update

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

@@ -4,6 +4,7 @@ public enum A8kEcode {
 
 	SUC(0),
 	MUTI_APPEXCEPTIONS(1),//内置，无需关心
+	COMMON_ERROR(2),//通用错误，只需显示携带错误信息
 	/*
 	 *	代码错误，代码没有BUG的情况下，不应该出现的错误
 	 */

src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java

@@ -55,23 +55,23 @@ public class TubePreProcesCtrlService {
 
 		//Z轴在原点
 		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModGripperZM, 0)) {
-			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperZM);
+			throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperZM);
 		}
 
 		//Y轴在零点附近
 		if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperYSV), 30)) {
-			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV);
+			throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV);
 		}
 
 		//夹爪没有零位置
 		if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) {
-			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV);
+			throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV);
 		}
 
-//		//		检查摇匀夹紧是否在零位
-//		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) {
-//			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM);
-//		}
+		//		//		检查摇匀夹紧是否在零位
+		//		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) {
+		//			throw  AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM);
+		//		}
 
 		//
 		//	Reset some motor

src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java

@@ -14,6 +14,8 @@ import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +36,7 @@ import java.util.List;
 @ExtApiTab(cfg = ExtApiTabConfig.A8kPipetteCtrlModule)
 public class PipetteCtrlDriver {
 
+	private static final Logger log = LoggerFactory.getLogger(PipetteCtrlDriver.class);
 	@Resource
 	A8kCanBusService canBusService;
 
@@ -147,46 +150,42 @@ public class PipetteCtrlDriver {
 
 	@ExtApiFn(name = "设置LLDAndLLF起始位置", order = FnOrder.setStartZ)
 	public void setStartZ(Integer startZ) throws AppException {
+		log.info("setStartZ:{}", startZ);
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_startz.toInt(), startZ);
 	}
 
 	@ExtApiFn(name = "设置LLDAndLLF结束位置", order = FnOrder.setEndZ)
 	public void setEndZ(Integer endZ) throws AppException {
+		log.info("setEndZ:{}", endZ);
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_endz.toInt(), endZ);
 	}
 
 	@ExtApiFn(name = "设置LLD类型", order = FnOrder.setLldType)
 	public void setLldType(LldType lldType) throws AppException {
+		log.info("setLldType:{}", lldType);
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_type.toInt(), lldType.getIndex());
 	}
 
 	@ExtApiFn(name = "设置LLD.C阈值", order = FnOrder.setLldCThreshold)
 	public void setLldCThreshold(Integer cThreshold) throws AppException {
+		log.info("setLldCThreshold:{}", cThreshold);
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_c_threshold.toInt(), cThreshold);
 	}
 
 	@ExtApiFn(name = "设置LLD.P阈值", order = FnOrder.setLldPThreshold)
 	public void setLldPThreshold(Integer pThreshold) throws AppException {
+		log.info("setLldPThreshold:{}", pThreshold);
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_p_threshold.toInt(), pThreshold);
 	}
 
 	@ExtApiFn(name = "LLD.准备", order = FnOrder.lldPrepareBlock)
 	public void lldPrepareBlock() throws AppException {
+		log.info("lldPrepareBlock");
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_lld_prepare.toInt());
 		canBusService.waitForMod(MId.PipetteMod, overtime);
 		//		zMotorMoveToBlock(startPos);
 	}
 
-
-	public void lldBlock(LldType type, Integer startz, Integer endz, Integer c_thres, Integer p_thres) throws AppException {
-		setStartZ(startz);
-		setEndZ(endz);
-		setLldType(type);
-		setLldCThreshold(c_thres);
-		setLldPThreshold(p_thres);
-		lldBlock();
-	}
-
 	@ExtApiFn(name = "LLD.Do", order = FnOrder.lldBlock)
 	public void lldBlock()
 			throws AppException {

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java

@@ -68,7 +68,6 @@ public class HbotLittleBSPosCalibration {
 		enableModule();
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		hbotBaseMoveExDriver.moveToZero();
-		disableModule();
 	}
 
 	@ExtApiFn(name = "获取坐标", group = "测试工具", order = 2)

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java

@@ -71,7 +71,6 @@ public class HbotProbeSubstancePosCalibration {
 		enableModule();
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		hbotBaseMoveExDriver.moveToZero();
-		disableModule();
 	}
 
 	@ExtApiFn(name = "获取坐标", group = "测试工具", order = 2)

src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java

@@ -3,9 +3,13 @@ package a8k.service.app.devicectrl.param.calibration;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.type.LldType;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
 import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr;
-import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam;
-import a8k.service.app.devicectrl.param.type.PipetteGunLLFParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
@@ -17,16 +21,103 @@ public class PipetteGunLLDParamCalibration {
 	@Resource
 	PipetteGunLLDParamMgr pipetteGunLLDParamMgr;
 
