project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 10 months ago
parent
b380259677
commit
3c893d5853
15 changed files with 650 additions and 369 deletions
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  1. BIN
      app.db
  2. 2
      src/main/java/a8k/constant/AppConstant.java
  3. 3
      src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
  4. 237
      src/main/java/a8k/service/app/devicedriver/calibration/HbotLittleBottleConsumableCalibration.java
  5. 63
      src/main/java/a8k/service/app/devicedriver/calibration/HbotTipPosCalibration.java
  6. 46
      src/main/java/a8k/service/app/devicedriver/calibration/ReactionPlatesTransmitControlerCalibration.java
  7. 116
      src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
  8. 12
      src/main/java/a8k/service/debug/AppDebugHelperService.java
  9. 2
      src/main/java/a8k/type/ConsumableGroup.java
  10. 41
      src/main/java/a8k/type/HbotConsumablePosParam.java
  11. 15
      src/main/java/a8k/type/LittleBottleConsumablePosInfo.java
  12. 25
      src/main/java/a8k/type/LittleBottleConsumableRefPoint.java
  13. 6
      src/main/java/a8k/type/LittleBottleConsumableType.java
  14. 19
      src/main/java/a8k/utils/ZSimplAlgo.java

BIN
app.db
View File

2
src/main/java/a8k/constant/AppConstant.java
View File

@ -4,6 +4,8 @@ import a8k.type.Consumable;
public class AppConstant {
public static final int CONSUMABLE_NUM = 25;
public static final int CONSUMABLE_COL_NUM = 5;
public static final int CONSUMABLE_ROW_NUM = 5;
public static final int TIP_NUM = 120;
public static final String APP_VERSION = "1.0.0";

3
src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
View File

@ -18,7 +18,8 @@ public enum ExtApiTabConfig {
TubeFeedingModulePosCalibration("校准.试管入料校准", true),
TubePreProcesPosCalibration("校准.试管预处理校准", true),
ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
HbotConsumablePosCalibration("校准.耗材位置校准", true),
HbotTipPosCalibration("校准.Tip耗材位置校准", true),
HbotLittleBottleConsumableCalibration("校准.小瓶耗材位置校准", true),
ActionReactorService("底层调试.单步调试", false),//OK
Hbot2DCodeScanPos("参数.Hbot二维码扫描坐标参数", false),

237
src/main/java/a8k/service/app/devicedriver/calibration/HbotLittleBottleConsumableCalibration.java
View File

