增加移液枪性能验证接口

doc/检测流程.md

@@ -221,3 +221,51 @@ sequenceDiagram
     A8kCanBusConnection ->> A8kCanBusConnection: _priSend
     A8kCanBusConnection ->> WebSocketClient: send
 ```
+
+
+```mermaid
+---
+title: 全血样本预处理流程
+---
+flowchart
+    Begin[开始] --> S1[获取当前试管信息]
+    S1 --> S2[获取当前试管架配置信息]
+    
+    %% 试管样本准备阶段
+    S2 --> S3[夹取试管到摇匀位置]
+    S3 --> S4[摇匀]
+    S4 --> S5[取试管帽]
+    S5 --> S6[设置样本预处理完成]
+    
+    %% 反应板夹准备阶段
+    S6 --> S7[丢弃反应板夹为什么]
+    S7 --> S8[拉取反应板夹]
+    S8 --> S9[丢弃反应板夹为什么]
+    S9 --> S10[推送反应板夹]
+    S10 --> S11[设置反应板夹准备完毕]
+    
+    %% 处理样本
+    S11 --> S12[刺破小缓冲液]
+    S12 --> S13[取样]
+    S13 --> S14[将孵育盘转到待滴液的位置]
+    S14 --> S15[滴液]
+    
+    %% 孵育处理
+    S15 --> S16[]
+```
+
+
+```mermaid
+---
+title: 样本处理类图
+---
+
+classDiagram
+    %% 试管
+    class Tube
+    %% 试管架
+    class TubeHolder
+    %% 反应液类型
+    class A8kReactionFlowType
+    
+```

doc/系统事件消息总线.md

@@ -65,4 +65,16 @@ classDiagram
     class TubeHolderSettingMgrService
     
     class Report
+    
+    AppStateWebsocketEndpoint --> AppWebSocketEndpointMgr
+    AppEventWebsocketEndpoint --> AppWebSocketEndpointMgr
+    AppWebSocketEndpointMgr --> FrontEndMessageBoxAndEventMgr
+    AppWebSocketEndpointMgr --> DeviceWorkStateMgrService
+    AppWebSocketEndpointMgr --> GStateMgrService
+    AppWebSocketEndpointMgr --> TubeStateMgrService
+    AppWebSocketEndpointMgr --> IncubationPlateStateMgrService
+    AppWebSocketEndpointMgr --> OptScanModuleStateMgrService
+    AppWebSocketEndpointMgr --> ConsumablesMgrService
+    AppWebSocketEndpointMgr --> TubeHolderSettingMgrService
+    
 ```

doc/耗材管理.md

@@ -0,0 +1,35 @@
+```mermaid
+classDiagram
+    class A8kConsumableContainer
+    class TipContainer
+    class ReactionPlateContainer
+    class LittBottleContainer
+    class LarBottleContainer
+    
+    A8kConsumableContainer "1" --> "3" TipContainer
+    A8kConsumableContainer "1" --> "6" ReactionPlateContainer
+    A8kConsumableContainer "1" --> "6" LittBottleContainer
+    A8kConsumableContainer "1" --> "6" LarBottleContainer
+    
+    
+    class ConsumablesMgrService
+    ConsumablesMgrService --> A8kConsumableContainer
+    
+    class ConsumableInfo {
+        public String          lotid;
+        public ConsumableGroup group; // 耗材组
+        public Integer         pos; // 当前耗材信息属于哪个耗材组
+    }
+    
+```
+
+
+```mermaid
+---
+title: 耗材状态更新机制
+---
+
+sequenceDiagram
+    
+    
+```

src/main/java/a8k/app/controler/api/v1/app/verification/PipetteGunPerformanceValidationController.java

@@ -0,0 +1,34 @@
+package a8k.app.controler.api.v1.app.verification;
+
+import a8k.app.service.verification.PipetteGunPerformanceValidator;
+import a8k.app.type.exception.AppException;
+import a8k.app.type.ui.ApiRet;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+@Tag(name = "移液枪性能验证", description = "")
+@Slf4j
+@Controller
+@RequestMapping(value = "/api/v1/app/verification")
+@ResponseBody
+public class PipetteGunPerformanceValidationController {
+    @Resource
+    PipetteGunPerformanceValidator pipetteGunPerformanceValidator;
+
+    /**
+     * 移液枪10ul验证
+     * @return
+     * @throws AppException
+     */
+    @PostMapping("/pipetteGun/10ul")
+    public ApiRet<Void> validate10ul() throws AppException {
+        pipetteGunPerformanceValidator.aspirate10ul();
+        return ApiRet.success();
+    }
+}

