update

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -15,7 +15,7 @@ public enum ExtApiTabConfig {
 
 
 	Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
-	TubeScanPosCalibration("校准.试管扫描校准", true),
+	TubeFeedingModulePosCalibration("校准.试管入料校准", true),
 	TubePreProcesPosCalibration("校准.试管预处理校准", true),
 
 

src/main/java/a8k/service/app/devicedriver/calibration/TubeScanPosCalibration.java → src/main/java/a8k/service/app/devicedriver/calibration/TubeFeedingModulePosCalibration.java

@@ -17,9 +17,9 @@ import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
 
-@ExtApiTab(cfg = ExtApiTabConfig.TubeScanPosCalibration)
+@ExtApiTab(cfg = ExtApiTabConfig.TubeFeedingModulePosCalibration)
 @Component
-public class TubeScanPosCalibration {
+public class TubeFeedingModulePosCalibration {
 
 	@Resource
 	TubeFeedingModulePosMgr tubeScanPosMgr;
@@ -33,7 +33,7 @@ public class TubeScanPosCalibration {
 	@Resource
 	MiniServoControler     miniServoControler;
 	@Resource
-	StepMotorControler    stepMotorControler;
+	StepMotorControler     stepMotorControler;
 
 	private Integer readFeedingModXMPos() throws AppException {
 		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
@@ -122,6 +122,11 @@ public class TubeScanPosCalibration {
 		return tubeTubeFeedingModule.scanTubeHodler();
 	}
 
+	@ExtApiFn(name = "移动试管X到处理位", group = "校验", order = 33)
+	public void moveTubeXToPreProcessPos(Integer xtube) throws AppException {
+		tubeTubeFeedingModule.moveTubeToPreProcessPos(xtube);
+	}
+
 	@ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)
 	public void setTubeScanServoTorque(Integer torque) throws AppException {
 		tubeScanPosMgr.setTubeScanServoTorque(torque);

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

@@ -78,10 +78,14 @@ public class TubePreProcesPosCalibration {
 	//XProcessPos: 标定,验证
 	//ShakeClamp : 标定,校验
 
+	//
+	//	夹爪标定,校准,校验
+	//
+
 	@ExtApiFn(name = "设置当前位置为<参考点>", group = "夹爪", order = 21)
 	public Integer gripperSVSetCurrentPosAsRef() throws AppException {
-		miniServoControler.miniServoSetCurPos(MiniServoMId.ShakeModGripperSV, 100);
-		return 100;
+		miniServoControler.miniServoSetCurPos(MiniServoMId.ShakeModGripperSV, 1800);
+		return 1800;
 	}
 
 	@ExtApiFn(name = "<标定>当前点为<抓手张开位置>", group = "夹爪", order = 22)

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

@@ -45,7 +45,7 @@ public class TubeTubeFeedingModule {
 	}
 
 	@Resource
-	AppEventBusService     ebus;
+	AppEventBusService      ebus;
 	@Resource
 	A8kCanBusService        canBus;
 	@Resource
@@ -53,13 +53,13 @@ public class TubeTubeFeedingModule {
 	@Resource
 	TubeHolderParamMgr      tubeHolderParamMgr;
 	@Resource
-	CodeScaner             codeScaner;
+	CodeScaner              codeScaner;
 	@Resource
-	TubeTransportControler tubeTransportControler;
+	TubeTransportControler  tubeTransportControler;
 	@Resource
-	MiniServoControler miniServoControler;
+	MiniServoControler      miniServoControler;
 	@Resource
-	StepMotorControler stepMotorControler;
+	StepMotorControler      stepMotorControler;
 
 
 	private Boolean isTubeExist() throws AppException {
@@ -107,6 +107,7 @@ public class TubeTubeFeedingModule {
 	/*=========================================================================================
 	 * 											片段
 	 *========================================================================================*/
+
 	/**
 	 * 移动试管架到入口位置
 	 */
@@ -122,6 +123,11 @@ public class TubeTubeFeedingModule {
 		tubeTransportControler.moveTubeRackTo(stp.getTubeHolderExitXPos() - 10, TargetPosMeasureDirection.NOTCARE, false);
 	}
 