@ -0,0 +1,237 @@
package a8k.service.app.devicedriver.calibration;
import a8k.constant.AppConstant;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicedriver.basectrl.HbotModule;
import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
import a8k.service.app.devicedriver.ctrl.HbotControler;
import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr;
import a8k.type.*;
import a8k.type.cfg.Pos2d;
import a8k.type.cfg.Pos3d;
import a8k.type.exception.AppException;
import a8k.utils.ZSimplAlgo;
import jakarta.annotation.Resource;
import org.aspectj.lang.annotation.Aspect;
import org.slf4j.Logger;
import org.springframework.stereotype.Component;
import java.util.List;
@ExtApiTab(cfg = ExtApiTabConfig.HbotLittleBottleConsumableCalibration)
@Component
@Aspect
public class HbotLittleBottleConsumableCalibration {
static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotLittleBottleConsumableCalibration.class);
@Resource
PipetteCtrlModule pipetteCtrlModule;
@Resource
HbotModule hbotModule;
@Resource
HbotControler hbotControler;
@Resource
HbotConsumablePosMgr hbotConsumablePosMgr;
Boolean stopFlag = false;
Boolean checkStopFlag() {
if (stopFlag) {
stopFlag = false;
return true;
}
return false;
}
void resetStopFlag() {
stopFlag = false;
}
void setStopFlag() {
stopFlag = true;
}
@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
public Object getPoss() throws AppException {
return hbotConsumablePosMgr.getParams();
}
// 测试工具
@ExtApiFn(name = "归零", group = "测试工具", order = 11)
public void moveToZero() throws AppException {
enableModule();
pipetteCtrlModule.zMotorMoveZeroBlock();
hbotModule.moveToZeroBlock();
}
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
public void enableModule() throws AppException {
pipetteCtrlModule.zMotorEnable(1);
hbotModule.enable(1);
}
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
public void disableModule() throws AppException {
pipetteCtrlModule.zMotorEnable(0);
hbotModule.enable(0);
}
LittleBottleConsumableType littleBottleConsumableType = LittleBottleConsumableType.BufferSolution;
List<LittleBottleConsumableRefPoint> littleBottleConsumableRefPoint;
LittleBottleConsumablePosInfo littleBottleConsumablePosInfo;
@ExtApiFn(name = "开始标定小瓶坐标", group = "标定小瓶坐标", order = 30)
public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException {
littleBottleConsumablePosInfo = null;
littleBottleConsumableRefPoint = new java.util.ArrayList<>();
littleBottleConsumableType = type;
moveToZero();
disableModule();
}
@ExtApiFn(name = "添加小瓶参考点", group = "标定小瓶坐标", order = 31)
public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException {
enableModule();
Pos2d xypos = hbotModule.readPos();
pipetteCtrlModule.zMotorMeasureDistance();
Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, z));
this.littleBottleConsumableRefPoint.add(littleBufferRefPoint);
disableModule();
return computeLittleBottlePosInfo();
}
@ExtApiFn(name = "删除上一个小瓶参考点", group = "标定小瓶坐标", order = 32)
public LittleBottleConsumablePosInfo computeLittleBottlePosInfo() {
//计算y0,所有group==0,1,2,同时0<=off<5的点，求平均
Double[] y = new Double[2];
Double[] x = new Double[3];
Double[] dxs = new Double[6];
Double[] dys = new Double[6];
Double dx;
Double dy;
Double z;
y[0] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() < 3 && point.index < 5).
map(point -> point.pos.y).toList()
);
//计算y1,所有group==3,4,5,同时0<=off<5的点，求平均
y[1] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() >= 3 && point.index < 5).
map(point -> point.pos.y).toList()
);
//计算y0,所有group==0,3,同时off==0,5,10,15,20的点，求y平均
x[0] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 0 && point.index % 5 == 0).
map(point -> point.pos.y).toList()
);
//计算y1,所有group==1,4,同时off==0,5,10,15,20的点，求y平均
x[1] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 1 && point.index % 5 == 0).
map(point -> point.pos.y).toList()
);
//计算y2
x[2] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 2 && point.index % 5 == 0).
map(point -> point.pos.y).toList()
);
//
z = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().map(point -> point.pos.z).toList()
);
//计算d0x,所有 非0,5,10,15,20的点，到x0的距离/偏移差值，求平均
for (int i = 0; i < 6; i++) {
int finalI = i;
dxs[i] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() == finalI && point.getColOff() != 0).
map(point -> point.pos.x - x[finalI % 3] / (point.getColOff())).toList()
);
}
dx = ZSimplAlgo.computeAverage(dxs);
//计算dy,
for (int i = 0; i < 6; i++) {
int finalI = i;
dys[i] = ZSimplAlgo.computeAverage(
littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() == finalI && point.getRowOff() != 0).
map(point -> point.pos.y - y[finalI / 3] / (point.getRowOff())).toList()
);
}
dy = ZSimplAlgo.computeAverage(dys);
littleBottleConsumablePosInfo = new LittleBottleConsumablePosInfo();
littleBottleConsumablePosInfo.g0_000 = new Pos3d(x[0].intValue(), y[0].intValue(), z.intValue());
littleBottleConsumablePosInfo.g1_000 = new Pos3d(x[1].intValue(), y[0].intValue(), z.intValue());
littleBottleConsumablePosInfo.g2_000 = new Pos3d(x[2].intValue(), y[0].intValue(), z.intValue());
littleBottleConsumablePosInfo.g3_000 = new Pos3d(x[0].intValue(), y[1].intValue(), z.intValue());
littleBottleConsumablePosInfo.g4_000 = new Pos3d(x[1].intValue(), y[1].intValue(), z.intValue());
littleBottleConsumablePosInfo.g5_000 = new Pos3d(x[2].intValue(), y[1].intValue(), z.intValue());
littleBottleConsumablePosInfo.dx = dx;
littleBottleConsumablePosInfo.dy = dy;
return littleBottleConsumablePosInfo;
}
@ExtApiFn(name = "保存小瓶坐标", group = "标定小瓶坐标", order = 33)
public void saveLittleBottleConsumablePosInfo() throws AppException {
hbotConsumablePosMgr.setLittleBottleConsumablePosInfo(littleBottleConsumableType, littleBottleConsumablePosInfo);
}
//
// 校验
//
@ExtApiFn(name = "校验小瓶缓冲液坐标", group = "校验", order = 301)
public void testMoveToLittleBufferPos() throws AppException {
resetStopFlag();
enableModule();
for (ConsumableGroup group : ConsumableGroup.values()) {
for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
hbotControler.moveToLittleBufferPos(group, i);
if (checkStopFlag())
return;
}
}
}
@ExtApiFn(name = "校验探测物质坐标", group = "校验", order = 302)
public void testMoveToProbeSubstancePos() throws AppException {
resetStopFlag();
enableModule();
for (ConsumableGroup group : ConsumableGroup.values()) {
for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
hbotControler.moveToProbeSubstancePos(group, i);
if (checkStopFlag())
return;
}
}
}
// @ExtApiFn(name = "校验大瓶缓冲液坐标", group = "校验", order = 303)
// public void testMoveToLargeBufferPos() throws AppException {
// resetStopFlag();
// enableModule();
// for (ConsumableGroup group : ConsumableGroup.values()) {
// hbotControler.moveToLargeBufferPos(group);
// if (checkStopFlag())
// return;
// }
// }
@ExtApiFn(name = "停止校验", group = "校验", order = 304)
public void stopTest() throws AppException {
setStopFlag();
}
}

