Merge remote-tracking branch 'origin/master'

README.md

@@ -38,6 +38,10 @@
           
 TODO:
         1.想办法解决  
+        
+4:号仓位退不出
+14
+
 
 ```
 

src/main/java/a8k/appbean/OptScanDirection.java

@@ -0,0 +1,9 @@
+package a8k.appbean;
+
+public enum OptScanDirection {
+	POSITIVE, NEGATIVE;
+
+	public Integer getInteger() {
+		return this == POSITIVE ? 1 : -1;
+	}
+}

src/main/java/a8k/canbus/A8kCanBusService.java

@@ -1,6 +1,7 @@
 package a8k.canbus;
 
 import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
+import a8k.appbean.OptScanDirection;
 import a8k.appbean.PlateInfo;
 import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
 import a8k.canbus.protocol.*;
@@ -154,7 +155,53 @@ public class A8kCanBusService {
 	}
 
 
-	//plate_code_scaner_adc_readraw
+	//  ka8k_opt_v2_t_start_scan   = CMDID(7, 0),   //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
+	//  ka8k_opt_v2_f_start_scan   = CMDID(7, 1),   //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
+	//  ka8k_opt_v2_f_readVal      = CMDID(7, 15),  //(int32_t *val0,int32_t *val1) for_debug
+
+	//	a8k_opt_v2_t_start_scan(0x0700, "a8k_opt_v2_t_start_scan"),//
+	//	a8k_opt_v2_f_start_scan(0x0701, "a8k_opt_v2_f_start_scan"),//
+	//	a8k_opt_v2_t_open_laster(0x070a, "a8k_opt_v2_t_open_laster"),//
+	//	a8k_opt_v2_t_close_laster(0x070b, "a8k_opt_v2_t_close_laster"),//
+	//	a8k_opt_v2_t_readVal(0x070c, "a8k_opt_v2_t_readVal"),//
+	//	a8k_opt_v2_f_open_laster(0x070d, "a8k_opt_v2_f_open_laster"),//
+	//	a8k_opt_v2_f_close_laster(0x070e, "a8k_opt_v2_f_close_laster"),//
+	//	a8k_opt_v2_f_readVal(0x070f, "a8k_opt_v2_f_readVal"),//
+
+	//a8k_opt_v2_read_raw
+
+
+	public void optTStartScan(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.a8k_opt_v2_t_start_scan.toInt(), scanDirection.getInteger(), lasterGain, scanGain);
+	}
+
+	public void optTStartScanBlock(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain, Integer actionOvertime) throws HardwareException, InterruptedException {
+		optTStartScan(id, scanDirection, lasterGain, scanGain);
+		waitForMod(id, actionOvertime);
+	}
+
+	public void optFStartScan(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.a8k_opt_v2_f_start_scan.toInt(), scanDirection.getInteger(), lasterGain, scanGain);
+	}
+
+	public void optFStartScanBlock(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain, Integer actionOvertime) throws HardwareException, InterruptedException {
+		optFStartScan(id, scanDirection, lasterGain, scanGain);
+		waitForMod(id, actionOvertime);
+	}
+
+	public List<Integer> optReadRaw(MId id) throws HardwareException, InterruptedException {
+		int           i      = 0;
+		List<Integer> result = new ArrayList<>();
+		while (true) {
+			var rxPacket = callcmd(id.toInt(), CmdId.a8k_opt_v2_read_raw.toInt(), i++);
+			if (rxPacket.getCmdContent().length == 0) {
+				break;
+			}
+			var rawdata = ByteArray.readU16bitArray(rxPacket.getCmdContent());
+			result.addAll(Arrays.asList(rawdata));
+		}
+		return result;
+	}
 
 
 	public void plateCodeScanerPushCardAndScan(MId id, Integer finalStopPos) throws HardwareException, InterruptedException {

src/main/java/a8k/canbus/A8kModParamInitializer.java

@@ -70,6 +70,16 @@ public class A8kModParamInitializer implements AppEventListener {
 
 		//
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
+		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_default_velocity, 2200);
+		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_irun, 31);
+
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kreg_step_motor_default_velocity, 1800);
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kreg_step_motor_irun, 31);
+
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_default_velocity, 1800);
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_irun, 25);
+
+		//		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
 
