project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 10 months ago
parent
71c677841f
commit
2cba21c62d
11 changed files with 279 additions and 124 deletions
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  1. BIN
      app.db
  2. 5
      src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java
  3. 5
      src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
  4. 113
      src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java
  5. 133
      src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
  6. 31
      src/main/java/a8k/type/HbotConsumablePosParam.java
  7. 16
      src/main/java/a8k/type/TipColumnNum.java
  8. 23
      src/main/java/a8k/type/TipRefPoint.java
  9. 14
      src/main/java/a8k/type/TipRowNum.java
  10. 21
      src/main/java/a8k/utils/ZSimplAlgo.java

BIN
app.db
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5
src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java
View File

@ -62,6 +62,8 @@ public enum A8kEcode {
APPE_CHECK_POINT_CHECK_FAIL(229), //检查点检查失败
CALIBRATION_TIP_REF_POINT_NOT_ENOUGH(400),//校验TIP参考点不足
/**
* OS错误
*/
@ -74,6 +76,9 @@ public enum A8kEcode {
TEST_SCRIP_ERROR_DEVICE_IS_BUSY(901),
//校验流程错误
//
// LowBoard 底层错误，按照字面意思翻译即可，或者不翻译，直接打印错误英文
//

5
src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
View File

@ -137,8 +137,9 @@ public class PipetteCtrlModule {
@ExtApiFn(name = "放置吸头", order = FnOrder.putTipBlock)
public void putTipBlock() throws AppException {
canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_put_tip.toInt());
canBusService.waitForMod(MId.PipetteMod, overtime);
// canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_put_tip.toInt());
// canBusService.waitForMod(MId.PipetteMod, overtime);
pipetteInitDeviceBlock();
}
@ExtApiFn(name = "LLD.准备", order = FnOrder.lldPrepareBlock)

