.hardware.canbus.protocol.MId; +import a8k.service.hardwarev2.param.PosParam; +import a8k.service.hardwarev2.param.TimeParam; +import jakarta.annotation.Resource; +import org.slf4j.Logger; +import org.springframework.stereotype.Component; + +@Component +@EngineerPageTab(name = "硬件控制-通用控制", order = EnginnerPageTabOrder.SamplesPreProcesCtrl) +@EnginnerPageParams(service = HardwareCommonCtrl.class) +public class HardwareCommonCtrl { + static Logger logger = org.slf4j.LoggerFactory.getLogger(HardwareCommonCtrl.class); + + static class ORDER { + static final int initializeDevice = 1; + static final int deviceEnable = 2; + static final int deviceClear = 3; + } + + @Resource + A8kCanBusService canBus; + + @Resource + TimeParam timep; + + @Resource + PosParam posp; + + Boolean workState = false; + + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // CHECK + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + + private AppRet checkDeviceStateBeforeRunToZero() throws HardwareException { + logger.info("checkDeviceStateBeforeRunToZero"); + //试管平移通道是否有障碍 + if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) { + logger.warn("THChInterPPS or THChOuterPPS is trigger"); + return AppRet.fail(A8kEcode.TubeXChannelIsNotEmpty); + } + + //板夹仓盖子是否盖上 + if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) { + return AppRet.fail(A8kEcode.PlateBoxNotCover); + } + + //板夹仓卡板检测 + if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) { + return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger); + } + + //检查钩板电机是否处于终点位置 + if (!canBus.getIOState(IOId.PullerMZeroPPS)) { + return AppRet.fail(A8kEcode.PullerMInitPosError); + } + + //检查板夹仓光电是否处于起点位置 + if (!canBus.getIOState(IOId.PusherMZeroPPS)) { + return AppRet.fail(A8kEcode.PusherMInitPosError); + } + //板夹仓光电 + if (canBus.getIOState(IOId.RecycleBinOverflowPPS)) { + return AppRet.fail(A8kEcode.RecycleBinOverflow); + } + + return AppRet.success(); + } + + private void checkStopFlag() throws HardwareException { + if (!workState) { + throw new HardwareException(A8kEcode.StopByUser); + } + } + + + private AppRet moveMotorToZero() throws HardwareException, InterruptedException { + + //进出料初始化 + canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, timep.getActionOvertime()); + checkStopFlag(); + + canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 10, timep.getActionOvertime()); + checkStopFlag(); + + canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 10, timep.getActionOvertime()); + checkStopFlag(); + + canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 10, timep.getActionOvertime()); + checkStopFlag(); + + + canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, timep.getActionOvertime()); + checkStopFlag(); + canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, timep.getActionOvertime()); + checkStopFlag(); + canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, timep.getActionOvertime()); + checkStopFlag(); + + canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90); + checkStopFlag(); + + //板夹仓初始化 + canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, timep.getActionOvertime()); + checkStopFlag(); + canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, timep.getActionOvertime()); + checkStopFlag(); + //光学模组初始化 + canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, timep.getActionOvertime()); + checkStopFlag(); + canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, timep.getActionOvertime()); + checkStopFlag(); + //HBot初始化 + canBus.hbotMoveToZero(MId.HbotM); + checkStopFlag(); + + canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, timep.getActionOvertime()); + checkStopFlag(); + //转盘归零 + canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, timep.getActionOvertime()); + checkStopFlag(); + + + return AppRet.success(); + } + + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + // Expose API + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + @EnginnerPageAction(name = "设备初始化", order = ORDER.initializeDevice) + public AppRet initializeDevice() throws HardwareException, InterruptedException { + logger.info("Initializing device ..."); + boolean initSuc = false; + workState = true; + AppRet ecode; + try { + //打开必要的电源 + canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true); + + //检查设备状态 + ecode = checkDeviceStateBeforeRunToZero(); + if (!ecode.isSuccess()) { + return ecode; + } + // 复位设备 + logger.info("moveMotorToZero"); + ecode = moveMotorToZero(); + if (!ecode.isSuccess()) { + return ecode; + } + initSuc = true; + logger.info("Device initialization completed"); + + } finally { + if (!initSuc) { + try { + canBus.stepMotorEnable(MId.ShakeModClampingM, 1); + } catch (HardwareException ignored) { + } + try { + canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2); + } catch (HardwareException ignored) { + } + } + } + return ecode; + + } + + @EnginnerPageAction(name = "清空板夹仓板夹", order = ORDER.deviceClear) + public void clearDevice() { + //TODO + } + + + @EnginnerPageAction(name = "设备使能", order = ORDER.deviceEnable) + public void deviceEnable(Boolean enable) throws HardwareException { + //进出料初始化 + canBus.stepMotorEnable(MId.FeedingModInfeedM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.FeedingModXM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.FeedingModOutfeedM, enable ? 1 : 0); + + //摇匀模组初始化 + canBus.stepMotorEnable(MId.ShakeModClampingM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.ShakeModGripperZM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.ShakeModShakeM, enable ? 1 : 0); + canBus.miniServoEnable(MId.ShakeModGripperYSV, enable ? 1 : 0); + canBus.miniServoEnable(MId.ShakeModGripperSV, enable ? 1 : 0); + canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, enable ? 1 : 0); + canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, enable ? 1 : 0); + + //板夹仓初始化 + canBus.stepMotorEnable(MId.PlatesBoxYM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.PlatesBoxPusherM, enable ? 1 : 0); + + //光学模组初始化 + canBus.stepMotorEnable(MId.OptModPullM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.OptModScannerM, enable ? 1 : 0); + + //HBot初始化 + canBus.hbotEnable(MId.HbotM, enable ? 1 : 0); + canBus.stepMotorEnable(MId.PipetteModZM, enable ? 1 : 0); + + //转盘归零 + canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, enable ? 1 : 0); + } + + public void checkBeforeMove(MId mId) throws HardwareException { + //板夹仓盖子是否盖上 + if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) { + throw new HardwareException(A8kEcode.PlateBoxNotCover); + } + } + + public void stop() { + workState = false; + } + +} diff --git a/src/main/java/a8k/service/hardwarev2/ctrl/SamplesPreProcesCtrl.java b/src/main/java/a8k/service/hardwarev2/ctrl/SamplesPreProcesCtrl.java new file mode 100644 index 0000000..3160e31 --- /dev/null +++ b/src/main/java/a8k/service/hardwarev2/ctrl/SamplesPreProcesCtrl.java @@ -0,0 +1,372 @@ +package a8k.service.hardwarev2.ctrl; + +import a8k.appbase.HardwareException; +import a8k.appbase.appret.AppRet; +import a8k.appbase.type.A8kTubeType; +import a8k.controler.engineer.utils.*; +import a8k.service.hardware.CommonHardwareOpeartion; +import a8k.service.hardware.HardwareCtrlModule; +import a8k.service.hardware.canbus.A8kCanBusService; +import a8k.service.hardware.canbus.protocol.A8kEcode; +import a8k.service.hardware.canbus.protocol.MId; +import a8k.service.hardwarev2.param.TimeParam; +import a8k.service.hardwarev2.param.PosParam; +import a8k.utils.ZEQ; +import jakarta.annotation.Resource; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.stereotype.Component; + +import java.lang.reflect.Method; +import java.util.List; + +@Component +@EngineerPageTab(name = "硬件控制-样本预处理模块", order = EnginnerPageTabOrder.SamplesPreProcesCtrl) +@EnginnerPageParams(service = SamplesPreProcesCtrl.class) +public class SamplesPreProcesCtrl { + static Logger logger = LoggerFactory.getLogger(SamplesPreProcesCtrl.class); + + @Resource + A8kCanBusService canBus; + @Resource + CommonHardwareOpeartion comHardwareOpear; + @Resource + TimeParam timep; + @Resource + PosParam pp; + + Boolean debug = false; + + @EnginnerPageAction(name = "使能调试模式", group = "调试") + public void enableDebugMode() { + this.debug = true; + } + + @EnginnerPageAction(name = "失能调试模式", group = "调试") + public void disableDebugMode() { + this.debug = false; + } + + @EnginnerPageAction(name = "模组归零") + public void modGroupMoveToZero() throws HardwareException, InterruptedException { + // if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) { + // throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos); + // } + + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperClosePos());//此步骤，除了归零的同时还能够检测是否有试管在夹爪中 + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + canBus.stepMotorEasyMoveToZero(MId.ShakeModClampingM); + canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime()); + canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + canBus.stepMotorEasyMoveToZero(MId.ShakeModShakeM); + canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime()); + + canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90); + canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime()); + + canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, -2); + } + + + @EnginnerPageAction(name = "模组快速归零") + public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException { + /* + * 1.Z轴回到零位 + * 2.试管夹紧回到零位 + * 3.摇匀回到零位 + */ + + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 0); + canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime()); + + canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 0); + canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime()); + + modGroupMoveToZero(); + } + + + /** + * 取试管帽,如果试管帽存在， + * @param highTube true/false + */ + @EnginnerPageAction(name = "取试管") + public AppRet takeTubeAndJudgeTubeExist(Boolean highTube) throws HardwareException, InterruptedException { + + /* + * 校验: + * 1.当前摇匀模组设计到的电机是否都处于待机位 + */ + + //Z轴在原点 + if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) { + throw new HardwareException(MId.ShakeModGripperZM, A8kEcode.MNotInZeroPos); + } + + //Y轴在零点附近 + if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperYSV), pp.getGripperZeroYPos(), 30)) { + throw new HardwareException(MId.ShakeModGripperYSV, A8kEcode.MNotInZeroPos); + } + + //夹爪没有零位置 + if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) { + throw new HardwareException(MId.ShakeModGripperSV, A8kEcode.MNotInZeroPos); + } + + //检查摇匀夹紧是否在零位 + if (!canBus.stepMotorReadIoState(MId.ShakeModClampingM, 0)) { + throw new HardwareException(MId.ShakeModClampingM, A8kEcode.MNotInZeroPos); + } + + boolean isHighBlood = highTube; + boolean tubeCapExist = true; + Integer gripperJudgeCapZPos = isHighBlood ? pp.getGripperJudgeHTubeCapZPos() : pp.getGripperJudgeSTubeCapZPos(); + Integer gripperTakeTubeZPos = isHighBlood ? pp.getGripperTakeHTubeZPos() : pp.getGripperTakeSTubeZPos(); + Integer gripperShakeZPos = pp.getGripperShakeTubeZPos(); + + //固定试管架 + logger.info("固定试管架"); + canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 900); + canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, timep.getActionOvertime()); + + + //试管夹紧移动到终点位置 + logger.info("试管夹紧移动到终点位置"); + canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 70); + canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime()); + + + //试管摇匀移动到90度 + logger.info("试管摇匀移动到90度"); + canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, pp.getShakeModShakeMStandbyPos()); + canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime()); + + + //Y轴向前移动 + logger.info("夹爪Y轴移动到取试管位置"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + + //打开夹爪 + logger.info("打开抓手"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + + //Z轴下移动到试管帽有无检测位 + logger.info("Z轴下移动到试管帽有无检测位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperJudgeCapZPos); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //闭合夹爪检测试管帽是否存在 + logger.info("闭合夹爪检测试管帽是否存在"); + canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400); + Thread.sleep(timep.getTubeCapJudgeDelayTime()); + if (ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) { + logger.info("试管帽不存在"); + tubeCapExist = false; + } + + + if (debug || tubeCapExist) { + //打开夹爪 + logger.info("打开夹爪"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + + //Z轴下移动到取试管位置 + logger.info("Z轴下移动到取试管位置"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperTakeTubeZPos); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //夹爪夹紧 + logger.info("夹爪夹紧"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperTakeCapPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + + //Z轴上移动到零位 + logger.info("Z轴上移动到零位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //Y轴移动到摇匀位 + logger.info("Y轴移动到摇匀位"); + + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos() - 50); //该动作是为了消除齿轮间隙 + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + + //Z轴下移动到摇匀位放试管的位置 + logger.info("Z轴下移动到摇匀位放试管的位置"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperShakeZPos); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //夹紧试管 + logger.info("夹紧试管"); + canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, pp.getShakeClampingPos()); + canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime()); + + + //松开夹爪，放置试管 + logger.info("松开夹爪，放置试管"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + + //Z轴上移动到零位 + logger.info("Z轴上移动到零位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //Z轴归零,校准一次位置 + logger.info("Z轴归零"); + canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //Y轴移动到零位 + logger.info("Y轴移动到零位"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + + } else { + modGroupMoveToZeroQuick(); + } + return AppRet.success(tubeCapExist); //Z轴下移动试管判断的位置 + } + + + @EnginnerPageAction(name = "摇匀") + public void shakeTube(Integer shakeDegree, Integer times) throws HardwareException, InterruptedException { + var standByPos = pp.getShakeModShakeMStandbyPos(); + var startPos = standByPos - shakeDegree; + var endPos = standByPos + shakeDegree; + canBus.stepMotorEasyReciprocatingMotion(MId.ShakeModShakeM, startPos, endPos, times); + canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime()); + } + + @EnginnerPageAction(name = "取试管帽") + public void takeTubeCap() throws HardwareException, InterruptedException { + //Y移动到取试管帽位置 + logger.info("Y移动到取试管帽位置 && 打开夹爪"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos()); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos()); + canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV, MId.ShakeModGripperSV}, timep.getActionOvertime()); + + + //Z下移动到取试管帽位置 + logger.info("Z下移动到取试管帽位置"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 3); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //闭合夹爪 + logger.info("闭合夹爪"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperTakeCapPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + //Z上移动到零位 + logger.info("Z上移动到零位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMods(new MId[]{MId.ShakeModGripperZM}, timep.getActionOvertime()); + + //Y移动到待机位 + logger.info("Y移动到待机位"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos()); + canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV}, timep.getActionOvertime()); + } + + /** + * 盖试管帽，并将试管移动回试管架中 + */ + @EnginnerPageAction(name = "盖试管帽并放回试管架") + public void pushBackTubeCapAndTakeBakTube(A8kTubeType tubeType) throws HardwareException, InterruptedException { + //移动Y轴到取试管帽位置 + logger.info("移动Y轴到取试管帽位置"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + + //移动Z轴盖帽 + logger.info("移动Z轴盖帽"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 10); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //打开试管夹 + logger.info("打开试管夹"); + canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 70); + canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime()); + + //移动Z轴到零位 + logger.info("移动Z轴到零位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + //移动Y轴到方式管的位置 + logger.info("移动Y轴到方式管的位置"); + canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos()); + canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime()); + + + //移动Z轴到取试管位置 + logger.info("移动Z轴到取试管位置"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeHTubeZPos() - 20); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + + //打开夹爪 + logger.info("打开夹爪"); + canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos()); + canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime()); + + + //Z轴上移动到零位 + logger.info("Z轴上移动到零位"); + canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0); + canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime()); + + //设备快速归零 + modGroupMoveToZeroQuick(); + + } + + /** + * 气溶胶风扇控制 + */ + @EnginnerPageAction( + name = "气溶胶风扇控制", + order = 1, + beforeExecute = "beforeActionExec" + ) + public void setAeroslFanPower(Boolean enable) throws Exception { + if (enable) { + canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 99); + } else { + canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 0); + } + } + + public void beforeActionExec(Method method, List params) { + System.out.println("beforeActionExec"); + } +} diff --git a/src/main/java/a8k/service/hardwarev2/param/PosParam.java b/src/main/java/a8k/service/hardwarev2/param/PosParam.java new file mode 100644 index 0000000..49266f2 --- /dev/null +++ b/src/main/java/a8k/service/hardwarev2/param/PosParam.java @@ -0,0 +1,87 @@ +package a8k.service.hardwarev2.param; + +import a8k.controler.engineer.utils.