diff --git a/src/main/java/a8k/app/engineer/service/qatest/LiquidAbsorptionAndDistributionTestService.java b/src/main/java/a8k/app/engineer/service/qatest/LiquidAbsorptionAndDistributionTestService.java index 35df3c6..cf0930e 100644 --- a/src/main/java/a8k/app/engineer/service/qatest/LiquidAbsorptionAndDistributionTestService.java +++ b/src/main/java/a8k/app/engineer/service/qatest/LiquidAbsorptionAndDistributionTestService.java @@ -10,7 +10,7 @@ import a8k.app.hardware.type.pipette_module.param.AspirationParam; import a8k.app.hardware.type.pipette_module.param.DistribuAllParam; import a8k.app.service.lowerctrl.*; import a8k.app.service.module.TipOperationCtrlModule; -import a8k.app.service.param.exparam.HbotConsumableExParamMgr; +import a8k.app.service.param.hbotpos.HbotLargeBottleBSPosMgr; import a8k.app.service.utils.UISender; import a8k.app.type.a8k.ConsumableGroup; import a8k.app.type.a8k.Pos3d; @@ -41,12 +41,13 @@ public class LiquidAbsorptionAndDistributionTestService { /* * 状态管理器 */ - final private HbotMoveExCtrlService hbotMoveExCtrlService; + final private HbotMoveExCtrlService hbotMoveExCtrlService; + final private TipOperationCtrlModule tipOperationCtrlModule; final private PipetteCtrlDriverV2 pipetteCtrlDriverV2; - final private HbotMoveCtrlService hbotMoveCtrlService; - final private HbotConsumableExParamMgr hbotConsumableExParamMgr; + final private HbotMoveCtrlService hbotMoveCtrlService; + final private HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr; Config config = new Config(); @@ -97,8 +98,8 @@ public class LiquidAbsorptionAndDistributionTestService { tipOperationCtrlModule.tryTakeTip(); - Pos3d LBBSPos1 = hbotConsumableExParamMgr.getLargeBuffer(ConsumableGroup.CG1); - Pos3d LBBSPos6 = hbotConsumableExParamMgr.getLargeBuffer(ConsumableGroup.CG6); + Pos3d LBBSPos1 = hbotLargeBottleBSPosMgr.getPos(ConsumableGroup.CG1); + Pos3d LBBSPos6 = hbotLargeBottleBSPosMgr.getPos(ConsumableGroup.CG6); hbotMoveExCtrlService.moveToXY(LBBSPos1); pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( diff --git a/src/main/java/a8k/app/hardware/driver/TemperatureControlDriver.java b/src/main/java/a8k/app/hardware/driver/TemperatureControlDriver.java index 228fe2e..e037b07 100644 --- a/src/main/java/a8k/app/hardware/driver/TemperatureControlDriver.java +++ b/src/main/java/a8k/app/hardware/driver/TemperatureControlDriver.java @@ -4,7 +4,7 @@ import a8k.app.hardware.channel.A8kCanBusService; import a8k.app.hardware.type.CmdId; import a8k.app.hardware.type.TemperatureControlerMid; import a8k.app.hardware.type.TemperatureControlerRegIndex; -import a8k.app.service.param.pos.TemperatureCtrlParamMgr; +import a8k.app.service.param.misc.TemperatureCtrlParamMgr; import a8k.app.type.param.TemperatureCtrlParam; import a8k.app.type.exception.AppException; import jakarta.annotation.Resource; diff --git a/src/main/java/a8k/app/service/lowerctrl/HbotMoveCtrlService.java b/src/main/java/a8k/app/service/lowerctrl/HbotMoveCtrlService.java index 9482fcb..a2d49eb 100644 --- a/src/main/java/a8k/app/service/lowerctrl/HbotMoveCtrlService.java +++ b/src/main/java/a8k/app/service/lowerctrl/HbotMoveCtrlService.java @@ -32,8 +32,6 @@ public class HbotMoveCtrlService { private final HbotDriver hbotDriver; private final InputDetectDriver inputDetectDriver; - Integer ao = 20000; - public void checkBeforeMove() throws AppException { // 检查盖板是否关闭 if (!inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS)) { diff --git a/src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java b/src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java index 5153c78..bd2e4db 100644 --- a/src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java +++ b/src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java @@ -2,16 +2,12 @@ package a8k.app.service.lowerctrl; import a8k.app.constant.GearBacklashConstant; import a8k.app.hardware.driver.PipetteCtrlDriverV2; -import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr; +import a8k.app.service.param.hbotpos.