113
src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java
View File

@ -15,13 +15,13 @@ import a8k.service.app.devicedriver.ctrl.HbotControler;
import a8k.service.app.devicedriver.pos.Hbot2DCodeScanPos;
import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr;
import a8k.service.app.devicedriver.pos.HbotSamplePosMgr;
import a8k.type.ConsumableGroup;
import a8k.type.ConsumableScanRawResult;
import a8k.type.HbotConsumablePos;
import a8k.type.*;
import a8k.type.cfg.Pos2d;
import a8k.type.cfg.Pos3d;
import a8k.type.exception.AppException;
import a8k.type.type.TipGroup;
import a8k.utils.ZJsonHelper;
import a8k.utils.ZSimplAlgo;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.node.ArrayNode;
import com.fasterxml.jackson.databind.node.ObjectNode;
@ -32,7 +32,9 @@ import org.slf4j.Logger;
import org.springframework.context.annotation.Bean;
import org.springframework.stereotype.Component;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@ExtApiTab(cfg = ExtApiTabConfig.HbotConsumablePosCalibration)
@Component
@ -76,7 +78,6 @@ public class HbotConsumablePosCalibration {
}
// 测试工具
@ExtApiFn(name = "归零", group = "测试工具", order = 11)
public void deviceReset() throws AppException {
@ -101,16 +102,97 @@ public class HbotConsumablePosCalibration {
// 标定
//
@ExtApiFn(name = "标定HBOT坐标", group = "标定", order = 21)
public void calibratePos(HbotConsumablePos hbotConsumablePos) throws AppException {
TipGroup tipGroup;
List<TipRefPoint> tipRefPosList;
Pos3d tip000 = new Pos3d(0, 0, 0);
Double tipdx;
Double tipdy;
// TipRefPoint findTipRefPoint(TipRowNum row, TipColumnNum col) {
// for (TipRefPoint tipRefPoint : tipRefPosList) {
// if (tipRefPoint.row == row && tipRefPoint.col == col) {
// return tipRefPoint;
// }
// }
// return null;
// }
@ExtApiFn(name = "开始标定Tip坐标", group = "标定TIP坐标", order = 20)
public void startCalibrateTipPos(TipGroup tipGroup) {
this.tipGroup = tipGroup;
tipRefPosList = new java.util.ArrayList<>();
}
@ExtApiFn(name = "添加Tip参考点", group = "标定TIP坐标", order = 21)
public void addTipPosRefPoint(TipRowNum row, TipColumnNum columnNum) throws AppException {
enableModule();
Pos2d xypos = hbotModule.readPos();
pipetteCtrlModule.zMotorMeasureDistance();
Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
hbotConsumablePosMgr.setParam(hbotConsumablePos, new Pos3d(xypos.x, xypos.y, z));
if (hbotConsumablePos.ordinal() <= HbotConsumablePos.Tip02_119Pos.ordinal()) {
pipetteCtrlModule.putTipBlock();
pipetteCtrlModule.putTipBlock();
tipRefPosList.add(new TipRefPoint(row, columnNum, new Pos3d(xypos.x, xypos.y, z)));
disableModule();
}
@ExtApiFn(name = "获取Tip参考点", group = "标定TIP坐标", order = 22)
public List<TipRefPoint> getTipRefPosList() {
return tipRefPosList;
}
@ExtApiFn(name = "计算Tip坐标", group = "标定TIP坐标", order = 23)
public ObjectNode computeTipGroupPos() throws AppException {
TipRefPoint tip_ref_01_01 = tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.eq(TipRowNum.ROW01, TipColumnNum.Colu01)).findFirst().orElse(null);
if (tip_ref_01_01 == null) {
throw new AppException(A8kEcode.CALIBRATION_TIP_REF_POINT_NOT_ENOUGH);
}
//计算tip01_01_x,取所有第一列tip坐标x的平局值
Double tip01_01_x = ZSimplAlgo.computeAverage(
tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.col == TipColumnNum.Colu01).
map(tipRefPoint -> Double.valueOf(tipRefPoint.pos.x)).toList()
);
//计算tip01_01_y,取所有第1行tip坐标y的平局值
Double tip01_01_y = ZSimplAlgo.computeAverage(
tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.row == TipRowNum.ROW01).
map(tipRefPoint -> Double.valueOf(tipRefPoint.pos.y)).toList()
);
//计算z,取所有tip坐标z的平局值
Double tip01_01_z = ZSimplAlgo.computeAverage(
tipRefPosList.stream().map(tipRefPoint -> Double.valueOf(tipRefPoint.pos.z)).toList()
);
//计算dx,所有点到tip01_01的距离除以行数 之后的平均值
Double dx = ZSimplAlgo.computeAverage(
tipRefPosList.stream().filter(point -> !point.col.equals(TipColumnNum.Colu01)).
map(point -> Math.abs(point.pos.x - Double.valueOf(tip_ref_01_01.pos.x)) / point.col.ordinal()).toList()
);
//计算dy,所有点到tip01_01的距离除以列数 之后的平均值
Double dy = ZSimplAlgo.computeAverage(
tipRefPosList.stream().filter(point -> !point.row.equals(TipRowNum.ROW01)).
map(point -> Math.abs(point.pos.y - Double.valueOf(tip_ref_01_01.pos.y)) / point.row.ordinal()).toList()
);
tip01_01_z += 3;
tip000 = new Pos3d(tip01_01_x.intValue(), tip01_01_y.intValue(), tip01_01_z.intValue());
tipdx = dx;
tipdy = dy;
ObjectNode node = new ObjectMapper().createObjectNode();
node.put("tip000", ZJsonHelper.createObjectNode(tip000));
node.put("tipdx", tipdx);
node.put("tipdy", tipdy);
return node;
}
@ExtApiFn(name = "保存计算结果", group = "标定TIP坐标", order = 24)
public void saveTipGroupPos() throws AppException {
hbotConsumablePosMgr.setTipGroupParam(tipGroup, tip000, tipdx, tipdy);
}
@ -118,17 +200,14 @@ public class HbotConsumablePosCalibration {
// 校验
//
@ExtApiFn(name = "校验Tip坐标", group = "校验", order = 30)
public void testTakeTip() throws AppException {
public void testTakeTip(TipGroup tipGroup) throws AppException {
resetStopFlag();
enableModule();
for (TipGroup tipGroup : TipGroup.values()) {
for (int i = 0; i < AppConstant.TIP_NUM; i++) {
hbotControler.testTakeTip(tipGroup, i);
if (checkStopFlag())
return;
}
for (int i = 0; i < AppConstant.TIP_NUM; i++) {
hbotControler.testTakeTip(tipGroup, i);
if (checkStopFlag())
return;
}
}
@ExtApiFn(name = "校验小瓶缓冲液坐标", group = "校验", order = 31)

