update

src/main/java/a8k/service/app/devicedriver/calibration/HbotTipPosCalibration.java

@@ -10,6 +10,7 @@ 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.service.app.devicedriver.pos.HbotFixPosMgr;
 import a8k.type.*;
 import a8k.type.cfg.Pos2d;
 import a8k.type.cfg.Pos3d;
@@ -44,6 +45,8 @@ public class HbotTipPosCalibration {
 	HbotControler        hbotControler;
 	@Resource
 	HbotConsumablePosMgr hbotConsumablePosMgr;
+	@Resource
+	HbotFixPosMgr        hbotFixPosMgr;
 
 	Boolean stopFlag = false;
 
@@ -198,11 +201,26 @@ public class HbotTipPosCalibration {
 	}
 
 
+	@ExtApiFn(name = "标定.丢Tip坐标", group = "标定.丢Tip坐标", order = 30)
+	public void calibrateDropTipPos() throws AppException {
+		enableModule();
+		pipetteCtrlModule.zMotorMeasureDistance();
+		hbotFixPosMgr.setDropTipPos(new Pos3d(hbotModule.readPos().x, hbotModule.readPos().y, pipetteCtrlModule.zMotorReadMeasureDistanceResult()));
+		disableModule();
+	}
+
+//	@ExtApiFn(name = "标定.滴液坐标", group = "标定.滴液坐标", order = 40)
+//	public void calibrateDropLiquidPos() throws AppException {
+//		enableModule();
+//		pipetteCtrlModule.zMotorMeasureDistance();
+//		hbotFixPosMgr.setDropLiquidPos(new Pos3d(hbotModule.readPos().x, hbotModule.readPos().y, pipetteCtrlModule.zMotorReadMeasureDistanceResult()));
+//		disableModule();
+//	}
 
 	//
 	//	校验
 	//
-	@ExtApiFn(name = "校验Tip坐标", group = "校验", order = 300)
+	@ExtApiFn(name = "校验取Tip坐标", group = "校验", order = 300)
 	public void testTakeTip(TipGroup tipGroup) throws AppException {
 		resetStopFlag();
 		enableModule();
@@ -213,6 +231,17 @@ public class HbotTipPosCalibration {
 		}
 	}
 
+	@ExtApiFn(name = "校验丢Tip", group = "校验", order = 301)
+	public void testDropTipPos() throws AppException {
+		hbotControler.dropTip();
+	}
+
+//	@ExtApiFn(name = "校验滴液位置", group = "校验", order = 302)
+//	public void testDropLiquidPos() throws AppException {
+//		hbotControler.moveToDropLiquidPos();
+//	}
+
+
 	@ExtApiFn(name = "停止校验", group = "校验", order = 304)
 	public void stopTest() throws AppException {
 		setStopFlag();

src/main/java/a8k/service/app/devicedriver/calibration/ReactionPlatesTransmitControlerCalibration.java

@@ -3,15 +3,17 @@ package a8k.service.app.devicedriver.calibration;
 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.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
 import a8k.service.app.devicedriver.basectrl.StepMotorControler;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
+import a8k.service.app.devicedriver.ctrl.HbotControler;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
-import a8k.service.app.devicedriver.pos.OptModulePosMgr;
-import a8k.service.app.devicedriver.pos.PlatesBoxPosMgr;
-import a8k.service.app.devicedriver.pos.TurntablePosMgr;
+import a8k.service.app.devicedriver.pos.*;
 import a8k.type.ConsumableGroup;
 import a8k.type.IncubatorPos;
+import a8k.type.cfg.Pos3d;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
@@ -37,15 +39,31 @@ public class ReactionPlatesTransmitControlerCalibration {
 	@Resource
 	ReactionPlatesTransmitCtrl reactionPlatesTransmitCtrl;
 
+	@Resource
+	PipetteCtrlModule pipetteCtrlModule;
+	@Resource
+	HbotModule        hbotModule;
+
+
+	@Resource
+	HbotControler hbotControler;
+	@Resource
+	HbotFixPosMgr hbotFixPosMgr;
+
+
 	//基础工具
 	@ExtApiFn(name = "归零", group = "测试工具", order = 1)
 	public void deviceReset() throws AppException {
 		enableModule();
+		pipetteCtrlModule.zMotorMoveZeroBlock();
+		hbotModule.moveToZeroBlock();
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM, overtime);
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxYM, overtime);
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM, overtime);
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM, overtime);
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM, overtime);
+
+
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
@@ -55,6 +73,9 @@ public class ReactionPlatesTransmitControlerCalibration {
 		stepMotorControler.stepMotorEnable(StepMotorMId.OptModPullM, 1);
 		stepMotorControler.stepMotorEnable(StepMotorMId.OptModScannerM, 1);
 		stepMotorControler.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 1);
+
+		pipetteCtrlModule.zMotorEnable(1);
+		hbotModule.enable(1);
 	}
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3)
@@ -64,6 +85,9 @@ public class ReactionPlatesTransmitControlerCalibration {
 		stepMotorControler.stepMotorEnable(StepMotorMId.OptModPullM, 0);
 		stepMotorControler.stepMotorEnable(StepMotorMId.OptModScannerM, 0);
 		stepMotorControler.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 0);
+
+		pipetteCtrlModule.zMotorEnable(0);
+		hbotModule.enable(0);
 	}
 