 	}
 

src/main/java/a8k/canbus/protocol/A8kEcode.java

@@ -27,6 +27,7 @@ public enum A8kEcode {
 	TubeXChannelIsNotEmpty(21, "试管架平移通道不为空"),//
 	TubeTypeNotSupport(22, "试管类型不支持"),//
 	CmdIdNotSupport(23, "不支持指令"),//
+	PullPlateFail(24, "钩板卡板"),//
 	//
 	//	FOR HARDWARE
 	//

src/main/java/a8k/canbus/protocol/CmdId.java

@@ -9,7 +9,7 @@ public enum CmdId {
 	event_bus_reg_change_report(0x0064, "event_bus_reg_change_report"),//
 	//
 	module_ping(0x0100, "module_ping"),//
-	module_get_status(0x0104, "module_get_status", false),//
+	module_get_status(0x0104, "module_get_status", true),//
 	module_stop(0x0101, "module_stop"),//
 	module_set_reg(0x0105, "module_set_reg"),//
 	module_get_reg(0x0106, "module_get_reg"),//
@@ -47,17 +47,8 @@ public enum CmdId {
 	pipette_aspirate_llf(0x720c, "pipette_aspirate_llf"),//
 	pipette_distribut_llf(0x720d, "pipette_distribut_llf"),//
 	pipette_shake_up_llf(0x720e, "pipette_shake_up_llf"),//
-	//
-	a8000_optical_module_power_ctrl(0x0600, "a8000_optical_module_power_ctrl"),//
-	a8000_optical_open_laser(0x0601, "a8000_optical_open_laser"),//
-	a8000_optical_close_laser(0x0602, "a8000_optical_close_laser"),//
-	a8000_optical_set_laster_gain(0x0603, "a8000_optical_set_laster_gain"),//
-	a8000_optical_set_scan_amp_gain(0x0604, "a8000_optical_set_scan_amp_gain"),//
-	a8000_optical_read_scanner_adc_val(0x0605, "a8000_optical_read_scanner_adc_val"),//
-	a8000_optical_read_laster_adc_val(0x0606, "a8000_optical_read_laster_adc_val"),//
-	a8000_optical_scan_current_point_amp_adc_val(0x0607, "a8000_optical_scan_current_point_amp_adc_val"),//
-	a8000_optical_start_capture(0x0608, "a8000_optical_start_capture"),//
-	a8000_optical_read_raw(0x0609, "a8000_optical_read_raw", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
+
+	a8k_opt_v2_read_raw(0x0609, "a8k_opt_v2_read_raw", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
 	//
 	a8k_opt_v2_t_start_scan(0x0700, "a8k_opt_v2_t_start_scan"),//
 	a8k_opt_v2_f_start_scan(0x0701, "a8k_opt_v2_f_start_scan"),//

src/main/java/a8k/opt_algo/A8kOptAlgo.java

@@ -0,0 +1,77 @@
+package a8k.opt_algo;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class A8kOptAlgo {
+
+	static private List<Double> createDoubleList(int size) {
+		List<Double> list = new ArrayList<>(size);
+		for (int i = 0; i < size; i++) {
+			list.add(0.0);
+		}
+		return list;
+	}
+
+	static private List<Double> integerToDouble(List<Integer> input) {
+		List<Double> output = new ArrayList<>(input.size());
+		for (Integer i : input) {
+			output.add(i.doubleValue());
+		}
+		return output;
+	}
+
+	static private List<Integer> doubleToInteger(List<Double> input) {
+		List<Integer> output = new ArrayList<>(input.size());
+		for (Double i : input) {
+			output.add(i.intValue());
+		}
+		return output;
+	}
+
+	static public List<Integer> preProcessOptData(List<Integer> input) {
+		List<Double> inputRaw       = integerToDouble(input);
+		List<Double> upSamplingRaw  = superSampling(inputRaw, 24);
+		List<Double> subSamplingRaw = subSampling(upSamplingRaw, 5);
+		return doubleToInteger(subSamplingRaw);
+	}
+
+
+	static public List<Double> superSampling(List<Double> input, Integer factor) {
+		int          outputLength  = input.size() * factor;
+		List<Double> upSamplingRaw = createDoubleList(outputLength);
+
+		for (int si = 0, di = 0; si < input.size() - 1; di++) {
+			Double a = upSamplingRaw.set(di * factor, input.get(si));
+			Double b = upSamplingRaw.set((di + 1) * factor, input.get(++si));
+
+			Double slope = (b - a) / factor;
+
+			for (int i = 0; i < factor - 1; i++) {
+				int baseIndex = (di * factor) + i;
+				upSamplingRaw.set(baseIndex + 1, upSamplingRaw.get(baseIndex) + slope);
+			}
+		}
+		return upSamplingRaw;
+	}
+
+	static public List<Double> subSampling(List<Double> inputRaw, Integer nSubSampleRate) {