63
src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java → src/main/java/a8k/service/app/devicedriver/calibration/HbotTipPosCalibration.java
View File

@ -6,41 +6,33 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.service.app.devicedriver.basectrl.CodeScaner;
import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
import a8k.service.app.devicedriver.basectrl.HbotModule;
import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
import a8k.service.app.devicedriver.ctrl.ConsumablesScanCtrl;
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.*;
import a8k.type.cfg.Pos2d;
import a8k.type.cfg.Pos3d;
import a8k.type.exception.AppException;
import a8k.type.LittleBottleConsumablePosInfo;
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;
import jakarta.annotation.Resource;
import org.aspectj.lang.annotation.Aspect;
import org.aspectj.lang.annotation.Before;
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)
@ExtApiTab(cfg = ExtApiTabConfig.HbotTipPosCalibration)
@Component
@Aspect
public class HbotConsumablePosCalibration {
static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotConsumablePosCalibration.class);
public class HbotTipPosCalibration {
static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotTipPosCalibration.class);
@Resource
PipetteCtrlModule pipetteCtrlModule;
@ -80,7 +72,7 @@ public class HbotConsumablePosCalibration {
// 测试工具
@ExtApiFn(name = "归零", group = "测试工具", order = 11)
public void deviceReset() throws AppException {
public void moveToZero() throws AppException {
enableModule();
pipetteCtrlModule.zMotorMoveZeroBlock();
hbotModule.moveToZeroBlock();
@ -113,7 +105,7 @@ public class HbotConsumablePosCalibration {
public void startCalibrateTipPos(TipGroup tipGroup) throws AppException {
this.tipGroup = tipGroup;
tipRefPosList = new java.util.ArrayList<>();
deviceReset();
moveToZero();
disableModule();
tipdx = 0.0;
tipdy = 0.0;
@ -206,10 +198,11 @@ public class HbotConsumablePosCalibration {
}
//
// 校验
//
@ExtApiFn(name = "校验Tip坐标", group = "校验", order = 30)
@ExtApiFn(name = "校验Tip坐标", group = "校验", order = 300)
public void testTakeTip(TipGroup tipGroup) throws AppException {
resetStopFlag();
enableModule();
@ -220,45 +213,7 @@ public class HbotConsumablePosCalibration {
}
}
@ExtApiFn(name = "校验小瓶缓冲液坐标", group = "校验", order = 31)
public void testMoveToLittleBufferPos() throws AppException {
resetStopFlag();
enableModule();
for (ConsumableGroup group : ConsumableGroup.values()) {
for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
hbotControler.moveToLittleBufferPos(group, i);
if (checkStopFlag())
return;
}
}
}
@ExtApiFn(name = "校验探测物质坐标", group = "校验", order = 32)
public void testMoveToProbeSubstancePos() throws AppException {
resetStopFlag();
enableModule();
for (ConsumableGroup group : ConsumableGroup.values()) {
for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
hbotControler.moveToProbeSubstancePos(group, i);
if (checkStopFlag())
return;
}
}
}
@ExtApiFn(name = "校验大瓶缓冲液坐标", group = "校验", order = 33)
public void testMoveToLargeBufferPos() throws AppException {
resetStopFlag();
enableModule();
for (ConsumableGroup group : ConsumableGroup.values()) {
hbotControler.moveToLargeBufferPos(group);
if (checkStopFlag())
return;
}
}
@ExtApiFn(name = "停止校验", group = "校验", order = 34)
@ExtApiFn(name = "停止校验", group = "校验", order = 304)
public void stopTest() throws AppException {
setStopFlag();
}

