1

src/main/java/a8k/service/db/dao/A8KGeneralConsumablesPropertyDao.java

@@ -1,36 +0,0 @@
-package a8k.service.db.dao;
-
-import a8k.service.db.entity.A8kGeneralConsumablesProperty;
-import com.iflytop.uf.UfActiveRecord;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-
-/**
- * 用于存储耗材的一些属性信息
- */
-@Component
-public class A8KGeneralConsumablesPropertyDao {
-
-
-
-	public float getValAsFloat(String propertyKey) {
-		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
-		assert val != null;
-		return Float.parseFloat(val.val);
-	}
-
-
-	public int getValAsInt(String propertyKey) {
-		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
-		assert val != null;
-		return Integer.parseInt(val.val);
-	}
-
-	public String getValAsString(String propertyKey) {
-		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
-		assert val != null;
-		return val.val;
-	}
-
-}

src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java

@@ -1,59 +0,0 @@
-package a8k.service.db.dao;
-
-import a8k.appbean.PosBean;
-import a8k.service.db.entity.A8kDirectCtrlPos;
-import com.iflytop.uf.UfActiveRecord;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-
-/**
- *
- *	用于设备运行中的关键位置信息
- *
- *
- */
-@Component
-public class A8kDirectCtrlPosDao {
-
-	//
-	// 试管架移动相关坐标
-	//		1.零点参考点为零点光电。
-	//      2.移动坐标参考点为从左往右数第一个试管
-	//      3.正方向为执行机构的正方向
-	//
-	public static final String MotorTubeRackMotor_tubeScanPos          = "MotorTubeRackMotor_tubeScanPos"; //扫码位置
-	public static final String MotorTubeRackMotor_tubeHeighJudgmentPos = "MotorTubeRackMotor_tubeHeighJudgmentPos"; //高低试管判断位置
-	public static final String MotorTubeRackMotor_tubePreProcessPos    = "MotorTubeRackMotor_tubePreProcessPos"; //试管预处理位置
-	public static final String MotorTubeRackMotor_tubeExistJudgmentPos = "MotorTubeRackMotor_tubeExistJudgmentPos";//试管有无
-	public static final String MotorTubeRackMotor_tubeRackEnterPos     = "MotorTubeRackMotor_tubeRackEnterPos"; //入料位置
-	public static final String MotorTubeRackMotor_tubeRackExitPos      = "MotorTubeRackMotor_tubeRackExitPos"; //出料位置
-	public static final String MotorTubeRackMotor_tubeRackScanCodePos  = "MotorTubeRackMotor_tubeRackScanCodePos"; //出料位置
-
-	//
-	// 试管扫码夹紧模块
-	//
-
-	public static final String MotorTubeScanClampModule_clampPos   = "MotorTubeScanClampModule_clampPos";//试管扫码夹紧模组 夹紧位置
-	public static final String MotorTubeScanClampModule_releasePos = "MotorTubeScanClampModule_releasePos";//试管扫码夹紧模组 释放位置
-
-
-	//
-	//	试管预处理模块
-	//
-
-
-	PosBean getPosBean(String posName) {
-		A8kDirectCtrlPos pos = UfActiveRecord.findOne(A8kDirectCtrlPos.class, Map.of("posName", posName));
-		assert pos != null;
-		return new PosBean(pos.posX, pos.posY, pos.posZ);
-	}
-
-	public A8kDirectCtrlPos getPos(String posName) {
-		A8kDirectCtrlPos pos = UfActiveRecord.findOne(A8kDirectCtrlPos.class, Map.of("posName", posName));
-		assert pos != null;
-		return pos;
-	}
-
-
-}

src/main/java/a8k/service/db/dao/ModulerParameterDao.java

@@ -1,17 +0,0 @@
-package a8k.service.db.dao;
-
-import a8k.service.db.entity.ModuleParameter;
-
-import com.iflytop.uf.UfActiveRecord;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-
-@Component
-public class ModulerParameterDao {
-	ModuleParameter getMotorParameter(int mid) {
-		var param = UfActiveRecord.findOne(ModuleParameter.class, Map.of("mid", mid));
-		assert param != null;
-		return param;
-	}
-}