133
src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
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@ -6,14 +6,10 @@ import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.db.LowerDeviceParameterDBService;
import a8k.service.db.utils.PosParameterReader;
import a8k.type.ConsumableGroup;
import a8k.type.HbotConsumablePos;
import a8k.type.HbotConsumablePosParam;
import a8k.type.cfg.Pos3d;
import a8k.type.type.TipGroup;
import a8k.utils.PlaneUtils;
import a8k.utils.ZJsonHelper;
import a8k.utils.ZSqliteJdbcHelper;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.node.ArrayNode;
import com.fasterxml.jackson.databind.node.ObjectNode;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;
@ -22,7 +18,6 @@ import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
import java.util.List;
import java.util.Map;
/**
* HBOT二维码扫描坐标参数
@ -37,7 +32,7 @@ public class HbotConsumablePosMgr {
LowerDeviceParameterDBService lowerDeviceParameterDBService;
PosParameterReader posReader = null;
static Integer nowParaVersion = 2;
static Integer nowParaVersion = 3;
@PostConstruct
void initialize() {
@ -52,35 +47,24 @@ public class HbotConsumablePosMgr {
logger.info("init param");
posReader.setVersion(nowParaVersion);
posReader.updatePos(HbotConsumablePos.Tip00_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip00_011Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip00_108Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip00_119Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip01_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip01_011Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip01_108Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip01_119Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip02_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip02_011Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip02_108Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.Tip02_119Pos, new Pos3d());
posReader.updatePos(HbotConsumablePos.LittleBufferPos00_00, new Pos3d());
posReader.updatePos(HbotConsumablePos.LittleBufferPos00_24, new Pos3d());
posReader.updatePos(HbotConsumablePos.LittleBufferPos05_00, new Pos3d());
posReader.updatePos(HbotConsumablePos.LittleBufferPos05_24, new Pos3d());
posReader.updatePos(HbotConsumablePos.ProbeSubstance00_00, new Pos3d());
posReader.updatePos(HbotConsumablePos.ProbeSubstance00_24, new Pos3d());
posReader.updatePos(HbotConsumablePos.ProbeSubstance05_00, new Pos3d());
posReader.updatePos(HbotConsumablePos.ProbeSubstance05_24, new Pos3d());
posReader.updatePos(HbotConsumablePos.LargeBufferPos00, new Pos3d());
posReader.updatePos(HbotConsumablePos.LargeBufferPos05, new Pos3d());
posReader.updatePos(HbotConsumablePosParam.TipGroup0_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePosParam.TipGroup0_SpaceingX, 0.0);
posReader.updatePos(HbotConsumablePosParam.TipGroup0_SpaceingY, 0.0);
posReader.updatePos(HbotConsumablePosParam.TipGroup1_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePosParam.TipGroup1_SpaceingX, 0.0);
posReader.updatePos(HbotConsumablePosParam.TipGroup2_SpaceingY, 0.0);
posReader.updatePos(HbotConsumablePosParam.TipGroup2_000Pos, new Pos3d());
posReader.updatePos(HbotConsumablePosParam.TipGroup2_SpaceingX, 0.0);
posReader.updatePos(HbotConsumablePosParam.TipGroup2_SpaceingY, 0.0);
}
public List<ObjectNode> getParams() {
List<ObjectNode> list = new java.util.ArrayList<>();
for (HbotConsumablePos param : HbotConsumablePos.values()) {
for (HbotConsumablePosParam param : HbotConsumablePosParam.values()) {
ObjectNode posNode = ZJsonHelper.createObjectNode();
posNode.put("pos", ZJsonHelper.createObjectNode(posReader.getPos(param.name(), Pos3d.class)));
posNode.put("name", param.name());
@ -91,50 +75,65 @@ public class HbotConsumablePosMgr {
}
public void setParam(HbotConsumablePos param, Pos3d pos) {
posReader.updatePos(param.name(), pos);
public void setParam(HbotConsumablePosParam param, Object val) {
posReader.updatePos(param.name(), val);
}
public void setTipGroupParam(TipGroup tipGroup, Pos3d tip000, Double dx, Double dy) {
HbotConsumablePosParam tip000Pos = null;
HbotConsumablePosParam tipDxPos = null;
HbotConsumablePosParam tipDyPos = null;
if (tipGroup == TipGroup.GROUP0) {
tip000Pos = HbotConsumablePosParam.TipGroup0_000Pos;
tipDxPos = HbotConsumablePosParam.TipGroup0_SpaceingX;
tipDyPos = HbotConsumablePosParam.TipGroup0_SpaceingY;
} else if (tipGroup == TipGroup.GROUP1) {
tip000Pos = HbotConsumablePosParam.TipGroup1_000Pos;
tipDxPos = HbotConsumablePosParam.TipGroup1_SpaceingX;
tipDyPos = HbotConsumablePosParam.TipGroup2_SpaceingY;
} else if (tipGroup == TipGroup.GROUP2) {
tip000Pos = HbotConsumablePosParam.TipGroup2_000Pos;
tipDxPos = HbotConsumablePosParam.TipGroup2_SpaceingX;
tipDyPos = HbotConsumablePosParam.TipGroup2_SpaceingY;
}
assert tip000Pos != null;
posReader.updatePos(tip000Pos, tip000);
posReader.updatePos(tipDxPos, dx);