+		int    nSum          = 0;
+		double fAvg          = 0.0;
+		int    subIndex      = 0;
+		int    nOutputLength = inputRaw.size() / nSubSampleRate;
+
+		List<Double> subSampledRaw = createDoubleList(nOutputLength);
+
+		for (int index = 0; index < inputRaw.size(); index++) {
+			if (index % nSubSampleRate == 0 && index > 0) {
+				fAvg = (double) nSum / nSubSampleRate;
+				subSampledRaw.set(subIndex++, fAvg);
+				nSum = 0;
+			}
+			nSum += inputRaw.get(index);
+		}
+		subSampledRaw.set(nOutputLength - 1, subSampledRaw.get(nOutputLength - 2));
+		return subSampledRaw;
+	}
+}

src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java

@@ -6,6 +6,7 @@ import a8k.canbus.protocol.IOId;
 import a8k.canbus.protocol.MId;
 import a8k.appbean.ecode.AppRet;
 import a8k.canbus.A8kCanBusService;
+import a8k.opt_algo.A8kOptAlgo;
 import a8k.utils.*;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -28,7 +29,12 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "动作超时时间", group = "基础参数")
 	public Integer getActionOvertime() {
-		return hpReader.getInteger("actionOvertime", 10000);
+		return hpReader.getInteger("actionOvertime", 7000);
+	}
+
+	@HardwareServiceParam(name = "光学扫描超时时间", group = "基础参数")
+	public Integer getOptScanOvertime() {
+		return hpReader.getInteger("optScanOvertime", 10000);
 	}
 
 	@HardwareServiceParam(name = "板夹仓通道0位置", group = "板夹仓参数")
@@ -62,7 +68,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "仓位0出板位置", group = "转盘参数")
 	public Integer getTurntablePullPos0() {
-		return hpReader.getInteger("TurntablePullPos0", 1650 + 18000);
+		return hpReader.getInteger("TurntablePullPos0", 19700);
 	}
 
 	@HardwareServiceParam(name = "仓位0点滴位", group = "转盘参数")
@@ -89,9 +95,30 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "扫描待机位", group = "光学模组参数")
 	public Integer getOptScanScandbyPos() {
-		return hpReader.getInteger("OptScanScandbyPos", 580);
+		return hpReader.getInteger("OptScanScandbyPos", 305);
+	}
+
+	@HardwareServiceParam(name = "T光学扫描起始坐标", group = "光学模组参数")
+	public Integer getTOptPosOffset() {
+		return hpReader.getInteger("TOptPosOffset", 3723);
+	}
+
+	@HardwareServiceParam(name = "F光学扫描起始坐标", group = "光学模组参数")
+	public Integer getFOptPosOffset() {
+		return hpReader.getInteger("FOptPosOffset", 2559);
+	}
+
+	@HardwareServiceParam(name = "T光学发光增益", group = "光学模组参数")
+	public Integer getOptTLasterGain() {
+		return hpReader.getInteger("OptTLasterGain", 0);
 	}
 
+	@HardwareServiceParam(name = "F光学发光增益", group = "光学模组参数")
+	public Integer getOptFLasterGain() {
+		return hpReader.getInteger("OptFLasterGain", 0);
+	}
+
+
 	/**
 	 * ZERO_DPOS
 	 */
@@ -216,7 +243,22 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		//限制pos在 0--> 36000之间
 		pos = pos % 36000;
 		if (pos < 0) {pos += 36000;}
-		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
+
+		//先移动半个间距，用来检测是否发生卡板
+		Integer nowPos = canBus.stepMotorReadPos(MId.IncubatorRotateCtrlM);
+		if (nowPos < pos) {
+			canBus.stepMotorEasyMoveByBlock(MId.IncubatorRotateCtrlM, getTurntablePosSpacing(), getActionOvertime());
+		} else if (nowPos > pos) {
+			canBus.stepMotorEasyMoveByBlock(MId.IncubatorRotateCtrlM, -getTurntablePosSpacing(), getActionOvertime());
+		}
+
+		//解决齿轮间隙的问题
+		if (nowPos < pos) {
+			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
+		} else {
+			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos - 300/**/, getActionOvertime());
+			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
+		}
 	}
 
 
@@ -247,12 +289,24 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		return AppRet.success(canBus.plateCodeScannerReadCode(MId.PlatesBoxScanner));
 	}
 
+	public void pushPlateQuick(PlateBoxCh PBCh, IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
+		trunableMoveToPushPos(turntablePosIndex);