src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java

@@ -0,0 +1,13 @@
+package a8k.service.db.dao;
+
+import a8k.service.db.entity.MotorTubeRackMoveCtrlServiceParameter;
+import org.springframework.stereotype.Component;
+
+@Component
+public class MotorTubeRackMoveCtrlServiceParameterDao {
+
+	public MotorTubeRackMoveCtrlServiceParameter getParameter() {
+		//TODO:
+		return null;
+	}
+}

src/main/java/a8k/service/db/entity/A8kDirectCtrlPos.java

@@ -1,27 +0,0 @@
-package a8k.service.db.entity;
-
-import com.iflytop.uf.UfActiveRecord;
-import com.iflytop.uf.UfActiveRecordField;
-
-/**
- * A8kDirectCtrlPos
- */
-public class A8kDirectCtrlPos extends UfActiveRecord {
-
-	@UfActiveRecordField
-	public String  posName; //位置名称
-	@UfActiveRecordField
-	public Integer mid;//模块ID
-	@UfActiveRecordField
-	public String  midName; //模块ID
-	@UfActiveRecordField
-	public Integer posX;  //位置X，如果只有一个位置，则使用位置X
-	@UfActiveRecordField
-	public Integer posY; //位置Y，如果有两个位置，则使用位置X,Y
-	@UfActiveRecordField
-	public Integer posZ; //位置Z，如果有三个位置，则使用位置X,Y，Z
-
-	public static String getTableName() {
-		return "A8kDirectCtrlPos" + "Table";
-	}
-}

src/main/java/a8k/service/db/entity/A8kGeneralConsumablesProperty.java

@@ -1,20 +0,0 @@
-package a8k.service.db.entity;
-
-import com.iflytop.uf.UfActiveRecord;
-import com.iflytop.uf.UfActiveRecordField;
-
-/**
- * A8kDirectCtrlPos
- */
-public class A8kGeneralConsumablesProperty extends UfActiveRecord {
-
-	@UfActiveRecordField
-	public String  propertyKey;
-	@UfActiveRecordField
-	public String val;
-
-
-	public static String getTableName() {
-		return "A8kGeneralConsumablesProperty" + "Table";
-	}
-}

src/main/java/a8k/service/db/entity/A8kTubeInfo.java

@@ -13,23 +13,21 @@ public class A8kTubeInfo extends UfActiveRecord {
 	@UfActiveRecordField
 	public String  scanCode;//试管对应的编码
 	@UfActiveRecordField
-	public Integer tubeNum; //试管数量
-	@UfActiveRecordField
-	public Double  tubeSpacing; //试管之间的间隔 单位mm
+	public Integer tubeSpacing; //试管之间的间隔 单位0.1mm
 
 	/**
 	 * 摇匀模组使用
 	 */
 	@UfActiveRecordField
-	public Double takeTubeCapPos;//float mm 取试管帽高度
+	public Integer takeTubeCapPos;// 0.1mm 取试管帽高度
 
 	/**
 	 * Z轴使用
 	 */
 	@UfActiveRecordField
-	public Double sampleBeginPos;//float mm 取样高度
+	public Integer sampleBeginPos;// 0.1mm 取样高度
 	@UfActiveRecordField
-	public Double sampleEndPos;//float mm 取样低位
+	public Integer sampleEndPos;//0.1mm 取样低位
 
 	public static String getTableName() {
 		return "A8kTubeInfo" + "Table";