46
src/main/java/a8k/service/app/devicedriver/calibration/ReactionPlatesTransmitControlerCalibration.java
View File

@ -194,29 +194,29 @@ public class ReactionPlatesTransmitControlerCalibration {
@ExtApiFn(name = "反应板.推所有丢所有", group = "校验", order = 1004)
public void pushAllAndRemoveAll() throws AppException {
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE01);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE02);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE03);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE04);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE05);
pushOneAndRemove(ConsumableGroup.GROUP6, IncubatorPos.SPACE06);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE07);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE08);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE09);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE10);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE11);
pushOneAndRemove(ConsumableGroup.GROUP6, IncubatorPos.SPACE12);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE13);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE14);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE15);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE16);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE17);
pushOneAndRemove(ConsumableGroup.GROUP6, IncubatorPos.SPACE18);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE19);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE20);
pushOneAndRemove(ConsumableGroup.GROUP0, IncubatorPos.SPACE01);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE02);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE03);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE04);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE05);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE06);
pushOneAndRemove(ConsumableGroup.GROUP0, IncubatorPos.SPACE07);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE08);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE09);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE10);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE11);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE12);
pushOneAndRemove(ConsumableGroup.GROUP0, IncubatorPos.SPACE13);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE14);
pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE15);
pushOneAndRemove(ConsumableGroup.GROUP3, IncubatorPos.SPACE16);
pushOneAndRemove(ConsumableGroup.GROUP4, IncubatorPos.SPACE17);
pushOneAndRemove(ConsumableGroup.GROUP5, IncubatorPos.SPACE18);
pushOneAndRemove(ConsumableGroup.GROUP0, IncubatorPos.SPACE19);
pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE20);
}
}