src/main/java/a8k/app/service/verification/PipetteGunPerformanceValidator.java

@@ -0,0 +1,151 @@
+package a8k.app.service.verification;
+
+import a8k.app.constant.AppConstant;
+import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.hardware.type.LldType;
+import a8k.app.hardware.type.PipetteRegIndex;
+import a8k.app.service.lowerctrl.HbotMoveCtrlService;
+import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
+import a8k.app.service.lowerctrl.LiquidOperationCtrlService;
+import a8k.app.service.param.exparam.HbotConsumableExParamMgr;
+import a8k.app.service.param.hbotpos.HbotTipPosMgr;
+import a8k.app.service.param.pipetteparam.PipetteGunExParamMgr;
+import a8k.app.service.statemgr.ConsumablesMgrService;
+import a8k.app.type.a8k.ConsumableGroup;
+import a8k.app.type.a8k.Pos3d;
+import a8k.app.type.a8k.pos.TipGroupPos;
+import a8k.app.type.a8k.pos.TipPos;
+import a8k.app.type.exception.AppException;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 移液枪性能验证器
+ */
+@Slf4j
+@Component
+public class PipetteGunPerformanceValidator {
+
+    @Resource
+    HbotTipPosMgr hbotTipPosMgr;
+
+    @Resource
+    PipetteCtrlDriver pipetteCtrlDriver;
+    @Resource
+    HbotMoveCtrlService hbotMoveCtrlService;
+    @Resource
+    HbotMoveExCtrlService hbotMoveExCtrlService;
+
+    @Resource
+    HbotConsumableExParamMgr hbotConsumableExParamMgr;
+
+    @Resource
+    PipetteGunExParamMgr pipetteGunExParamMgr;
+
+    @Resource
+    ConsumablesMgrService consumablesMgrService;
+
+    /**
+     * 1. 移液枪获取从当前系统可用的tip位置获取一个tip头
+     * 2. 从耗材组1的大缓冲液中汲取10ul液体滴入到耗材组6的大缓冲液中
+     * 3. 移液枪移动到耗材组2大缓冲液位置
+     * @throws AppException
+     */
+    public void aspirate10ul() throws AppException {
+        if (!takeOneTip()) {
+            throw AppException.ofAECodeError("获取tip失败");
+        }
+        Integer liquidPos = lld();
+        if (liquidPos == 0)
+            throw AppException.ofAECodeError("未检测到液体");
+        takeLiquid(10.0, liquidPos);
+        distributeLiquid();
+        resetPos();
+    }
+
+
+    private void distributeLiquid() throws AppException {
+        hbotMoveExCtrlService.moveToLargeBSSamplePosXY(ConsumableGroup.CG6);
+        pipetteCtrlDriver.zMotorMoveToBlock(50);
+        pumpMoveTo(8000, 0.0);
+        pipetteCtrlDriver.zMotorMoveToBlock(0);
+    }
+
+    private void resetPos() throws AppException {
+        hbotMoveExCtrlService.moveToLargeBSSamplePosXY(ConsumableGroup.CG2);
+    }
+
+
+    private Boolean takeOneTip() throws AppException {
+        hbotMoveCtrlService.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
+        pipetteGunInit();
+        TipPos tipPos = consumablesMgrService.getFirstTipPos(TipGroupPos.TipG1);
+
+        log.info(" 取TIP {}", tipPos);
+        return hbotMoveExCtrlService.takeTipNoCheck(tipPos.group, tipPos.index);
+    }
+
+
+    public Integer lld() throws AppException {
+        Integer liquidPos = 0;
+        hbotMoveExCtrlService.moveToLargeBSSamplePosXY(ConsumableGroup.CG1);
+        pipetteCtrlDriver.zMotorMoveToBlock(0);
+        pumpMoveTo(8000, 0.0);
+        pumpMoveTo(300, 100.0);
+        pumpMoveTo(8000, 0.0);
+        pumpMoveTo(300, 50.0);
+
+        Pos3d toPos  = hbotConsumableExParamMgr.getLargeBufferSamplePos(ConsumableGroup.CG1);
+        Pos3d maxPos = hbotConsumableExParamMgr.getLargeBufferSamplePosEnd(ConsumableGroup.CG1);
+        pipetteCtrlDriver.zMotorMoveToBlock(toPos.z);
+        pipetteCtrlDriver.liquidOperationClearParams();
+        pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 900, 30);
+        pipetteCtrlDriver.liquidOperationSetZMotorRunParams(toPos.z, maxPos.z, 60 * 80 / LiquidOperationCtrlService.helicalPitch);
+        pipetteCtrlDriver.liquidOperationFreshParams();
+        pipetteCtrlDriver.pipetteLld(LldType.kplld, 0, 30);
+        if (pipetteCtrlDriver.lldIsDetectLiquid()) {
+            liquidPos = pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
+        }
+        pipetteCtrlDriver.zMotorMoveToBlock(0);
+        pumpMoveTo(8000, 0.0);
+        return liquidPos;
+    }
+
+    public void pumpMoveTo(Integer pumpvmax, Double ul) throws AppException {
+        pipetteCtrlDriver.liquidOperationClearParams();
+        pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, pumpvmax);
+        pipetteCtrlDriver.liquidOperationFreshParams();
+        pipetteCtrlDriver.pipettePumpMoveTo(ul);
+    }
+
+    /**
+     * 移液枪初始化
+     * @throws AppException
+     */
+    private void pipetteGunInit() throws AppException {
+        pipetteCtrlDriver.pipetteInitDeviceBlock();
+    }
+
+
+    /**
+     * 汲取液体
+     * @param ul
+     * @throws AppException
+     */
+    public void takeLiquid(Double ul, Integer liquidPos) throws AppException {
+        hbotMoveExCtrlService.moveToLargeBSSamplePosXY(ConsumableGroup.CG1);
+        pipetteCtrlDriver.zMotorMoveToBlock(0);
+        pumpMoveTo(8000, 0.0);
+        pumpMoveTo(8000, 150.0);
+        pipetteCtrlDriver.zMotorMoveToBlock(liquidPos);
+        pipetteCtrlDriver.liquidOperationClearParams();
+        pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 900, 100);
+        pipetteCtrlDriver.liquidOperationSetZMotorRunParams(0, 300, 10 * 80 / LiquidOperationCtrlService.helicalPitch);
+        pipetteCtrlDriver.liquidOperationFreshParams();
+        ul = pipetteGunExParamMgr.calibrateVolume(ul);
+        log.info("取液体 {}", ul);
+        pipetteCtrlDriver.pipetteAspirate(ul);
+        pipetteCtrlDriver.zMotorMoveToBlock(0);
+    }
+}