posReader.updatePos(tipDyPos, dy);
}
public Pos3d getTipPos(TipGroup tipGroup, Integer tipoff) {
Pos3d tip000 = null;
Pos3d tip011 = null;
Pos3d tip108 = null;
Pos3d tip119 = null;
Pos3d tip000 = null;
Double dx = 0.0;
Double dy = 0.0;
if (tipGroup == TipGroup.GROUP0) {
tip000 = posReader.getPos(HbotConsumablePos.Tip00_000Pos.name(), Pos3d.class);
tip011 = posReader.getPos(HbotConsumablePos.Tip00_011Pos.name(), Pos3d.class);
tip108 = posReader.getPos(HbotConsumablePos.Tip00_108Pos.name(), Pos3d.class);
tip119 = posReader.getPos(HbotConsumablePos.Tip00_119Pos.name(), Pos3d.class);
tip000 = posReader.getPos(HbotConsumablePosParam.TipGroup0_000Pos, Pos3d.class);
dx = posReader.getPos(HbotConsumablePosParam.TipGroup0_SpaceingX, Double.class);
dy = posReader.getPos(HbotConsumablePosParam.TipGroup0_SpaceingY, Double.class);
} else if (tipGroup == TipGroup.GROUP1) {
tip000 = posReader.getPos(HbotConsumablePos.Tip01_000Pos.name(), Pos3d.class);
tip011 = posReader.getPos(HbotConsumablePos.Tip01_011Pos.name(), Pos3d.class);
tip108 = posReader.getPos(HbotConsumablePos.Tip01_108Pos.name(), Pos3d.class);
tip119 = posReader.getPos(HbotConsumablePos.Tip01_119Pos.name(), Pos3d.class);
tip000 = posReader.getPos(HbotConsumablePosParam.TipGroup1_000Pos, Pos3d.class);
dx = posReader.getPos(HbotConsumablePosParam.TipGroup1_SpaceingX, Double.class);
dy = posReader.getPos(HbotConsumablePosParam.TipGroup2_SpaceingY, Double.class);
} else if (tipGroup == TipGroup.GROUP2) {
tip000 = posReader.getPos(HbotConsumablePos.Tip02_000Pos.name(), Pos3d.class);
tip011 = posReader.getPos(HbotConsumablePos.Tip02_011Pos.name(), Pos3d.class);
tip108 = posReader.getPos(HbotConsumablePos.Tip02_108Pos.name(), Pos3d.class);
tip119 = posReader.getPos(HbotConsumablePos.Tip02_119Pos.name(), Pos3d.class);
tip000 = posReader.getPos(HbotConsumablePosParam.TipGroup2_000Pos, Pos3d.class);
dx = posReader.getPos(HbotConsumablePosParam.TipGroup2_SpaceingX, Double.class);
dy = posReader.getPos(HbotConsumablePosParam.TipGroup2_SpaceingY, Double.class);
}
assert tip000 != null;
assert tip011 != null;
assert tip108 != null;
assert tip119 != null;
//水平方向
double dx = (tip119.x - tip000.x) / 11.0;
//前后方向
double dy = (tip119.y - tip000.y) / 9.0;
assert dx != null;
assert dy != null;
int xoff = tipoff % 12;
int yoff = tipoff / 12;
double x = tip000.x + xoff * dx;
double y = tip000.y + yoff * dy;
double z = PlaneUtils.calculateZ(tip000, tip011, tip119, x, y);
double z = tip000.z;
return new Pos3d((int) x, (int) y, (int) z);
}
@ -183,24 +182,24 @@ public class HbotConsumablePosMgr {
}
public Pos3d getLittleBufferPos(ConsumableGroup group, Integer off) {
Pos3d pos00_00 = posReader.getPos(HbotConsumablePos.LittleBufferPos00_00.name(), Pos3d.class);
Pos3d pos00_24 = posReader.getPos(HbotConsumablePos.LittleBufferPos00_24.name(), Pos3d.class);
Pos3d pos05_00 = posReader.getPos(HbotConsumablePos.LittleBufferPos05_00.name(), Pos3d.class);
Pos3d pos05_24 = posReader.getPos(HbotConsumablePos.LittleBufferPos05_24.name(), Pos3d.class);
Pos3d pos00_00 = posReader.getPos(HbotConsumablePosParam.LittleBufferPos00_00.name(), Pos3d.class);
Pos3d pos00_24 = posReader.getPos(HbotConsumablePosParam.LittleBufferPos00_24.name(), Pos3d.class);
Pos3d pos05_00 = posReader.getPos(HbotConsumablePosParam.LittleBufferPos05_00.name(), Pos3d.class);
Pos3d pos05_24 = posReader.getPos(HbotConsumablePosParam.LittleBufferPos05_24.name(), Pos3d.class);
return getLittleBufferOrProbeSubstancePos(pos00_00, pos00_24, pos05_00, pos05_24, group, off);
}
public Pos3d getProbeSubstancePos(ConsumableGroup group, Integer off) {
Pos3d pos00_00 = posReader.getPos(HbotConsumablePos.ProbeSubstance00_00.name(), Pos3d.class);
Pos3d pos00_24 = posReader.getPos(HbotConsumablePos.ProbeSubstance00_24.name(), Pos3d.class);
Pos3d pos05_00 = posReader.getPos(HbotConsumablePos.ProbeSubstance05_00.name(), Pos3d.class);
Pos3d pos05_24 = posReader.getPos(HbotConsumablePos.ProbeSubstance05_24.name(), Pos3d.class);
Pos3d pos00_00 = posReader.getPos(HbotConsumablePosParam.ProbeSubstance00_00.name(), Pos3d.class);
Pos3d pos00_24 = posReader.getPos(HbotConsumablePosParam.ProbeSubstance00_24.name(), Pos3d.class);
Pos3d pos05_00 = posReader.getPos(HbotConsumablePosParam.ProbeSubstance05_00.name(), Pos3d.class);
Pos3d pos05_24 = posReader.getPos(HbotConsumablePosParam.ProbeSubstance05_24.name(), Pos3d.class);
return getLittleBufferOrProbeSubstancePos(pos00_00, pos00_24, pos05_00, pos05_24, group, off);
}
public Pos3d getLargeBufferPos(ConsumableGroup group) {
Pos3d pos00 = posReader.getPos(HbotConsumablePos.LargeBufferPos00.name(), Pos3d.class);
Pos3d pos05 = posReader.getPos(HbotConsumablePos.LargeBufferPos05.name(), Pos3d.class);
Pos3d pos00 = posReader.getPos(HbotConsumablePosParam.LargeBufferPos00.name(), Pos3d.class);
Pos3d pos05 = posReader.getPos(HbotConsumablePosParam.LargeBufferPos05.name(), Pos3d.class);
int xoff = group.off % 3;
int yoff = group.off / 3;