+	public void moveTubeToPreProcessPos(Integer tubeIndex) throws AppException {
+		tubeTransportControler.moveTubeRackTo(stp.getTube0PreProcessXPos() + tubeIndex * tubeHolderParamMgr.getTubeSpacing(), TargetPosMeasureDirection.POSITIVE, false);
+	}
+
+
 	/**
 	 * 移动<试管架>到出口位置
 	 */
@@ -297,4 +303,5 @@ public class TubeTubeFeedingModule {
 		return result;
 	}
 
+
 }

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

@@ -24,14 +24,16 @@ public class TubeFeedingModulePosMgr {
 		Tube0ScanXPos,         // 0号试管扫描位置
 		Tube0AltitJudgXPos, // 0试管高度判断位置
 		Tube0ExistJudgXPos, // 0试管存在判断位置
+		Tube0PreProcessXPos, // 0试管预处理位置
 		TubeScanServoTorque,// 试管扫描伺服力矩
+
 	}
 
 	@Resource
 	LowerDeviceParameterDBService lowerDeviceParameterDBService;
 
 	PosParameterReader posReader      = null;
-	Integer            nowParaVersion = 0;
+	Integer            nowParaVersion = 1;
 
 	//
 	//	MotorTubeRackMoveCtrlService
@@ -42,26 +44,26 @@ public class TubeFeedingModulePosMgr {
 		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
 		Integer paraVersion = posReader.getVersion();
 		if (!nowParaVersion.equals(paraVersion)) {
-			paramReset();
+			logger.info("init param");
+			posReader.setVersion(nowParaVersion);
+			posReader.updatePos(POS.TubeHolderEnterXPos, -46);
+			posReader.updatePos(POS.TubeHolderExitXPos, 3975);
+			posReader.updatePos(POS.TubeHolderScanXPos, 2202);
+			posReader.updatePos(POS.Tube0ScanXPos, 505);
+			posReader.updatePos(POS.Tube0AltitJudgXPos, 505);
+			posReader.updatePos(POS.Tube0ExistJudgXPos, 300);
+			posReader.updatePos(POS.Tube0PreProcessXPos, 1225);
+			posReader.updatePos(POS.TubeScanServoTorque, 500);
 		}
-	}
 
-	void paramReset() {
-		logger.info("init param");
-		posReader.setVersion(nowParaVersion);
-		posReader.updatePos(POS.TubeHolderEnterXPos, -46);
-		posReader.updatePos(POS.TubeHolderExitXPos, 3975);
-		posReader.updatePos(POS.TubeHolderScanXPos, 2202);
-		posReader.updatePos(POS.Tube0ScanXPos, 505);
-		posReader.updatePos(POS.Tube0AltitJudgXPos, 505);
-		posReader.updatePos(POS.Tube0ExistJudgXPos, 300);
-		posReader.updatePos(POS.TubeScanServoTorque, 500);
 	}
 
 	public Integer getParam(POS pos) {
 		return posReader.getPos(pos, Integer.class);
 	}
 
+	public Integer getTube0PreProcessXPos() {return getParam(POS.Tube0PreProcessXPos);}
+
 	public Integer getTubeHolderEnterXPos() {
 		return getParam(POS.TubeHolderEnterXPos);
 	}
@@ -90,6 +92,8 @@ public class TubeFeedingModulePosMgr {
 		return getParam(POS.TubeScanServoTorque);
 	}
 
+	public void setTube0PreProcessXPos(Integer value) {posReader.updatePos(POS.Tube0PreProcessXPos, value);}
+
 	public void setTubeHolderEnterXPos(Integer value) {
 		posReader.updatePos(POS.TubeHolderEnterXPos, value);
 	}
@@ -118,4 +122,5 @@ public class TubeFeedingModulePosMgr {
 	public void setTubeScanServoTorque(Integer value) {
 		posReader.updatePos(POS.TubeScanServoTorque, value);
 	}
+
 }