*; import a8k.app.type.a8k.ConsumableGroup; import a8k.app.type.a8k.pos.TipGroupPos; import a8k.app.type.a8k.Pos2d; import a8k.app.type.a8k.Pos3d; import a8k.app.hardware.driver.HbotDriver; -import a8k.app.service.param.hbotpos.HbotTipPosMgr; -import a8k.app.service.param.exparam.HbotConsumableExParamMgr; -import a8k.app.service.param.hbotpos.HbotFixedPosParamMgr; -import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr; import a8k.app.type.param.type.A8kSamplePos; import a8k.app.type.param.hbotpos.HbotSamplePos; import a8k.app.type.exception.AppException; @@ -28,9 +24,10 @@ public class HbotMoveExCtrlService { private final HbotFixedPosParamMgr hbotFixedPosParamMgr; private final HbotSamplePosParamMgr hbotSamplePosParamMgr; - private final HbotConsumableExParamMgr hbotConsumableExParamMgr; private final HbotTipPosMgr hbotTipPosMgr; private final Hbot2DCodeScanParamMgr hbot2DCodeScanParamMgr; + private final HbotLittleBSPosMgr hbotLittleBSPosMgr; + private final HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr; private final PipetteCtrlDriverV2 pipetteCtrlDriver; private final HbotMoveCtrlService hbotMoveCtrlService; @@ -45,7 +42,7 @@ public class HbotMoveExCtrlService { * @throws AppException 异常 */ public void moveToTakeTipXYPos(TipGroupPos tipGroupPos, Integer index) throws AppException { - Pos2d tipPos = hbotConsumableExParamMgr.getTipPos(tipGroupPos, index); + Pos2d tipPos = hbotTipPosMgr.getTipPos(tipGroupPos, index); hbotMoveCtrlService.hbotMoveTo(tipPos); } @@ -63,7 +60,7 @@ public class HbotMoveExCtrlService { public void moveToTakeTipObservationPos(TipGroupPos tipGroupPos, Integer index, Integer zpos) throws AppException { log.info("moveToTakeTipObservationPos groupId:{} index:{}", tipGroupPos.ordinal(), index); - Pos2d tipPos = hbotConsumableExParamMgr.getTipPos(tipGroupPos, index); + Pos2d tipPos = hbotTipPosMgr.getTipPos(tipGroupPos, index); Pos3d observePos = new Pos3d(tipPos.x, tipPos.y, zpos); Pos3d nowPos = getPos(); if (nowPos.z.equals(observePos.z)) { @@ -75,7 +72,6 @@ public class HbotMoveExCtrlService { } - public void moveToDropTipPos() throws AppException { log.info("moveToDropTipPos"); hbotMoveCtrlService.hbotMoveTo(hbotTipPosMgr.getDropTipPos()); @@ -122,25 +118,26 @@ public class HbotMoveExCtrlService { } public void moveToLittleBufferPiercePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getLittleBufferPiercePos(group, off)); + + hbotMoveCtrlService.hbotMoveTo(hbotLittleBSPosMgr.getLittleBSPiercePos(group, off)); } - public void moveToLittleBufferSamplePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getLittleBufferSamplePos(group, off)); + public void moveToLittleBufferContainerPos(ConsumableGroup group, Integer off) throws AppException { + hbotMoveCtrlService.hbotMoveTo(hbotLittleBSPosMgr.getLittleBSContainerPos(group, off)); } - public void moveToProbeSubstanceSamplePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getProbeSubstanceContainerPos(group, off)); + public void moveToProbeSubstanceContainerPos(ConsumableGroup group, Integer off) throws AppException { + hbotMoveCtrlService.hbotMoveTo(hbotLittleBSPosMgr.getProbeSubstanceContainerPos(group, off)); } public void moveToProbeSubstancePiercePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getProbeSubstancePiercePos(group, off)); + hbotMoveCtrlService.hbotMoveTo(hbotLittleBSPosMgr.getProbeSubstancePiercePos(group, off)); } public void moveToLargeBSContainerPos(ConsumableGroup group) throws AppException { - Pos3d toPos = hbotConsumableExParamMgr.getLargeBuffer(group); + Pos3d toPos = hbotLargeBottleBSPosMgr.getPos(group); hbotMoveCtrlService.hbotMoveTo(toPos); } diff --git a/src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrService.java b/src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrService.java index 0476f75..0543a9c 100644 --- a/src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrService.java +++ b/src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrService.java @@ -11,10 +11,7 @@ import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx; import a8k.app.hardware.type.pipette_module.param.AspirationParam; import a8k.app.hardware.type.pipette_module.param.DistribuAllParam; import a8k.app.service.module.TipOperationCtrlModule; -import a8k.app.service.param.exparam.HbotConsumableExParamMgr; -import a8k.app.service.param.hbotpos.HbotFixedPosParamMgr; -import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr; -import a8k.app.service.statemgr.GStateMgrService; +import a8k.app.service.param.hbotpos.*; import a8k.app.service.utils.UISender; import a8k.app.service.utils.ZAppChecker; import a8k.app.type.a8k.ConsumableType; @@ -34,24 +31,21 @@ public class LiquidOperationCtrService { static public final Integer MIX_VOLUME_UL = 200; - private final GStateMgrService gstate; - /* * CTRL-SERVICE */ private final HbotMoveExCtrlService hbotMoveExCtrlService; private final PipetteCtrlDriverV2 pipetteCtrlDriverV2; - /* * PARAM-MGR */ - private final HbotConsumableExParamMgr hbotConsumableExParamMgr; + private final HbotLittleBSPosMgr hbotLittleBSPosMgr; + private final HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr; /** * StateMgr */ - private final HbotSamplePosParamMgr hbotSamplePosParamMgr; - private final HbotFixedPosParamMgr hbotFixedPosParamMgr; - + private final HbotSamplePosParamMgr hbotSamplePosParamMgr; + private final HbotFixedPosParamMgr hbotFixedPosParamMgr; private final TipOperationCtrlModule tipOperationCtrlModule; @@ -76,9 +70,9 @@ public class LiquidOperationCtrService { tipOperationCtrlModule.tryTakeTip(); ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP"); - Pos3d largeBSContainerPos = hbotConsumableExParamMgr.getLargeBuffer(from.group);//大瓶缓冲液位置 - Pos3d probeSubstanceContainerPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(topos.group, topos.index);//探测物质位置 - Pos3d probeSubstancePiercePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(topos.group, topos.index);//探测物质刺破位置 + Pos3d largeBSContainerPos = hbotLargeBottleBSPosMgr.getPos(from.group);//大瓶缓冲液位置 + Pos3d probeSubstanceContainerPos = hbotLittleBSPosMgr.getProbeSubstanceContainerPos(topos.group, topos.index);//探测物质位置 + Pos3d probeSubstancePiercePos = hbotLittleBSPosMgr.getProbeSubstancePiercePos(topos.group, topos.index);//探测物质刺破位置 // 刺破探测物质 @@ -191,10 +185,10 @@ public class LiquidOperationCtrService { ContainerCpyId containerCpyId; if (pos.type.equals(ConsumableType.ProbeSubstance)) { - pircePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(pos.group, pos.index); + pircePos = hbotLittleBSPosMgr.getProbeSubstancePiercePos(pos.group, pos.index); containerCpyId = ContainerCpyId.DetectSubstancesCup; } else { - pircePos = hbotConsumableExParamMgr.getLittleBufferPiercePos(pos.group, pos.index); + pircePos = hbotLittleBSPosMgr.getLittleBSPiercePos(pos.group, pos.index); containerCpyId = ContainerCpyId.LittleBufferCup; } @@ -219,10 +213,10 @@ public class LiquidOperationCtrService { Integer shakeTimes = 5; if (pos.type.equals(ConsumableType.ProbeSubstance)) { - reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); + reactionPos = hbotLittleBSPosMgr.getProbeSubstanceContainerPos(pos.group, pos.index); containerCpyId = ContainerCpyId.DetectSubstancesCup; } else { - reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); + reactionPos = hbotLittleBSPosMgr.getLittleBSContainerPos(pos.group, pos.index); containerCpyId = ContainerCpyId.LittleBufferCup; } if (projBuildinInfo != null) { @@ -248,67 +242,67 @@ public class LiquidOperationCtrService { )); } - /** - * 取样本液到预反应位，混合后，再取样 - * @param from - * @param pos - * @param ul - * @throws AppException - */ - public void takeSampleToPreReactionPosAndAspirate(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException { - log.info("takeSampleToPreReactionPosAndTakeToReactionPlate: from={}, pos={}, ul={}ul", from, pos, ul); - takeSampleOnly(from, ul); - - Pos3d reactionPos; - ContainerCpyId containerCpyId; - Integer shakeUl = MIX_VOLUME_UL; - Integer shakeTimes = 5; - - if (pos.type.equals(ConsumableType.ProbeSubstance)) { - reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); - containerCpyId = ContainerCpyId.DetectSubstancesCup; - } else { - reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); - containerCpyId = ContainerCpyId.LittleBufferCup; - } - if (projBuildinInfo != null) { - shakeUl = projBuildinInfo.mixedLiquidMixingVolUl; - shakeTimes = projBuildinInfo.mixedLiquidMixingTimes; - } - - // 移动到反应位 - UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); - hbotMoveExCtrlService.moveToXY(reactionPos); - - //z轴移动到反应位 - UISender.txInfoMsg(log, "分配样本"); - pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( - reactionPos.z, - containerCpyId, - LiquidConfigCpyIdx.Default, - false, - DistribuType.SURFACE_DIST, - shakeUl * 10, // 预先反应位置的液体量 - shakeTimes, - false - )); - - UISender.txInfoMsg(log, "取混合液"); - pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( - 750, // 预先反应位置的液体量 - reactionPos.z, - containerCpyId, - LiquidConfigCpyIdx.Default, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0 - )); - } + // /** + // * 取样本液到预反应位，混合后，再取样 + // * @param from + // * @param pos + // * @param ul + // * @throws AppException + // */ + // public void takeSampleToPreReactionPosAndAspirate(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException { + // log.info("takeSampleToPreReactionPosAndTakeToReactionPlate: from={}, pos={}, ul={}ul", from, pos, ul); + // takeSampleOnly(from, ul); + // + // Pos3d reactionPos; + // ContainerCpyId containerCpyId; + // Integer shakeUl = MIX_VOLUME_UL; + // Integer shakeTimes = 5; + // + // if (pos.type.equals(ConsumableType.ProbeSubstance)) { + // reactionPos = hbotLittleBSPosMgr.getProbeSubstanceContainerPos(pos.group, pos.index); + // containerCpyId = ContainerCpyId.DetectSubstancesCup; + // } else { + // reactionPos = hbotLittleBSPosMgr.getLittleBSContainerPos(pos.group, pos.index); + // containerCpyId = ContainerCpyId.LittleBufferCup; + // } + // if (projBuildinInfo != null) { + // shakeUl = projBuildinInfo.mixedLiquidMixingVolUl; + // shakeTimes = projBuildinInfo.mixedLiquidMixingTimes; + // } + // + // // 移动到反应位 + // UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); + // hbotMoveExCtrlService.moveToXY(reactionPos); + // + // //z轴移动到反应位 + // UISender.txInfoMsg(log, "分配样本"); + // pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( + // reactionPos.z, + // containerCpyId, + // LiquidConfigCpyIdx.Default, + // false, + // DistribuType.SURFACE_DIST, + // shakeUl * 10, // 预先反应位置的液体量 + // shakeTimes, + // false + // )); + // + // UISender.txInfoMsg(log, "取混合液"); + // pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( + // 750, // 预先反应位置的液体量 + // reactionPos.z, + // containerCpyId, + // LiquidConfigCpyIdx.Default, + // 0, + // 0, + // 0, + // 0, + // 0, + // 0, + // 0, + // 0 + // )); + // } /** @@ -325,14 +319,13 @@ public class LiquidOperationCtrService { ContainerCpyId containerCpyId; if (pos.type.equals(ConsumableType.ProbeSubstance)) { - reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); + reactionPos = hbotLittleBSPosMgr.getProbeSubstanceContainerPos(pos.group, pos.index); containerCpyId = ContainerCpyId.DetectSubstancesCup; } else { - reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); + reactionPos = hbotLittleBSPosMgr.getLittleBSContainerPos(pos.group, pos.index); containerCpyId = ContainerCpyId.LittleBufferCup; } - UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); hbotMoveExCtrlService.moveToXY(reactionPos); diff --git a/src/main/java/a8k/app/service/param/exparam/HbotConsumableExParamMgr.java b/src/main/java/a8k/app/service/param/exparam/HbotConsumableExParamMgr.java deleted file mode 100644 index 5959091..0000000 --- a/src/main/java/a8k/app/service/param/exparam/HbotConsumableExParamMgr.java +++ /dev/null @@ -1,60 +0,0 @@ -package a8k.app.service.param.exparam; - -import a8k.app.type.a8k.ConsumableGroup; -import a8k.app.service.param.hbotpos.HbotLargeBottleBSPosMgr; -import a8k.app.service.param.hbotpos.HbotLittleBSPosMgr; -import a8k.app.service.param.hbotpos.HbotProbeSubstancePosMgr; -import a8k.app.service.param.hbotpos.HbotTipPosMgr; -import a8k.app.type.a8k.Pos2d; -import a8k.app.type.a8k.Pos3d; -import a8k.app.type.a8k.pos.TipGroupPos; -import jakarta.annotation.PostConstruct; -import jakarta.annotation.Resource; -import org.springframework.stereotype.Component; - -/** - * HBOT二维码扫描坐标参数 - */ -@Component -public class HbotConsumableExParamMgr { - @Resource - HbotLittleBSPosMgr hbotLittleBSPosMgr; - @Resource - HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr; - @Resource - HbotTipPosMgr hbotTipPosMgr; - @Resource - HbotProbeSubstancePosMgr hbotProbeSubstancePosMgr; - - @PostConstruct - void initialize() { - } - - public Pos2d getTipPos(TipGroupPos tipGroupPos, Integer tipoff) { - return hbotTipPosMgr.getTipPos(tipGroupPos, tipoff); - } - - public Pos3d getLittleBufferPiercePos(ConsumableGroup group, Integer off) { - return hbotLittleBSPosMgr.getLittleBSPiercePos(group, off); - } - - public Pos3d getLittleBufferSamplePos(ConsumableGroup group, Integer off) { - return hbotLittleBSPosMgr.getLittleBSSamplePos(group, off); - } - - - public Pos3d getProbeSubstanceContainerPos(ConsumableGroup group, Integer off) { - return hbotProbeSubstancePosMgr.getContainerPos(group, off); - } - - public Pos3d getProbeSubstancePiercePos(ConsumableGroup group, Integer off) { - return hbotProbeSubstancePosMgr.getPiercePos(group, off); - } - - public Pos3d getLargeBuffer(ConsumableGroup group) { - return hbotLargeBottleBSPosMgr.getPos(group); - } - - - -} diff --git a/src/main/java/a8k/app/service/param/hbotpos/HbotLargeBottleBSPosMgr.java b/src/main/java/a8k/app/service/param/hbotpos/HbotLargeBottleBSPosMgr.java index a2595a8..4367a9f 100644 --- a/src/main/java/a8k/app/service/param/hbotpos/HbotLargeBottleBSPosMgr.java +++ b/src/main/java/a8k/app/service/param/hbotpos/HbotLargeBottleBSPosMgr.java @@ -3,7 +3,6 @@ package a8k.app.service.param.hbotpos; import a8k.app.type.a8k.ConsumableGroup; import a8k.app.service.param.base.ParamMgr; import a8k.app.type.param.hbotpos.HbotLargeBottleBSPos; -import a8k.app.type.a8k.Pos2d; import a8k.app.type.a8k.Pos3d; import jakarta.annotation.PostConstruct; import lombok.extern.slf4j.Slf4j; @@ -31,14 +30,14 @@ public class HbotLargeBottleBSPosMgr extends ParamMgr { setParam(param.name(), val); } - public void setPos0(Pos3d pos) { - setParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, pos); - } - - public void setDxAndDy(double dx, double dy) { - setParam(HbotLargeBottleBSPos.LargeBuffer_DX, dx); - setParam(HbotLargeBottleBSPos.LargeBuffer_DY, dy); - } + // public void setPos0(Pos3d pos) { + // setParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, pos); + // } + // + // public void setDxAndDy(double dx, double dy) { + // setParam(HbotLargeBottleBSPos.LargeBuffer_DX, dx); + // setParam(HbotLargeBottleBSPos.LargeBuffer_DY, dy); + // } public Pos3d getPos(ConsumableGroup group) { Pos3d pos00 = getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos3d.class); diff --git a/src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java