-	@ExtApiFn(name = "获取相关参数", group = "基础", order = 1)
+	@Resource
+	PipetteCtrlDriver    pipetteCtrlDriver;
+	@Resource
+	HbotBaseMoveExDriver hbotBaseMoveExDriver;
+	@Resource
+	MotorEnableExDriver  motorEnableExDriver;
+
+
+	//	测试工具
+	//	@ExtApiFn(name = "归零", group = "基础", order = 1)
+	//	public void moveToZero() throws AppException {
+	//		enableModule();
+	//		pipetteCtrlDriver.zMotorMoveZeroBlock();
+	//	}
+
+	@ExtApiFn(name = "移液枪初始化(Tip会掉落)", group = "基础", order = 2)
+	public void pipetteInitDeviceBlock() throws AppException {
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "基础", order = 3)
+	public void enableModule() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "基础", order = 4)
+	public void disableModule() throws AppException {
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+	@ExtApiFn(name = "获取相关参数", group = "基础", order = 5)
 	public Object getParams() throws AppException {
 		return pipetteGunLLDParamMgr.getParams();
 	}
 
 
-	@ExtApiFn(name = "设置参数", group = "设置", order = 1)
-	public void setParam(PipetteGunLLFParam param, Integer val) throws AppException {
-		pipetteGunLLDParamMgr.setParam(param.chName, val);
+	Integer lldStartPos;
+	Integer lldEndPos;
+
+	@ExtApiFn(name = "设置LLD开始位置", group = "测试", order = 100)
+	public void setStartTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		lldStartPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+	@ExtApiFn(name = "设置LLD结束位置", group = "测试", order = 101)
+	public void setEndTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		lldEndPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
 	}
 
+	@ExtApiFn(name = "LLD准备(每次LLD前都要调用一次，同时更换tip头)", group = "测试", order = 102)
+	public void lldPrepare() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.lldPrepareBlock();
+	}
+
+	@ExtApiFn(name = "LDD测量液体属性", group = "测试", order = 103)
+	public Object lldCalibrate() throws AppException {
+		if (lldStartPos > lldEndPos) {
+			throw AppException.of("开始位置大于结束位置");
+		}
+
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.setStartZ(lldStartPos);
+		pipetteCtrlDriver.setEndZ(lldEndPos);
+		pipetteCtrlDriver.lldCalibrationBlock();
+		return pipetteCtrlDriver.getSensorSampleData();
+	}
 
+	@ExtApiFn(name = "LLD测试", group = "测试", order = 104)
+	public void lldTest(LldType type, Integer c_val, Integer p_val) throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.setStartZ(lldStartPos);
+		pipetteCtrlDriver.setEndZ(lldEndPos);
+		pipetteCtrlDriver.setLldType(type);
+		pipetteCtrlDriver.setLldCThreshold(c_val);
+		pipetteCtrlDriver.setLldPThreshold(p_val);
+		pipetteCtrlDriver.lldBlock();
+	}
+
+
+	@ExtApiFn(name = "设置参数", group = "设置", order = 200)
+	public void setDefaultCThread(PipetteGunLLDThresholdParam param, Integer val) throws AppException {
+		pipetteGunLLDParamMgr.setParam(param, val);
+	}
+
+	@ExtApiFn(name = "设置默认LLD方式", group = "设置", order = 201)
+	public void setLLDType(PipetteGunLLDTypeParam param, LldType type) throws AppException {
+		pipetteGunLLDParamMgr.setParam(param, type.name());
+	}
 }

src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java

@@ -10,8 +10,8 @@ import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr;
 import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr;
 import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLFParamMgr;
 import a8k.service.app.devicectrl.param.type.A8kSamplePos;
-import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam;
-import a8k.service.app.devicectrl.param.type.PipetteGunLLFParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam;
 import a8k.type.ConsumableGroup;
 import a8k.type.cfg.Pos3d;
 import a8k.type.type.A8kTubeHolderType;
@@ -50,11 +50,11 @@ public class PipetteGunParamExMgr {
 				Pos3d        sampleEndPos   = hbotSamplePosParamMgr.getSampleEndPos(samplePos);
 
 				paramPack            = new LLDParamPack();
-				paramPack.type       = LldType.kplld;
+				paramPack.type       = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE);
 				paramPack.startZ     = sampleStartPos.z;
 				paramPack.endZ       = sampleEndPos.z;
-				paramPack.cThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_C_THRESHOLD);
-				paramPack.pThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_P_THRESHOLD);
+				paramPack.cThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_C_THRESHOLD);
+				paramPack.pThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_P_THRESHOLD);
 			}
 			case TAKE_LARGE_BUFFER_SOLUTION -> {
 				ConsumableGroup group     = cxt.consumable.getGroup();
@@ -62,11 +62,11 @@ public class PipetteGunParamExMgr {
 				var             sEndPos   = hbotLargeBottleBSPosMgr.getSamplePosEnd(group);
 
 				paramPack            = new LLDParamPack();
-				paramPack.type       = LldType.kmixlld;
+				paramPack.type       = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE);
 				paramPack.startZ     = sStartPos.z;
 				paramPack.endZ       = sEndPos.z;
-				paramPack.cThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_C_THRESHOLD);
-				paramPack.pThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_P_THRESHOLD);
+				paramPack.cThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_C_THRESHOLD);
+				paramPack.pThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_P_THRESHOLD);
 			}
 		}
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/PipetteGunLLDParamMgr.java