*; +import org.springframework.stereotype.Component; + +@Component +@EngineerPageTab(name = "硬件参数-坐标参数", order = EnginnerPageTabOrder.PosParam) +@EnginnerPageParams(service = PosParam.class) +public class PosParam { + EnginnerParamReader hpReader = new EnginnerParamReader(EnginnerPageParams.class); + + @EnginnerPageParam(name = "抓手张开位置", group = "抓手") + public Integer getGripperOpenPos() { + return hpReader.getInteger("GripperOpenPos", 150); + } + + @EnginnerPageParam(name = "抓手闭合位置", group = "抓手") + public Integer getGripperClosePos() { + return hpReader.getInteger("GripperClosePos", 10); + } + + @EnginnerPageParam(name = "抓手取试管位置", group = "抓手") + public Integer getGripperTakeCapPos() { + return hpReader.getInteger("GripperTakeCapPos", 55); + } + + @EnginnerPageParam(name = "取试管位置", group = "Y轴位置") + public Integer getGripperTakeTubeYPos() { + return hpReader.getInteger("GripperTakeTubeYPos", 2750 + 300); + } + + @EnginnerPageParam(name = "摇匀位置", group = "Y轴位置") + public Integer getGripperShakeYPos() { + return hpReader.getInteger("GripperShakeYPos", 1828 + 300); + } + + @EnginnerPageParam(name = "待机位", group = "Y轴位置") + public Integer getGripperZeroYPos() { + return hpReader.getInteger("GripperZeroYPos", 300); + } + + + @EnginnerPageParam(name = "取高试管位置", group = "Z轴位置") + public Integer getGripperTakeHTubeZPos() { + return hpReader.getInteger("GripperTakeHTubeZPos", 739); + } + + @EnginnerPageParam(name = "取低试管位置", group = "Z轴位置") + public Integer getGripperTakeSTubeZPos() { + return hpReader.getInteger("GripperTakeSTubeZPos", 985); + } + + //JudgeTubeCapZ + @EnginnerPageParam(name = "高试管帽有无判断位", group = "Z轴位置") + public Integer getGripperJudgeHTubeCapZPos() { + return hpReader.getInteger("GripperJudgeHTubeCapZPos", 591); + } + + @EnginnerPageParam(name = "低试管帽有无判断位", group = "Z轴位置") + public Integer getGripperJudgeSTubeCapZPos() { + return hpReader.getInteger("GripperJudgeSTubeCapZPos", 867); + } + + //ShakeTubeZ + @EnginnerPageParam(name = "摇匀放置位置", group = "Z轴位置") + public Integer getGripperShakeTubeZPos() { + return hpReader.getInteger("GripperShakeTubeZPos", 835); + } + + //TakeCapZ + @EnginnerPageParam(name = "取试管帽位", group = "Z轴位置") + public Integer getGripperTakeCapZPos() { + return hpReader.getInteger("GripperTakeCapZPos", 835); + } + + @EnginnerPageParam(name = "试管夹紧位", group = "试管夹紧模块") + public Integer getShakeClampingPos() { + return hpReader.getInteger("ShakeClampingPos", 10); + } + + @EnginnerPageParam(name = "摇匀臂", group = "试管摇匀待机位") + public Integer getShakeModShakeMStandbyPos() { + return hpReader.getInteger("ShakeModShakeMStandbyPos", 90); + } + + +} diff --git a/src/main/java/a8k/service/hardwarev2/param/TimeParam.java b/src/main/java/a8k/service/hardwarev2/param/TimeParam.java new file mode 100644 index 0000000..42d7a0d --- /dev/null +++ b/src/main/java/a8k/service/hardwarev2/param/TimeParam.java @@ -0,0 +1,23 @@ +package a8k.service.hardwarev2.param; + + +import a8k.controler.engineer.utils.*; +import org.springframework.stereotype.Component; + +@Component +@EngineerPageTab(name = "底层-参数-时间参数", order = EnginnerPageTabOrder.TimeParam) +@EnginnerPageParams(service = PosParam.class) +public class TimeParam { + EnginnerParamReader hpReader = new EnginnerParamReader(EnginnerPageParams.class); + + @EnginnerPageParam(name = "动作超时时间", group = "基础参数") + public Integer getActionOvertime() { + return hpReader.getInteger("ActionOvertime", 5000); + } + + @EnginnerPageParam(name = "试管帽有无判断时间", group = "基础参数") + public Integer getTubeCapJudgeDelayTime() { + return hpReader.getInteger("TubeCapJudgeDelayTime", 300); + } + +} diff --git a/src/main/java/a8k/utils/ZEQ.java b/src/main/java/a8k/utils/ZEQ.java new file mode 100644 index 0000000..abca38c --- /dev/null +++ b/src/main/java/a8k/utils/ZEQ.java @@ -0,0 +1,7 @@ +package a8k.utils; + +public class ZEQ { + static public Boolean IntEq(Integer pos1, Integer pos2, Integer diff) { + return Math.abs(pos1 - pos2) < diff; + } +} \ No newline at end of file