b/src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java index aa33607..aec8b35 100644 --- a/src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java +++ b/src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java @@ -5,16 +5,16 @@ import a8k.app.service.param.base.ParamMgr; import a8k.app.type.param.hbotpos.HbotLittleBSPos; import a8k.app.type.a8k.Pos3d; import jakarta.annotation.PostConstruct; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; +import lombok.extern.slf4j.Slf4j; +import org.jetbrains.annotations.NotNull; import org.springframework.stereotype.Component; /** * HBOT二维码扫描坐标参数 */ @Component +@Slf4j public class HbotLittleBSPosMgr extends ParamMgr { - static final Logger logger = LoggerFactory.getLogger(HbotLittleBSPosMgr.class); @PostConstruct @@ -28,7 +28,7 @@ public class HbotLittleBSPosMgr extends ParamMgr { for (int i = 0; i < 25; i++) { getLittleBSPos(group, i); getLittleBSPiercePos(group, i); - getLittleBSSamplePos(group, i); + getLittleBSContainerPos(group, i); } } } @@ -37,7 +37,7 @@ public class HbotLittleBSPosMgr extends ParamMgr { setParam(param.name(), val); } - public Pos3d getLittleBSPos(ConsumableGroup group, Integer off) { + private Pos3d getLittleBSPos(ConsumableGroup group, Integer off) { Pos3d pos00 = getParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, Pos3d.class); Double gdx = getParam(HbotLittleBSPos.GroupDX, Double.class); @@ -45,18 +45,7 @@ public class HbotLittleBSPosMgr extends ParamMgr { Double dx = getParam(HbotLittleBSPos.LittleBufferDX, Double.class); Double dy = getParam(HbotLittleBSPos.LittleBufferDY, Double.class); - Integer xoff = off % 5; - Integer yoff = off / 5; - - Integer gxoff = group.off % 3; - Integer gyoff = group.off / 3; - - - double x = pos00.x + xoff * dx + gxoff * gdx; - double y = pos00.y + yoff * dy + gyoff * gdy; - double z = pos00.z; - - return new Pos3d((int) x, (int) y, (int)z); + return computePos3d(group, off, pos00, gdx, gdy, dx, dy); } @@ -68,9 +57,8 @@ public class HbotLittleBSPosMgr extends ParamMgr { return pos; } - public Pos3d getLittleBSSamplePos(ConsumableGroup group, Integer off) { - Pos3d pos = getLittleBSPos(group, off); - return pos; + public Pos3d getLittleBSContainerPos(ConsumableGroup group, Integer off) { + return getLittleBSPos(group, off); } @@ -82,29 +70,18 @@ public class HbotLittleBSPosMgr extends ParamMgr { Double dx = getParam(HbotLittleBSPos.ProbeSubstanceDX, Double.class); Double dy = getParam(HbotLittleBSPos.ProbeSubstanceDY, Double.class); - Integer xoff = off % 5; - Integer yoff = off / 5; - - Integer gxoff = group.off % 3; - Integer gyoff = group.off / 3; - - - double x = pos00.x + xoff * dx + gxoff * gdx; - double y = pos00.y + yoff * dy + gyoff * gdy; - double z = pos00.z; - - return new Pos3d((int) x, (int) y, (int) z); - - } + return computePos3d(group, off, pos00, gdx, gdy, dx, dy); - public Double getGroupDX() { - return getParam(HbotLittleBSPos.GroupDX, Double.class); } - public Double getGroupDY() { - return getParam(HbotLittleBSPos.GroupDY, Double.class); - } + // public Double getGroupDX() { + // return getParam(HbotLittleBSPos.GroupDX, Double.class); + // } + // + // public Double getGroupDY() { + // return getParam(HbotLittleBSPos.GroupDY, Double.class); + // } public Pos3d getProbeSubstanceContainerPos(ConsumableGroup group, Integer off) { @@ -117,4 +94,20 @@ public class HbotLittleBSPosMgr extends ParamMgr { pos.y += getParam(HbotLittleBSPos.ProbeSubstancePierceXYAppendDistance, Double.class).intValue(); return pos; } + + + @NotNull private Pos3d computePos3d(ConsumableGroup group, Integer off, Pos3d pos00, Double gdx, Double gdy, Double dx, Double dy) { + Integer xOff = off % 5; + Integer yOff = off / 5; + + Integer gxOff = group.off % 3; + Integer gyOff = group.off / 3; + + + double x = pos00.x + xOff * dx + gxOff * gdx; + double y = pos00.y + yOff * dy + gyOff * gdy; + double z = pos00.z; + + return new Pos3d((int) x, (int) y, (int) z); + } } diff --git a/src/main/java/a8k/app/service/param/hbotpos/HbotProbeSubstancePosMgr.java b/src/main/java/a8k/app/service/param/hbotpos/HbotProbeSubstancePosMgr.java deleted file mode 100644 index 059636b..0000000 --- a/src/main/java/a8k/app/service/param/hbotpos/HbotProbeSubstancePosMgr.java +++ /dev/null @@ -1,27 +0,0 @@ -package a8k.app.service.param.hbotpos; - -import a8k.app.service.param.base.ParamMgr; - -import a8k.app.type.a8k.ConsumableGroup; -import a8k.app.type.a8k.Pos3d; -import jakarta.annotation.Resource; -import org.springframework.stereotype.Component; - -/** - * HBOT二维码扫描坐标参数 - */ -@Component -public class HbotProbeSubstancePosMgr extends ParamMgr { - - @Resource - HbotLittleBSPosMgr hbotLittleBSPosMgr; - - public Pos3d getContainerPos(ConsumableGroup group, Integer off) { - return hbotLittleBSPosMgr.getProbeSubstanceContainerPos(group, off); - } - - public Pos3d getPiercePos(ConsumableGroup group, Integer off) { - return hbotLittleBSPosMgr.getProbeSubstancePiercePos(group, off); - } - -} diff --git a/src/main/java/a8k/app/service/param/hbotpos/HbotSamplePosParamMgr.java b/src/main/java/a8k/app/service/param/hbotpos/HbotSamplePosParamMgr.java index ae5b8df..e0dbd73 100644 --- a/src/main/java/a8k/app/service/param/hbotpos/HbotSamplePosParamMgr.java +++ b/src/main/java/a8k/app/service/param/hbotpos/HbotSamplePosParamMgr.java @@ -5,14 +5,16 @@ import a8k.app.type.param.type.A8kSamplePos; import a8k.app.type.param.hbotpos.HbotSamplePos; import a8k.app.type.a8k.Pos3d; import jakarta.annotation.PostConstruct; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; /** * */ @Component +@Slf4j +@RequiredArgsConstructor public class HbotSamplePosParamMgr extends ParamMgr { @PostConstruct diff --git a/src/main/java/a8k/app/service/param/hbotpos/HbotTipPosMgr.java b/src/main/java/a8k/app/service/param/hbotpos/HbotTipPosMgr.java index a52e19f..b4c2d7a 100644 --- a/src/main/java/a8k/app/service/param/hbotpos/HbotTipPosMgr.java +++ b/src/main/java/a8k/app/service/param/hbotpos/HbotTipPosMgr.java @@ -7,6 +7,7 @@ import a8k.app.type.param.hbotpos.HbotTipPosParam; import a8k.app.type.a8k.Pos3d; import a8k.app.type.a8k.pos.TipGroupPos; import jakarta.annotation.PostConstruct; +import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; import org.springframework.util.Assert; @@ -14,6 +15,7 @@ import org.springframework.util.Assert; * HBOT二维码扫描坐标参数 */ @Component +@Slf4j public class HbotTipPosMgr extends ParamMgr { @PostConstruct diff --git a/src/main/java/a8k/app/service/param/pos/TemperatureCtrlParamMgr.java b/src/main/java/a8k/app/service/param/misc/TemperatureCtrlParamMgr.java similarity index 96% rename from src/main/java/a8k/app/service/param/pos/TemperatureCtrlParamMgr.java rename to src/main/java/a8k/app/service/param/misc/TemperatureCtrlParamMgr.java index a86a862..c9a0895 100644 --- a/src/main/java/a8k/app/service/param/pos/TemperatureCtrlParamMgr.java +++ b/src/main/java/a8k/app/service/param/misc/TemperatureCtrlParamMgr.java @@ -1,4 +1,4 @@ -package a8k.app.service.param.pos; +package a8k.app.service.param.misc; import a8k.app.service.param.base.ParamMgr; import a8k.app.type.param.TemperatureCtrlParam; diff --git a/src/main/java/a8k/extui/oldpage/pos_calibration/HbotTipPosCalibration.java b/src/main/java/a8k/extui/oldpage/pos_calibration/HbotTipPosCalibration.java index b434a49..346b39c 100644 --- a/src/main/java/a8k/extui/oldpage/pos_calibration/HbotTipPosCalibration.java +++ b/src/main/java/a8k/extui/oldpage/pos_calibration/HbotTipPosCalibration.java @@ -6,10 +6,8 @@ import a8k.app.hardware.driver.PipetteCtrlDriverV2; import a8k.app.service.module.TipOperationCtrlModule; import