15 changed files with 650 additions and 369 deletions
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BINapp.db
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2src/main/java/a8k/constant/AppConstant.java
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3src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
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237src/main/java/a8k/service/app/devicedriver/calibration/HbotLittleBottleConsumableCalibration.java
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63src/main/java/a8k/service/app/devicedriver/calibration/HbotTipPosCalibration.java
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46src/main/java/a8k/service/app/devicedriver/calibration/ReactionPlatesTransmitControlerCalibration.java
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116src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
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12src/main/java/a8k/service/debug/AppDebugHelperService.java
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2src/main/java/a8k/type/ConsumableGroup.java
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41src/main/java/a8k/type/HbotConsumablePosParam.java
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15src/main/java/a8k/type/LittleBottleConsumablePosInfo.java
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25src/main/java/a8k/type/LittleBottleConsumableRefPoint.java
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6src/main/java/a8k/type/LittleBottleConsumableType.java
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19src/main/java/a8k/utils/ZSimplAlgo.java
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package a8k.service.app.devicedriver.calibration; |
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import a8k.constant.AppConstant; |
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import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; |
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import a8k.extapi_controler.utils.ExtApiFn; |
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import a8k.extapi_controler.utils.ExtApiTab; |
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import a8k.service.app.devicedriver.basectrl.HbotModule; |
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import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule; |
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import a8k.service.app.devicedriver.ctrl.HbotControler; |
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import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr; |
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import a8k.type.*; |
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import a8k.type.cfg.Pos2d; |
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import a8k.type.cfg.Pos3d; |
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import a8k.type.exception.AppException; |
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import a8k.utils.ZSimplAlgo; |
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import jakarta.annotation.Resource; |
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import org.aspectj.lang.annotation.Aspect; |
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import org.slf4j.Logger; |
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import org.springframework.stereotype.Component; |
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import java.util.List; |
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@ExtApiTab(cfg = ExtApiTabConfig.HbotLittleBottleConsumableCalibration) |
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@Component |
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@Aspect |
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public class HbotLittleBottleConsumableCalibration { |
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static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotLittleBottleConsumableCalibration.class); |
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@Resource |
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PipetteCtrlModule pipetteCtrlModule; |
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@Resource |
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HbotModule hbotModule; |
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@Resource |
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HbotControler hbotControler; |
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@Resource |
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HbotConsumablePosMgr hbotConsumablePosMgr; |
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Boolean stopFlag = false; |
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Boolean checkStopFlag() { |
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if (stopFlag) { |
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stopFlag = false; |
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return true; |
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} |
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return false; |
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} |
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void resetStopFlag() { |
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stopFlag = false; |
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} |
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void setStopFlag() { |
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stopFlag = true; |
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} |
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@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1) |
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public Object getPoss() throws AppException { |
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return hbotConsumablePosMgr.getParams(); |
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} |
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// 测试工具 |
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@ExtApiFn(name = "归零", group = "测试工具", order = 11) |
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public void moveToZero() throws AppException { |
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enableModule(); |
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pipetteCtrlModule.zMotorMoveZeroBlock(); |
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hbotModule.moveToZeroBlock(); |
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} |
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@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12) |
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public void enableModule() throws AppException { |
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pipetteCtrlModule.zMotorEnable(1); |
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hbotModule.enable(1); |
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} |
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@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13) |
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public void disableModule() throws AppException { |
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pipetteCtrlModule.zMotorEnable(0); |
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hbotModule.enable(0); |
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} |
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LittleBottleConsumableType littleBottleConsumableType = LittleBottleConsumableType.BufferSolution; |
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List<LittleBottleConsumableRefPoint> littleBottleConsumableRefPoint; |
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LittleBottleConsumablePosInfo littleBottleConsumablePosInfo; |
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@ExtApiFn(name = "开始标定小瓶坐标", group = "标定小瓶坐标", order = 30) |
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public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException { |
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littleBottleConsumablePosInfo = null; |
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littleBottleConsumableRefPoint = new java.util.ArrayList<>(); |
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littleBottleConsumableType = type; |
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moveToZero(); |
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disableModule(); |
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} |
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@ExtApiFn(name = "添加小瓶参考点", group = "标定小瓶坐标", order = 31) |
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public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException { |
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enableModule(); |
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Pos2d xypos = hbotModule.readPos(); |
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pipetteCtrlModule.zMotorMeasureDistance(); |
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Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult(); |
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LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, z)); |
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this.littleBottleConsumableRefPoint.add(littleBufferRefPoint); |
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disableModule(); |
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return computeLittleBottlePosInfo(); |
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} |
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@ExtApiFn(name = "删除上一个小瓶参考点", group = "标定小瓶坐标", order = 32) |
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public LittleBottleConsumablePosInfo computeLittleBottlePosInfo() { |
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//计算y0,所有group==0,1,2,同时0<=off<5的点，求平均 |
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Double[] y = new Double[2]; |
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Double[] x = new Double[3]; |
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Double[] dxs = new Double[6]; |
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Double[] dys = new Double[6]; |
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Double dx; |
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Double dy; |
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Double z; |
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y[0] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() < 3 && point.index < 5). |
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map(point -> point.pos.y).toList() |
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); |
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//计算y1,所有group==3,4,5,同时0<=off<5的点，求平均 |
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y[1] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() >= 3 && point.index < 5). |
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map(point -> point.pos.y).toList() |