src/main/java/a8k/service/db/entity/ModuleParameter.java

@@ -1,34 +0,0 @@
-package a8k.service.db.entity;
-
-import com.iflytop.uf.UfActiveRecord;
-import com.iflytop.uf.UfActiveRecordField;
-
-public class ModuleParameter extends UfActiveRecord {
-	@UfActiveRecordField
-	Integer mid; //模块ID
-
-	@UfActiveRecordField
-	String moduleName; //模块名称
-
-	@UfActiveRecordField
-	Integer zeroPosOff; //零点偏移
-
-	@UfActiveRecordField
-	public Integer moveToZeroOvertime;// 回零超时时间
-
-	@UfActiveRecordField
-	public Integer actionOvertime;// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间。
-
-	@UfActiveRecordField
-	Integer defaultVelocity; //默认速度
-
-	@UfActiveRecordField
-	Integer backToZeroVelocity; //回零速度
-
-	@UfActiveRecordField
-	public Integer loseStepWarningJudgeDistance; //丢步异常警告距离
-
-	public static String getTableName() {
-		return "MotorParameter" + "Table";
-	}
-}

src/main/java/a8k/service/db/entity/MotorTubeRackMoveCtrlServiceParameter.java

@@ -0,0 +1,40 @@
+package a8k.service.db.entity;
+
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
+
+public class MotorTubeRackMoveCtrlServiceParameter {
+	@UfActiveRecordField
+	Integer moveToZeroOvertime;// 回零超时时间
+
+	@UfActiveRecordField
+	public Integer actionOvertime;// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间。
+
+	@UfActiveRecordField
+	public Integer tubeScanPos;  //试管扫码位置
+
+	@UfActiveRecordField
+	public Integer tubeHeighJudgmentPos; //高低试管判断位置
+
+	@UfActiveRecordField
+	public Integer tubePreProcessPos; //试管预处理位置
+
+	@UfActiveRecordField
+	public Integer tubeExistJudgmentPos; //入料位置
+
+	@UfActiveRecordField
+	public Integer tubeRackEnterPos;  //出料位置
+
+	@UfActiveRecordField
+	public Integer tubeRackExitPos; //出料位置
+
+	@UfActiveRecordField
+	public Integer tubeRackScanCodePos; //试管架扫码位置
+
+	@UfActiveRecordField
+	Integer horizontalMotorOffset; //水平移动电机位置偏移
+
+	public static String getTableName() {
+		return "MotorTubeRackMoveCtrlServiceParameter" + "Table";
+	}
+}

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

@@ -7,16 +7,13 @@ import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kDirectCtrlPosDao;
 import a8k.service.db.dao.A8kTubeInfoDao;
+import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao;
 import a8k.service.db.dao.MotorParameterDao;
-import a8k.service.db.entity.A8kDirectCtrlPos;
 import jakarta.annotation.Resource;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
-
 @Component
 public class MotorTubeRackMoveCtrlService {
-	private static final Integer MOVE_TO_ZERO_MAX_DPOS = 10;
-
 	/**
 	 *
 	 *	主要用来控制试管架的平移动作控制
@@ -42,14 +39,17 @@ public class MotorTubeRackMoveCtrlService {
 	//  MotorTubeScanClampModule_clampPos
 	//  MotorTubeScanClampModule_releasePos
 
-	@Autowired
-	A8kDirectCtrlPosDao directCtrlPosTableDao;
+
 	@Autowired
 	A8kTubeInfoDao      tubeInfoDao;
+
 	@Autowired
 	MotorParameterDao   motorParameterDao;
 	@Resource
 	private A8kCanBusService a8kCanBusService;
+	@Resource
+	MotorTubeRackMoveCtrlServiceParameterDao serviceParameterDao;
+
 
 
 	//
@@ -62,8 +62,6 @@ public class MotorTubeRackMoveCtrlService {
 
 
 	public void moveToZero() throws HardwareException, InterruptedException {
-		var motorParams = this.motorParameterDao.getMotorParameter(ModuleId.MotorTubeRackMoveModule);
-
 		var beforePosResponse = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_read_pos, new Integer[]{0});
 		var beforePos = beforePosResponse.getContentI32(0);
 		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, motorParams.moveToZeroOvertime);
@@ -96,24 +94,24 @@ public class MotorTubeRackMoveCtrlService {
 	 * 移动试管架到入口位置
 	 */
 	public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
-		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackEnterPos);
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
 	}
 
