update

src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java

@@ -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
 	//

src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java

@@ -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)

src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java

@@ -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)

src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java

@@ -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;

src/main/java/a8k/type/HbotConsumablePos.java → src/main/java/a8k/type/HbotConsumablePosParam.java

@@ -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;
 	}
 }

src/main/java/a8k/type/TipColumnNum.java

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

src/main/java/a8k/type/TipRefPoint.java

@@ -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;
+	}
+}

src/main/java/a8k/type/TipRowNum.java

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

src/main/java/a8k/utils/ZSimplAlgo.java

@@ -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;
+	}
+}