a8k.extui.mgr.ExtApiPageMgr; import a8k.app.service.lowerctrl.HbotMoveCtrlService; -import a8k.app.service.param.exparam.HbotConsumableExParamMgr; import a8k.app.service.param.hbotpos.HbotTipPosMgr; import a8k.app.hardware.driver.HbotDriver; -import a8k.app.service.lowerctrl.HbotMoveExCtrlService; import a8k.app.type.a8k.Pos2d; import a8k.app.type.a8k.Pos3d; import a8k.app.type.exception.AppException; @@ -35,9 +33,7 @@ public class HbotTipPosCalibration { private final HbotMoveCtrlService hbotMoveCtrlService; - private final HbotMoveExCtrlService hbotMoveExCtrlService; private final HbotTipPosMgr hbotTipPosMgr; - private final HbotConsumableExParamMgr hbotConsumableExParamMgr; private final TipOperationCtrlModule tipOperationCtrlModule; diff --git a/src/main/java/a8k/extui/page/extapp/profession_test/P02A8kTemperaturaVerfication.java b/src/main/java/a8k/extui/page/extapp/profession_test/P02A8kTemperaturaVerfication.java index b29773e..c3fa717 100644 --- a/src/main/java/a8k/extui/page/extapp/profession_test/P02A8kTemperaturaVerfication.java +++ b/src/main/java/a8k/extui/page/extapp/profession_test/P02A8kTemperaturaVerfication.java @@ -2,7 +2,7 @@ package a8k.extui.page.extapp; import a8k.app.hardware.driver.TemperatureControlDriver; import a8k.app.service.background.TemperatureCtrlService; -import a8k.app.service.param.pos.TemperatureCtrlParamMgr; +import a8k.app.service.param.misc.TemperatureCtrlParamMgr; import a8k.app.type.exception.AppException; import a8k.app.type.param.TemperatureCtrlParam; import a8k.extui.factory.CurveBuilder; diff --git a/src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java b/src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java index c79a28e..d3c0a1f 100644 --- a/src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java +++ b/src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java @@ -63,11 +63,11 @@ public class P32HbotPosVerificationPage { } public void moveToLittleBufferSamplePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveExCtrlService.moveToLittleBufferSamplePos(group, off); + hbotMoveExCtrlService.moveToLittleBufferContainerPos(group, off); } public void moveToProbeSubstanceSamplePos(ConsumableGroup group, Integer off) throws AppException { - hbotMoveExCtrlService.moveToProbeSubstanceSamplePos(group, off); + hbotMoveExCtrlService.moveToProbeSubstanceContainerPos(group, off); } public void moveToProbeSubstancePiercePos(ConsumableGroup group, Integer off) throws AppException { diff --git a/src/main/java/a8k/extui/page/test/verification/P50VerificationScriptPage.java b/src/main/java/a8k/extui/page/test/verification/P50VerificationScriptPage.java index d4c0547..cbc8519 100644 --- a/src/main/java/a8k/extui/page/test/verification/P50VerificationScriptPage.java +++ b/src/main/java/a8k/extui/page/test/verification/P50VerificationScriptPage.java @@ -138,7 +138,7 @@ public class P50VerificationScriptPage { public void verifyLittleBSPierceAndSamplePos(ConsumableGroup group) throws AppException { for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { hbotMoveExCtrlService.moveToLittleBufferPiercePos(group, i); - hbotMoveExCtrlService.moveToLittleBufferSamplePos(group, i); + hbotMoveExCtrlService.moveToLittleBufferContainerPos(group, i); pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); // if (checkStopFlag()) // break; @@ -148,7 +148,7 @@ public class P50VerificationScriptPage { public void verifyProbeSubstancePierceAndSamplePos(ConsumableGroup group) throws AppException { for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { - hbotMoveExCtrlService.moveToProbeSubstanceSamplePos(group, i); + hbotMoveExCtrlService.moveToProbeSubstanceContainerPos(group, i); hbotMoveExCtrlService.moveToProbeSubstancePiercePos(group, i); pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); // if (checkStopFlag())