31
src/main/java/a8k/type/HbotConsumablePos.java → src/main/java/a8k/type/HbotConsumablePosParam.java
View File

@ -1,21 +1,6 @@
package a8k.type;
public enum HbotConsumablePos {
Tip00_000Pos("第0组TIP的第0个位置"),
Tip00_011Pos("第0组TIP的第11个位置"),
Tip00_108Pos("第0组TIP的第108个位置"),
Tip00_119Pos("第0组TIP的第119个位置"),
Tip01_000Pos("第1组TIP的第0个位置"),
Tip01_011Pos("第1组TIP的第11个位置"),
Tip01_108Pos("第1组TIP的第108个位置"),
Tip01_119Pos("第1组TIP的第119个位置"),
Tip02_000Pos("第2组TIP的第0个位置"),
Tip02_011Pos("第2组TIP的第11个位置"),
Tip02_108Pos("第2组TIP的第108个位置"),
Tip02_119Pos("第2组TIP的第119个位置"),
public enum HbotConsumablePosParam {
LittleBufferPos00_00("第0组小瓶的第0个位置"),
LittleBufferPos00_24("第0组小瓶的第24个位置"),
LittleBufferPos05_00("第5组小瓶的第0个位置"),
@ -29,10 +14,22 @@ public enum HbotConsumablePos {
LargeBufferPos00("左上角大瓶位置"),
LargeBufferPos05("右下角大瓶位置"),
TipGroup0_000Pos("第1组TIP的第1个位置"),
TipGroup0_SpaceingX("第1组TIP的X间距"),
TipGroup0_SpaceingY("第1组TIP的Y间距"),
TipGroup1_000Pos("第2组TIP的第1个位置"),
TipGroup1_SpaceingX("第2组TIP的X间距"),
TipGroup1_SpaceingY("第2组TIP的Y间距"),
TipGroup2_000Pos("第3组TIP的第1个位置"),
TipGroup2_SpaceingX("第3组TIP的X间距"),
TipGroup2_SpaceingY("第3组TIP的Y间距"),
;
final public String chName;
HbotConsumablePos(String chName) {
HbotConsumablePosParam(String chName) {
this.chName = chName;
}
}