 	@ExtApiFn(name = "读取所有设定值", group = "测试工具", order = 5)
@@ -106,6 +130,16 @@ public class ReactionPlatesTransmitControlerCalibration {
 		return dropLiquidPos0;
 	}
 
+	@ExtApiFn(name = "标定", group = "HbotTip滴定位.校准", order = 104)
+	public Pos3d Hbot_dropLiquidPosCalibration() throws AppException {
+		enableModule();
+		pipetteCtrlModule.zMotorMeasureDistance();
+		var pos = new Pos3d(hbotModule.readPos().x, hbotModule.readPos().y, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		hbotFixPosMgr.setDropLiquidPos(pos);
+		disableModule();
+		return pos;
+	}
+
 
 	//
 	//	板夹仓位置
@@ -170,9 +204,10 @@ public class ReactionPlatesTransmitControlerCalibration {
 	//	校验
 	//
 
-	@ExtApiFn(name = "孵育盘移动到点滴位", group = "校验", order = 1000)
+	@ExtApiFn(name = "滴定", group = "校验", order = 1000)
 	public void turntableMoveDropPos(IncubatorPos pos) throws AppException {
 		reactionPlatesTransmitCtrl.trunableMoveToDropLiquidPos(pos);
+		hbotControler.moveToDropLiquidPos();
 	}
 
 	@ExtApiFn(name = "孵育盘移动到拉板位", group = "校验", order = 1001)

src/main/java/a8k/service/app/devicedriver/ctrl/HbotControler.java

@@ -103,4 +103,5 @@ public class HbotControler {
 	}
 
 
+
 }

src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java

@@ -128,6 +128,7 @@ public class HbotConsumablePosMgr {
 	}
 
 
+
 	public LittleBottleConsumablePosInfo getLittleBufferGroupPosInfo() {
 		LittleBottleConsumablePosInfo info = new LittleBottleConsumablePosInfo();
 		info.g0_000 = posReader.getPos(HbotConsumablePosParam.LittleBufferGroup0_000Pos, Pos3d.class);

src/main/java/a8k/service/app/devicedriver/pos/HbotFixPosMgr.java

@@ -4,6 +4,7 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiParamsTab;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.type.Parameter;
 import a8k.service.db.utils.PosParameterReader;
 import a8k.type.cfg.Pos3d;
 import jakarta.annotation.PostConstruct;
@@ -12,6 +13,8 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
+
 /**
  * HBOT二维码扫描坐标参数
  */
@@ -22,8 +25,14 @@ public class HbotFixPosMgr {
 	static final Logger logger = LoggerFactory.getLogger(HbotFixPosMgr.class);
 
 	enum Pos {
-		DropTipPos,
-		DropLiquidPos,
+		DropTipPos("丢TIP位置"),
+		DropLiquidPos("滴液位置"),
+		;
+		public final String chName;
+
+		Pos(String chName) {
+			this.chName = chName;
+		}
 	}
 
 	;
@@ -36,6 +45,11 @@ public class HbotFixPosMgr {
 	@PostConstruct
 	void initialize() {
 		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
+
+		for (Pos pos : Pos.values()) {
+			posReader.setParamChName(pos, pos.chName);
+		}
+
 		Integer paraVersion = posReader.getVersion();
 		if (!nowParaVersion.equals(paraVersion)) {
 			paramReset();
@@ -49,6 +63,10 @@ public class HbotFixPosMgr {
 		posReader.updatePos(Pos.DropLiquidPos.name(), new Pos3d(0, 0, 0));
 	}
 
+	public List<Parameter> getParams() {
+		return posReader.getParams();
+	}
+
 	public Pos3d getDropTipPos() {
 		return posReader.getPos(Pos.DropTipPos, Pos3d.class);
 	}
@@ -57,5 +75,12 @@ public class HbotFixPosMgr {
 		return posReader.getPos(Pos.DropLiquidPos, Pos3d.class);
 	}
 
+	public void setDropTipPos(Pos3d pos) {
+		posReader.updatePos(Pos.DropTipPos.name(), pos);
+	}
+
+	public void setDropLiquidPos(Pos3d pos) {
+		posReader.updatePos(Pos.DropLiquidPos.name(), pos);
+	}
 }
 

src/main/java/a8k/service/db/LowerDeviceParameterDBService.java

@@ -47,7 +47,7 @@ public class LowerDeviceParameterDBService {
 			parameter.chName  = chName;
 			ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, parameter);
 		} else {
-			if (parameter.chName.equals(chName)) {
+			if (parameter.chName != null && parameter.chName.equals(chName)) {
 				return;
 			}
 			parameter.chName = chName;