116
src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
View File

@ -7,6 +7,8 @@ import a8k.service.db.LowerDeviceParameterDBService;
import a8k.service.db.utils.PosParameterReader;
import a8k.type.ConsumableGroup;
import a8k.type.HbotConsumablePosParam;
import a8k.type.LittleBottleConsumablePosInfo;
import a8k.type.LittleBottleConsumableType;
import a8k.type.cfg.Pos3d;
import a8k.type.type.TipGroup;
import a8k.utils.ZJsonHelper;
@ -105,6 +107,46 @@ public class HbotConsumablePosMgr {
posReader.updatePos(tipDyPos, dy);
}
public void setLittleBottleConsumablePosInfo(LittleBottleConsumableType type, LittleBottleConsumablePosInfo info) {
HbotConsumablePosParam group0_000Pos;
HbotConsumablePosParam group1_000Pos;
HbotConsumablePosParam group2_000Pos;
HbotConsumablePosParam group3_000Pos;
HbotConsumablePosParam group4_000Pos;
HbotConsumablePosParam group5_000Pos;
HbotConsumablePosParam groupDX;
HbotConsumablePosParam groupDY;
if (type.equals(LittleBottleConsumableType.BufferSolution)) {
group0_000Pos = HbotConsumablePosParam.LittleBufferGroup0_000Pos;
group1_000Pos = HbotConsumablePosParam.LittleBufferGroup1_000Pos;
group2_000Pos = HbotConsumablePosParam.LittleBufferGroup2_000Pos;
group3_000Pos = HbotConsumablePosParam.LittleBufferGroup3_000Pos;
group4_000Pos = HbotConsumablePosParam.LittleBufferGroup4_000Pos;
group5_000Pos = HbotConsumablePosParam.LittleBufferGroup5_000Pos;
groupDX = HbotConsumablePosParam.LittleBufferGroupDX;
groupDY = HbotConsumablePosParam.LittleBufferGroupDY;
} else {
group0_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup0_000Pos;
group1_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup1_000Pos;
group2_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup2_000Pos;
group3_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup3_000Pos;
group4_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup4_000Pos;
group5_000Pos = HbotConsumablePosParam.ProbeSubstanceGroup5_000Pos;
groupDX = HbotConsumablePosParam.ProbeSubstanceDX;
groupDY = HbotConsumablePosParam.ProbeSubstanceDY;
}
posReader.updatePos(group0_000Pos, info.g0_000);
posReader.updatePos(group1_000Pos, info.g1_000);
posReader.updatePos(group2_000Pos, info.g2_000);
posReader.updatePos(group3_000Pos, info.g3_000);
posReader.updatePos(group4_000Pos, info.g4_000);
posReader.updatePos(group5_000Pos, info.g5_000);
posReader.updatePos(groupDX, info.dx);
posReader.updatePos(groupDY, info.dy);
}
public Pos3d getTipPos(TipGroup tipGroup, Integer tipoff) {
Pos3d tip000 = null;
Double dx = 0.0;
@ -139,77 +181,51 @@ public class HbotConsumablePosMgr {
}
private Pos3d getLittleBufferOrProbeSubstancePos(
Pos3d pos00_00,
Pos3d pos00_24,
Pos3d pos05_00,
Pos3d pos05_24,
ConsumableGroup group, Integer off) {
public Pos3d getLittleBufferPos(ConsumableGroup group, Integer off) {
HbotConsumablePosParam param = HbotConsumablePosParam.valueOf(HbotConsumablePosParam.LittleBufferGroup0_000Pos.ordinal() + group.ordinal());
Integer groupNum = group.off;
Integer groupXOff = off % 3;
Integer groupYOff = off / 3;
Pos3d pos00 = posReader.getPos(param, Pos3d.class);
Double dx = posReader.getPos(HbotConsumablePosParam.LittleBufferGroupDX, Double.class);
Double dy = posReader.getPos(HbotConsumablePosParam.LittleBufferGroupDY, Double.class);
Integer xoff = off % 5;
Integer yoff = off / 5;
Double gdx_0 = (pos05_00.x - pos00_00.x) / 3.0;
Double gdy_0 = (pos05_00.y - pos00_00.y) / 2.0;
Double gdx_1 = (pos05_24.x - pos00_24.x) / 3.0;
Double gdy_1 = (pos05_24.y - pos00_24.y) / 2.0;
Double gdx = (gdx_0 + gdx_1) / 2.0;
Double gdy = (gdy_0 + gdy_1) / 2.0;
Double dx_0 = (pos00_24.x - pos00_00.x) / 5.0;
Double dy_0 = (pos00_24.y - pos00_00.y) / 5.0;
double x = pos00.x + xoff * dx;
double y = pos00.y + yoff * dy;
Double dx_1 = (pos05_24.x - pos05_00.x) / 5.0;
Double dy_1 = (pos05_24.y - pos05_00.y) / 5.0;
Double dx = (dx_0 + dx_1) / 2.0;
Double dy = (dy_0 + dy_1) / 2.0;
return new Pos3d((int) x, (int) y, (int) pos00.z);
}
public Pos3d getProbeSubstancePos(ConsumableGroup group, Integer off) {
HbotConsumablePosParam param = HbotConsumablePosParam.valueOf(HbotConsumablePosParam.ProbeSubstanceGroup0_000Pos.ordinal() + group.ordinal());
double x = pos00_00.x + groupXOff * gdx + xoff * dx;
double y = pos00_00.y + groupYOff * gdy + yoff * dy;
double z = (pos00_00.z + pos00_24.z + pos05_00.z + pos05_24.z) / 4.0;
return new Pos3d((int) x, (int) y, (int) z);
Pos3d pos00 = posReader.getPos(param, Pos3d.class);
Double dx = posReader.getPos(HbotConsumablePosParam.ProbeSubstanceDX, Double.class);
Double dy = posReader.getPos(HbotConsumablePosParam.ProbeSubstanceDY, Double.class);
}
Integer xoff = off % 5;
Integer yoff = off / 5;
public Pos3d getLittleBufferPos(ConsumableGroup group, Integer off) {
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);
}
double x = pos00.x + xoff * dx;
double y = pos00.y + yoff * dy;
public Pos3d getProbeSubstancePos(ConsumableGroup group, Integer off) {
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);
return new Pos3d((int) x, (int) y, (int) pos00.z);
}
public Pos3d getLargeBufferPos(ConsumableGroup group) {
Pos3d pos00 = posReader.getPos(HbotConsumablePosParam.LargeBufferPos00.name(), Pos3d.class);
Pos3d pos05 = posReader.getPos(HbotConsumablePosParam.LargeBufferPos05.name(), Pos3d.class);
Pos3d pos00 = posReader.getPos(HbotConsumablePosParam.LargeBuffer_0Pos.name(), Pos3d.class);
Double dx = posReader.getPos(HbotConsumablePosParam.LargeBuffer_DX, Double.class);
Double dy = posReader.getPos(HbotConsumablePosParam.LargeBuffer_DY, Double.class);
int xoff = group.off % 3;
int yoff = group.off / 3;
double dx = (pos05.x - pos00.x) / 3.0;
double dy = (pos05.y - pos00.y) / 2.0;
double x = pos00.x + xoff * dx;
double y = pos00.y + yoff * dy;
double z = (pos00.z + pos05.z) / 2.0;
double z = pos00.z;
return new Pos3d((int) x, (int) y, (int) z);
}
}

