update

src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java

@@ -5,6 +5,7 @@ import a8k.app.hardware.channel.A8kCanBusService;
 import a8k.app.hardware.type.*;
 import a8k.app.hardware.type.pipette_module.AspirationParamId;
 import a8k.app.hardware.type.pipette_module.PipetteStateIndex;
+import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
 import a8k.app.hardware.type.pipette_module.cpyidx.PMVCpyIdx;
 import a8k.app.hardware.type.pipette_module.cpyidx.ZMVCpyIdx;
 import a8k.app.hardware.type.pipette_module.cfg.*;
@@ -267,8 +268,8 @@ public class PipetteCtrlDriverV2 {
 		waitForMod(CmdId.pipette_pump_putbak_tip);
 	}
 
-	public void pipettePumpPierceThroughBlock() throws AppException {
-		callcmd(MId.PipetteMod, CmdId.pipette_pump_pierce_through);
+	public void pipettePumpPierceThroughBlock(ContainerCpyId containerCpyId, Integer containerPos) throws AppException {
+		callcmd(MId.PipetteMod, CmdId.pipette_pump_pierce_through, containerCpyId.toInteger(), containerPos);
 		waitForMod(CmdId.pipette_pump_pierce_through);
 	}
 

src/main/java/a8k/app/hardware/type/pipette_module/cfg/PlatformInfoIndex.java

@@ -11,6 +11,7 @@ public enum PlatformInfoIndex {
 
 	tipPickingPos, // 开始取tip位置(绝对位置0.1mm)
 	tipPickingSearchRange, // 取tip的范围
+	tipPickingAppendDistance, // 取tip时z轴的附加距离
 	tipDepositPos, // 丢tip位置(绝对位置0.1mm)
 	transformPos, // 移液枪安全移动的高度(绝对位置0.1mm)
 
@@ -25,8 +26,6 @@ public enum PlatformInfoIndex {
 	tipLength, // tip长度
 	;
 
-		;
-
 	public Integer toInteger() {
 		return ordinal();
 	}

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunContainerConfigSettingPage.java

@@ -42,48 +42,48 @@ public class PipetteGunContainerConfigSettingPage {
 		}
 	}
 
-	void setContainerType(ContainerCpyId cpyid, Integer containerType) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.containerType, containerType);
+	void setContainerType( Integer containerType) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.containerType, containerType);
 	}
 
-	void setContainerNeckPos(ContainerCpyId cpyid, Integer containerNeckPos) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.containerNeckPos, containerNeckPos);
+	void setContainerNeckPos( Integer containerNeckPos) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.containerNeckPos, containerNeckPos);
 	}
 
-	void setContainerDepth(ContainerCpyId cpyid, Integer containerDepth) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.containerDepth, containerDepth);
+	void setContainerDepth( Integer containerDepth) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.containerDepth, containerDepth);
 	}
 
-	void setContainerRound(ContainerCpyId cpyid, Integer containerRound) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.containerRound, containerRound);
+	void setContainerRound( Integer containerRound) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.containerRound, containerRound);
 	}
 
-	void setContainerBottomSectionHeight(ContainerCpyId cpyid, Integer containerBottomSectionHeight) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.containerBottomSectionHeight, containerBottomSectionHeight);
+	void setContainerBottomSectionHeight( Integer containerBottomSectionHeight) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.containerBottomSectionHeight, containerBottomSectionHeight);
 	}
 
-	void setImmersionDepth(ContainerCpyId cpyid, Integer immersionDepth) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.immersionDepth, immersionDepth);
+	void setImmersionDepth( Integer immersionDepth) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.immersionDepth, immersionDepth);
 	}
 
-	void setLeavingHeight(ContainerCpyId cpyid, Integer leavingHeight) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.leavingHeight, leavingHeight);
+	void setLeavingHeight( Integer leavingHeight) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.leavingHeight, leavingHeight);
 	}
 
-	void setJetHeight(ContainerCpyId cpyid, Integer jetHeight) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.jetHeight, jetHeight);
+	void setJetHeight( Integer jetHeight) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.jetHeight, jetHeight);
 	}
 
-	void setLldStartSearchDepth(ContainerCpyId cpyid, Integer lldStartSearchDepth) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.lldStartSearchDepth, lldStartSearchDepth);
+	void setLldStartSearchDepth( Integer lldStartSearchDepth) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.lldStartSearchDepth, lldStartSearchDepth);
 	}
 
-	void setFixAspirationDepth(ContainerCpyId cpyid, Integer fixAspirationDepth) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.fixAspirationDepth, fixAspirationDepth);
+	void setFixAspirationDepth( Integer fixAspirationDepth) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.fixAspirationDepth, fixAspirationDepth);
 	}
 
-	void setLlFvConvertCoefficient(ContainerCpyId cpyid, Integer llfVConvertCoefficient) throws AppException {
-		pipetteCtrlDriverV2.setContainerInfo(cpyid.toInteger(), ContainerInfoIndex.llfVConvertCoefficient, llfVConvertCoefficient);
+	void setLlFvConvertCoefficient( Integer llfVConvertCoefficient) throws AppException {
+		pipetteCtrlDriverV2.setContainerInfo(cpyId.toInteger(), ContainerInfoIndex.llfVConvertCoefficient, llfVConvertCoefficient);
 	}
 
 	void setPierceDepth(Integer pierceDepth) throws AppException {

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunOperationCtrlPage.java

@@ -5,6 +5,7 @@ import a8k.app.hardware.type.pipette_module.AspirationParamId;
 import a8k.app.hardware.type.pipette_module.cfg.ContainerInfoIndex;
 import a8k.app.hardware.type.pipette_module.cfg.LiquidInfoIndex;
 import a8k.app.hardware.type.pipette_module.cfg.PlatformInfoIndex;
+import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
 import a8k.app.type.exception.AppException;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;
@@ -21,6 +22,7 @@ public class PipetteGunOperationCtrlPage {
 	private final ExtApiPageMgr       extApiPageMgr;
 	private final PipetteCtrlDriverV2 pipetteCtrlDriverV2;
 