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

@@ -41,7 +41,7 @@ public class TubePreProcesPosMgr {
 	LowerDeviceParameterDBService lowerDeviceParameterDBService;
 
 	PosParameterReader posReader      = null;
-	Integer            nowParaVersion = 0;
+	Integer            nowParaVersion = 1;
 
 	@PostConstruct
 	void initialize() {
@@ -52,11 +52,10 @@ public class TubePreProcesPosMgr {
 			posReader.setVersion(nowParaVersion);
 
 			//	677,450,310,355
-			//  1800,
-
-			posReader.updatePos(POS.GripperServoOpenPos, 450);
-			posReader.updatePos(POS.GripperServoClosePos, 310);
-			posReader.updatePos(POS.GripperServoTakeCapPos, 355);
+			//  1800,1573,1433,1388
+			posReader.updatePos(POS.GripperServoOpenPos, 1573);
+			posReader.updatePos(POS.GripperServoClosePos, 1433);
+			posReader.updatePos(POS.GripperServoTakeCapPos, 1388);
 			posReader.updatePos(POS.YServoTakeTubePos, 3080);
 			posReader.updatePos(POS.YServoShakePos, 2130);
 			posReader.updatePos(POS.YServoZeroYPos, 300);

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

@@ -78,12 +78,18 @@ public class LowerDeviceParameterDBService {
 		}
 	}
 
+	public void tryInitParam(String service, String key, Object pos) {
+		if (getParam(service, key, Object.class) == null) {
+			updateParam(service, key, pos);
+		}
+	}
+
 	public Integer getParamVersion(String service) {
 		return getParam(service, "VERSION", Integer.class);
 	}
 
 	public void setParamVersion(String service, Integer version) {
-		updateParam(service, "VERSION", 0);
+		updateParam(service, "VERSION", version);
 	}
 
 	public PosParameterReader getReader(Class<?> type) {

src/main/java/a8k/service/db/utils/PosParameterReader.java

@@ -25,7 +25,10 @@ public class PosParameterReader {
 
 	public void updatePos(Enum<?> key, Object pos) {
 		lowerDeviceParameterDBService.updateParam(service.getSimpleName(), key.name(), pos);
+	}
 
+	public void tryInitParam(Enum<?> key, Object parm) {
+		lowerDeviceParameterDBService.tryInitParam(service.getSimpleName(), key.name(), parm);
 	}
 
 	public Integer getVersion() {

src/main/java/a8k/utils/ZSqliteJdbcHelper.java

@@ -37,8 +37,8 @@ public class ZSqliteJdbcHelper {
 	}
 
 	static public void createTable(JdbcTemplate jdbcTemplate, String tableName, Class<?> tClass) {
-		StringBuilder sql = new StringBuilder("create table " + tableName + " (");
-		Boolean 	 hasId = false;
+		StringBuilder sql   = new StringBuilder("create table " + tableName + " (");
+		Boolean       hasId = false;
 		for (java.lang.reflect.Field field : tClass.getDeclaredFields()) {
 			if (field.getName().equals("id")) {
 				hasId = true;
@@ -62,7 +62,7 @@ public class ZSqliteJdbcHelper {
 				sql.append("text,");
 			}
 		}
-		if(!hasId) {
+		if (!hasId) {
 			throw new RuntimeException("id field not found in class " + tClass.getName());
 		}
 
@@ -186,11 +186,12 @@ public class ZSqliteJdbcHelper {
 			sql.append(field.getName()).append(" = ?,");
 		}
 		sql.deleteCharAt(sql.length() - 1).append(" where id = ?");
-		System.out.println(sql.toString());
-
 		List<Object> args = buildArgs(tClass, obj);
 		args.add(id);
 
+		//		System.out.println(sql);
+		//		System.out.println(args);
+
 		jdbcTemplate.update(sql.toString(), args.toArray());
 	}
 }