12
src/main/java/a8k/service/debug/AppDebugHelperService.java
View File

@ -174,12 +174,12 @@ public class AppDebugHelperService {
@ExtApiFn(name = "插入六组正确的耗材", group = "A8K耗材.操作模拟", order = 2)
public void putRightConsumable() {
putConsumableToCH(ConsumableGroup.GROUP1, A8kVirtualProjIDCard.P01_hsCRR, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP2, A8kVirtualProjIDCard.P02_PCT, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP3, A8kVirtualProjIDCard.P03_TSH, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP4, A8kVirtualProjIDCard.P05_T3, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP5, A8kVirtualProjIDCard.P06_T4, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP6, A8kVirtualProjIDCard.P22_PCTAndHsCRP, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP0, A8kVirtualProjIDCard.P01_hsCRR, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP1, A8kVirtualProjIDCard.P02_PCT, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP2, A8kVirtualProjIDCard.P03_TSH, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP3, A8kVirtualProjIDCard.P05_T3, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP4, A8kVirtualProjIDCard.P06_T4, ConsumablesErrorType.PASS);
putConsumableToCH(ConsumableGroup.GROUP5, A8kVirtualProjIDCard.P22_PCTAndHsCRP, ConsumablesErrorType.PASS);
}

2
src/main/java/a8k/type/ConsumableGroup.java
View File

@ -1,7 +1,7 @@
package a8k.type;
public enum ConsumableGroup {
GROUP1, GROUP2, GROUP3, GROUP4, GROUP5, GROUP6;
GROUP0, GROUP1, GROUP2, GROUP3, GROUP4, GROUP5;
final public int off;