+	Integer platInfoCpyId = 0;
 
 	Integer            volume;
 	Integer            containerPos;
@@ -54,20 +56,26 @@ public class PipetteGunOperationCtrlPage {
 		pipetteCtrlDriverV2.pipettePumpAspirateBlock();
 	}
 
-	public void pipettePumpInitDeviceBlock(PlatformInfoIndex platInfoCpyId) throws AppException {
-		pipetteCtrlDriverV2.pipettePumpInitDeviceBlock(platInfoCpyId);
+	public void pipettePumpInitDeviceBlock(Integer cpyId) throws AppException {
+		pipetteCtrlDriverV2.pipettePumpInitDeviceBlock(cpyId);
+		platInfoCpyId = cpyId;
 	}
 
 	public void pipettePumpTakeTipBlock() throws AppException {
 		pipetteCtrlDriverV2.pipettePumpTakeTipBlock();
 	}
 
-	public void pipettePumpPutTipBlock() throws AppException {
+	public void pipettePumpDepositTip() throws AppException {
 		pipetteCtrlDriverV2.pipettePumpDepositTipBlock();
 	}
 
-	public void pipettePumpPierceThroughBlock() throws AppException {
-		pipetteCtrlDriverV2.pipettePumpPierceThroughBlock();
+	public void pipettePumpPutBakTip() throws AppException {
+		pipetteCtrlDriverV2.pipettePumpPutBakTipBlock();
+	}
+
+
+	public void pipettePumpPierceThroughBlock(ContainerCpyId containerCpyId, Integer containerPos) throws AppException {
+		pipetteCtrlDriverV2.pipettePumpPierceThroughBlock(containerCpyId, containerPos);
 	}
 
 
@@ -88,11 +96,14 @@ public class PipetteGunOperationCtrlPage {
 		page.addFunction("设置混匀体积", this::setMixVolume).setParamVal("mixVolume", () -> mixVolume);
 		page.addFunction("设置混匀次数", this::setMixTimes).setParamVal("mixTimes", () -> mixTimes);
 		page.newGroup(" 操作");
-		page.addFunction("初始化设备", this::pipettePumpInitDeviceBlock);
+		page.addFunction("初始化设备", this::pipettePumpInitDeviceBlock)
+				.setParamVal("cpyId", () -> platInfoCpyId);
 		page.addFunction("取Tip", this::pipettePumpTakeTipBlock);
-		page.addFunction("放Tip", this::pipettePumpPutTipBlock);
+		page.addFunction("放回Tip", this::pipettePumpPutBakTip);
+		page.addFunction("丢Tip", this::pipettePumpDepositTip);
 		page.addFunction("刺破", this::pipettePumpPierceThroughBlock);
 		page.addFunction("执行吸取", this::execAspirate);
+
 		extApiPageMgr.addPage(page);
 	}
 

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunPlatformSettingPage.java

@@ -45,9 +45,11 @@ public class PipetteGunPlatformSettingPage {
 		pipetteCtrlDriverV2.setPlatInfo(platformInfCpyId, PlatformInfoIndex.workRefPos, val);
 	}
 
-	public void setTipPickingPos(Integer startPos, Integer searchRange) throws AppException {
+	public void setTipPickingPos(Integer startPos, Integer searchRange,Integer appendDistance) throws AppException {
 		pipetteCtrlDriverV2.setPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingPos, startPos);
 		pipetteCtrlDriverV2.setPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingSearchRange, searchRange);
+		pipetteCtrlDriverV2.setPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingAppendDistance, appendDistance);
+
 	}
 
 	public void setTipDepositPos(Integer val) throws AppException {
@@ -66,6 +68,9 @@ public class PipetteGunPlatformSettingPage {
 		pipetteCtrlDriverV2.setPlatInfo(platformInfCpyId, PlatformInfoIndex.tipLength, val);
 	}
 
+	public void setTipPickingAppendDistance(Integer val) throws AppException {
+	}
+
 
 	@PostConstruct
 	void init() {
@@ -77,7 +82,8 @@ public class PipetteGunPlatformSettingPage {
 				.setParamVal("val", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.workRefPos));
 		page.addFunction("设置取Tip位置", this::setTipPickingPos)
 				.setParamVal("startPos", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingPos))
-				.setParamVal("searchRange", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingSearchRange));
+				.setParamVal("searchRange", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingSearchRange))
+				.setParamVal("appendDistance", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.tipPickingAppendDistance));
 		page.addFunction("设置丢Tip位置", this::setTipDepositPos)
 				.setParamVal("val", () -> getPlatInfo(platformInfCpyId, PlatformInfoIndex.tipDepositPos));
 		page.addFunction("设置水平移动位", this::setTransformPos)