+		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxYM, getPBCh0Pos() + PBCh.off * getPBChSpacing(), getActionOvertime());
+		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxPusherM, getPusherEndPos(), getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxYM, getActionOvertime());
+	}
+
 
 	@HardwareServiceAction(name = "拉板", group = "单步操作")
 	public void pullPlate(IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
 		trunableMoveToPullPos(turntablePosIndex);
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 		canBus.stepMotorEasyMoveToBlock(MId.OptModPullM, getPullerTargetPos(), getActionOvertime());
+		if (!canBus.getIOState(IOId.PullerMEndPPS)) {
+			logger.error("pull plate fail");
+			throw new HardwareException(A8kEcode.PullPlateFail);
+		}
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
 	}
 
@@ -263,29 +317,31 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 	}
 
-	private Boolean breakDropAllPlateFlag = false;
+	Boolean pushAllPlateAndDropBreakFlag = false;
 
-	@HardwareServiceAction(name = "丢弃全部板", group = "测试")
-	public void dropAllPlate() throws HardwareException, InterruptedException {
-		breakDropAllPlateFlag = false;
+	@HardwareServiceAction(name = "推全部板同时丢弃", group = "位置测试")
+	public void pushAllPlateAndDrop(PlateBoxCh PBCh, IncubatorPos startPos) throws HardwareException, InterruptedException {
+		pushAllPlateAndDropBreakFlag = false;
 		checkBeforeMoveTrunable();
 		checkBeforeMovePlateBox();
 		modGroupMoveToZeroQuick();
+		dropPlate();
 		for (IncubatorPos index : IncubatorPos.values()) {
+			if (index.compareTo(startPos) < 0) {
+				continue;
+			}
+			pushPlateQuick(PBCh, index);
 			pullPlate(index);
 			dropPlate();
-			if (breakDropAllPlateFlag) {
-				break;
-			}
+			if (pushAllPlateAndDropBreakFlag) {break;}
 		}
 	}
 
-	@HardwareServiceAction(name = "打断-丢弃全部板", group = "测试")
-	public void breakDropAllPlate() throws HardwareException, InterruptedException {
-		breakDropAllPlateFlag = true;
+	@HardwareServiceAction(name = "推全部板同时丢弃中断", group = "位置测试")
+	public void pushAllPlateAndDropBreak() {
+		pushAllPlateAndDropBreakFlag = true;
 	}
 
-
 	@HardwareServiceAction(name = "显示板夹扫码原始曲线", group = "辅助调试")
 	public AppRet<A8kScanCurve> readPlateScanCurve() throws HardwareException, InterruptedException {
 		List<Integer> scanDataCurve = canBus.plateCodeScanerReadRawResult(MId.PlatesBoxScanner);
@@ -296,6 +352,32 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		return AppRet.success(new A8kScanCurve(scanDataCurve, refLine));
 	}
 
+	private AppRet<A8kScanCurve> packetOptDisplayScanCurve(List<Integer> scanDataCurve) {
+		A8kScanCurve scanCurve = new A8kScanCurve();
+		scanCurve.scanDataCurve = A8kOptAlgo.preProcessOptData(scanDataCurve);
+		scanCurve.refCurve      = A8kOptAlgo.preProcessOptData(scanDataCurve);
+		scanCurve.refLine       = new ArrayList<>();
+		for (int i = 1; i < 6; i++) {
+			scanCurve.refLine.add(40 * i);
+		}
+		return AppRet.success(scanCurve);
+	}
+
+	@HardwareServiceAction(name = "T光学扫码", group = "光学调试")
+	public AppRet<A8kScanCurve> optTScan(OptScanDirection direction, Integer scanerGain) throws HardwareException, InterruptedException {
+		canBus.optTStartScanBlock(MId.OptMod, direction, getOptTLasterGain(), scanerGain, getOptScanOvertime());
+		return packetOptDisplayScanCurve(canBus.optReadRaw(MId.OptMod));
+	}
+
+	@HardwareServiceAction(name = "F光学扫码", group = "光学调试")
+	public AppRet<A8kScanCurve> optFScan(OptScanDirection direction, Integer scanerGain) throws HardwareException, InterruptedException {
+		canBus.optFStartScanBlock(MId.OptMod, direction, getOptTLasterGain(), scanerGain, getOptScanOvertime());
+		return packetOptDisplayScanCurve(canBus.optReadRaw(MId.OptMod));
+	}
+
+	//
+	//	状态
+	//
 
 	@HardwareServiceAction(name = "读取<转盘>位置", group = "位置测量")
 	public AppRet<Integer> readTrunablePos() throws HardwareException, InterruptedException {