@@ -1,16 +1,12 @@
 package a8k.service.app.devicectrl.param.param_mgr;
 
+import a8k.hardware.type.LldType;
 import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
-import a8k.service.app.devicectrl.param.type.HbotTipPosParam;
-import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam;
-import a8k.type.cfg.Pos3d;
-import a8k.type.type.TipGroup;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam;
 import jakarta.annotation.PostConstruct;
 import lombok.extern.slf4j.Slf4j;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
-import org.springframework.util.Assert;
 
 /**
  * HBOT二维码扫描坐标参数
@@ -21,12 +17,19 @@ public class PipetteGunLLDParamMgr extends ParamMgr {
 
 	@PostConstruct
 	void initialize() {
-		for (PipetteGunLLDParam param : PipetteGunLLDParam.values()) {
+		for (PipetteGunLLDThresholdParam param : PipetteGunLLDThresholdParam.values()) {
+			setParamChName(param, param.chName);
+		}
+		for (PipetteGunLLDTypeParam param : PipetteGunLLDTypeParam.values()) {
 			setParamChName(param, param.chName);
 		}
 	}
 
-	public Integer getParam(PipetteGunLLDParam param) {
+	public Integer getLLDThresholdParam(PipetteGunLLDThresholdParam param) {
 		return getParam(param, Integer.class);
 	}
+
+	public LldType getLLDType(PipetteGunLLDTypeParam param) {
+		return getParam(param, LldType.class);
+	}
 }

src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDParam.java → src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDThresholdParam.java

@@ -1,13 +1,12 @@
 package a8k.service.app.devicectrl.param.type;
 
-public enum PipetteGunLLDParam {
+public enum PipetteGunLLDThresholdParam {
 	DEFAULT_C_THRESHOLD("默认电容C阈值"),
 	DEFAULT_P_THRESHOLD("默认压力阈值"),
-	DEFAULT_LLD_TYPE("默认LLD类型"),
 	;
 	public final String chName;
 
-	PipetteGunLLDParam(String chName) {
+	PipetteGunLLDThresholdParam(String chName) {
 		this.chName = chName;
 	}
 }

src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDTypeParam.java

@@ -0,0 +1,11 @@
+package a8k.service.app.devicectrl.param.type;
+
+public enum PipetteGunLLDTypeParam {
+	DEFAULT_LLD_TYPE("默认LLD类型"),
+	;
+	public final String chName;
+
+	PipetteGunLLDTypeParam(String chName) {
+		this.chName = chName;
+	}
+}

src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java

@@ -97,6 +97,7 @@ public class DeviceCtrlScripter {
 
 
 	void lld(PipetteGunBindActionType actionType, ProjProcessContext ctx) throws AppException {
+		log.info("液面探测 {}", actionType);
 		LLDParamPack lldparm        = pipetteGunParamExMgr.getLLDParam(actionType, ctx);
 		Pos3d        sampleStartPos = null;
 		Pos3d        sampleEndPos   = null;

src/main/java/a8k/type/ecode/AppCommonError.java

@@ -0,0 +1,14 @@
+package a8k.type.ecode;
+
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+
+public class AppCommonError extends AppError {
+	public String exmsg;
+
+	public AppCommonError(String exmsg) {
+		super(A8kEcode.COMMON_ERROR);
+		this.exmsg = exmsg;
+	}
+
+
+}

src/main/java/a8k/type/exception/AppException.java

@@ -3,6 +3,8 @@ package a8k.type.exception;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.type.ecode.AppCodeError;
+import a8k.type.ecode.AppCommonError;
 import a8k.type.ecode.AppError;
 import a8k.type.ecode.HardwareError;
 import lombok.Getter;
@@ -17,23 +19,21 @@ public class AppException extends Exception {
 
 
 	public AppException(A8kEcode ecodeType) {
-		super(String.format("Error code %s", ecodeType));
+		super(String.format("%s", ecodeType));
 		this.error = new AppError(ecodeType);
 	}
 
 	public AppException(AppError error) {
-		super(String.format("Error code %s", error.code));
+		super(String.format("%s", error.toString()));
 		this.error = error;
 	}
 
-	public AppException(A8kEcode errorCode, MId mid, CmdId cmdId) {
-		super(String.format("Error code %s", errorCode));
-		this.error = new HardwareError(errorCode, mid, cmdId);
+	public static AppException of(A8kEcode errorCode, MId mid, CmdId cmdId) {
+		return new AppException(new HardwareError(errorCode, mid, cmdId));
 	}
 
-	public AppException(A8kEcode errorCode, MId mid) {
-		super(String.format("Error code %s", errorCode));
-		this.error = new HardwareError(errorCode, mid, null);
+	public static AppException of(A8kEcode errorCode, MId mid) {
+		return new AppException(new HardwareError(errorCode, mid, null));
 	}
 
 
@@ -41,6 +41,10 @@ public class AppException extends Exception {
 		return new AppException(hardwareError);
 	}
 
+	public static AppException of(String message) {
+		return new AppException(new AppCommonError(message));
+	}
+
 
 	public void print() {
 		log.error("Apperror: {}", error);