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); |
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//计算y0,所有group==0,3,同时off==0,5,10,15,20的点，求y平均 |
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x[0] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 0 && point.index % 5 == 0). |
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map(point -> point.pos.y).toList() |
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); |
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//计算y1,所有group==1,4,同时off==0,5,10,15,20的点，求y平均 |
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x[1] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 1 && point.index % 5 == 0). |
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map(point -> point.pos.y).toList() |
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); |
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//计算y2 |
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x[2] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 2 && point.index % 5 == 0). |
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map(point -> point.pos.y).toList() |
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); |
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// |
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z = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().map(point -> point.pos.z).toList() |
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); |
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//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 |
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for (int i = 0; i < 6; i++) { |
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int finalI = i; |
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dxs[i] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() == finalI && point.getColOff() != 0). |
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map(point -> point.pos.x - x[finalI % 3] / (point.getColOff())).toList() |
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); |
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} |
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dx = ZSimplAlgo.computeAverage(dxs); |
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//计算dy, |
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for (int i = 0; i < 6; i++) { |
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int finalI = i; |
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dys[i] = ZSimplAlgo.computeAverage( |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() == finalI && point.getRowOff() != 0). |
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map(point -> point.pos.y - y[finalI / 3] / (point.getRowOff())).toList() |
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); |
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} |
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dy = ZSimplAlgo.computeAverage(dys); |
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littleBottleConsumablePosInfo = new LittleBottleConsumablePosInfo(); |
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littleBottleConsumablePosInfo.g0_000 = new Pos3d(x[0].intValue(), y[0].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.g1_000 = new Pos3d(x[1].intValue(), y[0].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.g2_000 = new Pos3d(x[2].intValue(), y[0].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.g3_000 = new Pos3d(x[0].intValue(), y[1].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.g4_000 = new Pos3d(x[1].intValue(), y[1].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.g5_000 = new Pos3d(x[2].intValue(), y[1].intValue(), z.intValue()); |
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littleBottleConsumablePosInfo.dx = dx; |
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littleBottleConsumablePosInfo.dy = dy; |
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return littleBottleConsumablePosInfo; |
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} |
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@ExtApiFn(name = "保存小瓶坐标", group = "标定小瓶坐标", order = 33) |
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public void saveLittleBottleConsumablePosInfo() throws AppException { |
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hbotConsumablePosMgr.setLittleBottleConsumablePosInfo(littleBottleConsumableType, littleBottleConsumablePosInfo); |
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} |
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// |
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// 校验 |
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// |
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@ExtApiFn(name = "校验小瓶缓冲液坐标", group = "校验", order = 301) |
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public void testMoveToLittleBufferPos() throws AppException { |
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resetStopFlag(); |
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enableModule(); |
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for (ConsumableGroup group : ConsumableGroup.values()) { |
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for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { |
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hbotControler.moveToLittleBufferPos(group, i); |
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if (checkStopFlag()) |
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return; |
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} |
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} |
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} |
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@ExtApiFn(name = "校验探测物质坐标", group = "校验", order = 302) |
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public void testMoveToProbeSubstancePos() throws AppException { |
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resetStopFlag(); |
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enableModule(); |
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for (ConsumableGroup group : ConsumableGroup.values()) { |
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for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { |
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hbotControler.moveToProbeSubstancePos(group, i); |
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if (checkStopFlag()) |
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return; |
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} |
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} |
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} |
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// @ExtApiFn(name = "校验大瓶缓冲液坐标", group = "校验", order = 303) |
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// public void testMoveToLargeBufferPos() throws AppException { |
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// resetStopFlag(); |
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// enableModule(); |
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// for (ConsumableGroup group : ConsumableGroup.values()) { |
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// hbotControler.moveToLargeBufferPos(group); |
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// if (checkStopFlag()) |
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// return; |
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// } |
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// } |
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@ExtApiFn(name = "停止校验", group = "校验", order = 304) |
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public void stopTest() throws AppException { |
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setStopFlag(); |
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} |
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} |
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@ -0,0 +1,15 @@ |
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package a8k.type; |
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import a8k.type.cfg.Pos3d; |
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public class LittleBottleConsumablePosInfo { |
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public Pos3d g0_000; |
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public Pos3d g1_000; |
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public Pos3d g2_000; |
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public Pos3d g3_000; |
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public Pos3d g4_000; |
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public Pos3d g5_000; |
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public Double dx; |
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public Double dy; |
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} |
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@ -0,0 +1,25 @@ |
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package a8k.type; |
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import a8k.constant.AppConstant; |
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import a8k.type.cfg.Pos3d; |
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public class LittleBottleConsumableRefPoint { |
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public ConsumableGroup group; |
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public Integer index;//from zero |
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public Pos3d pos; |
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public LittleBottleConsumableRefPoint(ConsumableGroup group, Integer index, Pos3d pos) { |
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this.group = group; |
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this.index = index; |
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this.pos = pos; |
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} |
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public Integer getRowOff() { |
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return index / AppConstant.CONSUMABLE_COL_NUM; |
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} |
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public Integer getColOff() { |
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return index % AppConstant.CONSUMABLE_COL_NUM; |
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} |
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} |
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package a8k.type; |
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public enum LittleBottleConsumableType { |
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BufferSolution, //缓冲液 |
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ProbeSubstance, //探测物质 |
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} |
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