16
src/main/java/a8k/type/TipColumnNum.java
View File

@ -0,0 +1,16 @@
package a8k.type;
public enum TipColumnNum {
Colu01,
Colu02,
Colu03,
Colu04,
Colu05,
Colu06,
Colu07,
Colu08,
Colu09,
Colu10,
Colu11,
Colu12,
}

23
src/main/java/a8k/type/TipRefPoint.java
View File

@ -0,0 +1,23 @@
package a8k.type;
import a8k.type.cfg.Pos3d;
public class TipRefPoint {
public TipRowNum row; // 行
public TipColumnNum col; // 列
public Pos3d pos;
public TipRefPoint(TipRowNum rowNum, TipColumnNum colNum, Pos3d pos) {
this.row = rowNum;
this.col = colNum;
this.pos = pos;
}
public Boolean eq(TipRowNum row, TipColumnNum col) {
return this.row == row && this.col == col;
}
public Boolean neq(TipRowNum row, TipColumnNum col) {
return this.row != row || this.col != col;
}
}

14
src/main/java/a8k/type/TipRowNum.java
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@ -0,0 +1,14 @@
package a8k.type;
public enum TipRowNum {
ROW01,
ROW02,
ROW03,
ROW04,
ROW05,
ROW06,
ROW07,
ROW08,
ROW09,
ROW10,
}

21
src/main/java/a8k/utils/ZSimplAlgo.java
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@ -0,0 +1,21 @@
package a8k.utils;
import java.util.List;
public class ZSimplAlgo {
public static Double computeAverage(List<Double> data) {
Double sum = 0.0;
for (Double datum : data) {
sum += datum;
}
return sum / data.size();
}
public static Double computeAverage(Double[] data) {
Double sum = 0.0;
for (Double datum : data) {
sum += datum;
}
return sum / data.length;
}
}
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