41
src/main/java/a8k/type/HbotConsumablePosParam.java
View File

@ -1,20 +1,6 @@
package a8k.type;
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"),
LittleBufferPos05_24("第5组小瓶的第24个位置"),
ProbeSubstance00_00("第0组探针的第0个位置"),
ProbeSubstance00_24("第0组探针的第24个位置"),
ProbeSubstance05_00("第5组探针的第0个位置"),
ProbeSubstance05_24("第5组探针的第24个位置"),
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"),
@ -26,10 +12,37 @@ public enum HbotConsumablePosParam {
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"),
LittleBufferGroup0_000Pos("第1组小瓶缓冲液的第1个位置"),
LittleBufferGroup1_000Pos("第1组小瓶缓冲液的第2个位置"),
LittleBufferGroup2_000Pos("第1组小瓶缓冲液的第3个位置"),
LittleBufferGroup3_000Pos("第1组小瓶缓冲液的第4个位置"),
LittleBufferGroup4_000Pos("第1组小瓶缓冲液的第5个位置"),
LittleBufferGroup5_000Pos("第1组小瓶缓冲液的第6个位置"),
LittleBufferGroupDX("小瓶缓冲液的X间距"),
LittleBufferGroupDY("小瓶缓冲液的Y间距"),
ProbeSubstanceGroup0_000Pos("第1组探测物质的第1个位置"),
ProbeSubstanceGroup1_000Pos("第1组探测物质的第2个位置"),
ProbeSubstanceGroup2_000Pos("第1组探测物质的第3个位置"),
ProbeSubstanceGroup3_000Pos("第1组探测物质的第4个位置"),
ProbeSubstanceGroup4_000Pos("第1组探测物质的第5个位置"),
ProbeSubstanceGroup5_000Pos("第1组探测物质的第6个位置"),
ProbeSubstanceDX("探测物质的X间距"),
ProbeSubstanceDY("探测物质的Y间距"),
LargeBuffer_0Pos("大瓶缓冲液的第1个位置"),
LargeBuffer_DX("大瓶缓冲液的X间距"),
LargeBuffer_DY("大瓶缓冲液的Y间距"),
;
final public String chName;
HbotConsumablePosParam(String chName) {
this.chName = chName;
}
public static HbotConsumablePosParam valueOf(int off) {
return HbotConsumablePosParam.values()[off];
}
}

15
src/main/java/a8k/type/LittleBottleConsumablePosInfo.java
View File

@ -0,0 +1,15 @@
package a8k.type;
import a8k.type.cfg.Pos3d;
public class LittleBottleConsumablePosInfo {
public Pos3d g0_000;
public Pos3d g1_000;
public Pos3d g2_000;
public Pos3d g3_000;
public Pos3d g4_000;
public Pos3d g5_000;
public Double dx;
public Double dy;
}

25
src/main/java/a8k/type/LittleBottleConsumableRefPoint.java
View File

@ -0,0 +1,25 @@
package a8k.type;
import a8k.constant.AppConstant;
import a8k.type.cfg.Pos3d;
public class LittleBottleConsumableRefPoint {
public ConsumableGroup group;
public Integer index;//from zero
public Pos3d pos;
public LittleBottleConsumableRefPoint(ConsumableGroup group, Integer index, Pos3d pos) {
this.group = group;
this.index = index;
this.pos = pos;
}
public Integer getRowOff() {
return index / AppConstant.CONSUMABLE_COL_NUM;
}
public Integer getColOff() {
return index % AppConstant.CONSUMABLE_COL_NUM;
}
}

6
src/main/java/a8k/type/LittleBottleConsumableType.java
View File

@ -0,0 +1,6 @@
package a8k.type;
public enum LittleBottleConsumableType {
BufferSolution, //缓冲液
ProbeSubstance, //探测物质
}

19
src/main/java/a8k/utils/ZSimplAlgo.java
View File

@ -3,14 +3,25 @@ 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;
public static Double computeAverage(List<?> data) {
double sum = 0.0;
for (var datum : data) {
if (datum instanceof Double) {
sum += (Double) datum;
} else if (datum instanceof Integer) {
sum += (Integer) datum;
} else if (datum instanceof Long) {
sum += (Long) datum;
} else if (datum instanceof Float) {
sum += (Float) datum;
} else {
throw new IllegalArgumentException("Unsupported type: " + datum.getClass().getName());
}
}
return sum / data.size();
}
public static Double computeAverage(Double[] data) {
Double sum = 0.0;
for (Double datum : data) {

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