 	/**
 	 * 移动试管架到出口位置
 	 */
 	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
-		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackExitPos);
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
 	}
 
 	/**
 	 * 移动试管架到试管架扫码位置
 	 */
 	public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
-		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackScanCodePos);
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
 	}
 
 	/**
@@ -139,13 +137,11 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeType
 	 * @param tubeIndex
 	 */
-	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) {
+	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
 		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var startPosInfo = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeScanPos);
-		var scanPos = startPosInfo.posX + tubeIndex * tubeInfo.tubeSpacing;
-
-		var motorParams = this.motorParameterDao.getMotorParameter(ModuleId.MotorTubeRackMoveModule);
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, motorParams.actionOvertime);
+		var scanPos = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
 	}
 
 	/**
@@ -153,8 +149,15 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeType
 	 * @param tubeIndex
 	 */
-	public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) {
-		return null;
+	public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		this.moveTubeToScanPos(tubeType, tubeIndex);
+
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
+		Thread.sleep(500);
+		var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		var contentBytes = response.getCmdContent();
+		return new String(contentBytes);
 	}
 
 	/**
@@ -162,7 +165,11 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeType
 	 * @param tubeIndex
 	 */
-	public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) {
+	public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
 	}
 
 	/**
@@ -170,7 +177,11 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeType
 	 * @param tubeIndex
 	 */
-	public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) {
+	public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var pos = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
 	}
 
 	//
@@ -182,15 +193,21 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeType
 	 * @param tubeIndex
 	 */
-	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) {
+	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var pos = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
 	}
 
-	public boolean isTubeRackExitInEnterPos() {
-		return false;
+	public boolean isTubeRackInEnterPos() throws HardwareException {
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
+		return response.getContentI32(0) == 1;
 	}
 
-	public boolean isTubeRackExitInExitPos() {
-		return false;
+	public boolean isTubeRackInExitPos() throws HardwareException {
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
+		return response.getContentI32(0) == 1;
 	}
 
 	/**
@@ -198,8 +215,10 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param photoelectricIndex 0:里光电，1:外光电
 	 * @return true, 光电触发 false,光电没有触发
 	 */
-	public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) {
-		return false;
+	public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException {
+		var index = 0 == photoelectricIndex ? 2 : 1;
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
+		return response.getContentI32(0) == 1;
 	}
 
 	//
@@ -207,4 +226,31 @@ public class MotorTubeRackMoveCtrlService {
 	//
 
 
+	/**
+	 * 扫描夹紧机构夹紧
+	 */
+	public void scanClampModuleCompress() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ServoTubeRackTubePushModule,
+			CmdId.kmini_servo_move_to,
+			new Integer[]{0},
+			params.actionOvertime
+		);
+	}
+
+	/**
+	 * 扫描夹紧机构复位
+	 */
+	public void scanClampModuleReset() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ServoTubeRackTubePushModule,
+			CmdId.kmini_servo_move_to,
+			new Integer[]{0},
+			params.actionOvertime
+		);
+	}
+
+
 }

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

@@ -4,13 +4,6 @@ import a8k.appbean.SampleTubeState;
 
 public class SamplesPreProcessModuleCtrlService {
 
-
-
-
-
-
-
-
 	/**
 	 * 样品预处理模块
 	 * 		主要负责样品预处理的相关操作
@@ -22,7 +15,7 @@ public class SamplesPreProcessModuleCtrlService {
 	 * 	    4.平移电机取试管位置
 	 * 	    5.平移电机试管处理位置
 	 *
-	 * 	    
+	 *
 	 */
 
 	public void takeTube(String tubeType) {
@@ -34,7 +27,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 	/**
 	 * 摇匀试管
-	 * @param tubeState
+	 * @param tubeType
 	 * @param times
 	 * @param shakeDegree
 	 */