project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

重构试管架移动代码

tags/v0
zhaohe 1 year ago
parent
656d135c68
commit
6c7d80bcd0
5 changed files with 168 additions and 160 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/main/java/a8k/a8k_can_protocol/A8kEcode.java
  2. 8
      src/main/java/a8k/appbean/ecode/AppRet.java
  3. 34
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  4. 8
      src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
  5. 258
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

2
src/main/java/a8k/a8k_can_protocol/A8kEcode.java
View File

@ -22,7 +22,7 @@ public enum A8kEcode {
MotorLostStep(16, "电机丢步"),//
ActionOvertime(17, "动作执行超时"),//
CodeException(18, "代码异常"),//
ShakeModGripperZMNotInZeroPos(19, "抓手升降电机没有在零位"),//
//
// FOR HARDWARE

8
src/main/java/a8k/appbean/ecode/AppRet.java
View File

@ -79,6 +79,14 @@ public class AppRet<T> {
return r;
}
public static <T> AppRet<T> fail(AppRet<Object> ret) {
AppRet<T> r = new AppRet<>();
r.success = false;
r.ecode = new AppRetEcodeInfo(ret.getEcode().errorCode, ret.getEcode().mid, ret.getEcode().cmd);
r.data = null;
return r;
}
public static <T> AppRet<T> fail(Exception e) {
StringBuilder traceSb = new StringBuilder();
for (var trace : e.getStackTrace()) {

34
src/main/java/a8k/base_hardware/A8kCanBusService.java
View File

@ -158,8 +158,31 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.code_scaner_stop_scan.toInt());
}
public A8kPacket codeScanerReadScanerResult(MId id) throws HardwareException {
return callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
public String codeScanerReadScanerResult(MId id) throws HardwareException {
A8kPacket ack = callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
var contentBytes = ack.getCmdContent();
return new String(contentBytes);
}
public Boolean codeScanerResultIsReady(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.code_scaner_result_is_ready.toInt());
return packet.getContentI32(0) != 0;
}
public String codeScanerWaittingForResult(MId mid, Integer acitionOvertime) throws HardwareException, InterruptedException {
long startedAt = System.currentTimeMillis();
do {
if (codeScanerResultIsReady(mid))
break;
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
codeScanerStopScan(mid);
return null;
}
Thread.sleep(100);
} while (true);
codeScanerStopScan(mid);
return codeScanerReadScanerResult(mid);
}
//
@ -350,7 +373,7 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque);
}
public boolean getIOState(IOId ioid) throws HardwareException {
public Boolean getIOState(IOId ioid) throws HardwareException {
if (ioid.mtype == ModuleType.kboard) {
return callcmd(ioid.mid.toInt(), CmdId.extboard_read_inio.toInt(), ioid.ioIndex).getContentI32(0) != 0;
} else if (ioid.mtype == ModuleType.ktmc_step_motor) {
@ -392,6 +415,7 @@ public class A8kCanBusService {
}
public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
long startedAt = System.currentTimeMillis();
@ -412,13 +436,11 @@ public class A8kCanBusService {
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
logger.error("{} waitting for action {} overtime", mid, action);
try {moduleStop(mid);} catch (HardwareException ignored) {}
throw new HardwareException(mid, A8kEcode.ActionOvertime);
}
Thread.sleep(100);
} while (true);
}
public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException {

8
src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
View File

@ -87,4 +87,12 @@ public class MotorTubeRackMoveCtrlServiceParameterDao {
public Integer getTubeSpacing() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeSpacing", 0);
}
public Integer getTubeScanServoTorque() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeScanServoTorque", 0);
}
public Integer getTubeScanOvertime() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeScanOvertime", 100);
}
}

258
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -40,7 +40,7 @@ public class MotorTubeRackMoveCtrlService {
private CommonHardwareOpeartion comHardwareOpear;
/*=========================================================================================
* 私有方法
* 基础方法
*========================================================================================*/
/**
@ -49,14 +49,34 @@ public class MotorTubeRackMoveCtrlService {
* @throws HardwareException 硬件异常
* @throws InterruptedException 打断异常
*/
private void moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
}
scanClampModRelease();
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
}
/**
* 扫描夹紧机构夹紧
*/
public void scanClampModClamp() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeClampPos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
}
/**
* 扫描夹紧机构复位
*/
public void scanClampModRelease() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
}
/*=========================================================================================
* 公共方法
*========================================================================================*/
@ -66,7 +86,7 @@ public class MotorTubeRackMoveCtrlService {
* @param enable 1:使能 0:禁用
* @throws HardwareException 硬件异常
*/
public AppRet modGroupEnable(Boolean enable) throws HardwareException {
public AppRet<Object> modGroupEnable(Boolean enable) throws HardwareException {
comHardwareOpear.enableAllMotor(enable);
return AppRet.success();
}
@ -79,223 +99,173 @@ public class MotorTubeRackMoveCtrlService {
comHardwareOpear.forceStopAllMOtor();
}
public void modGroupMoveToZero() throws HardwareException, InterruptedException {
Boolean state = canBus.stepMotorReadIoState(MId.ShakeModGripperZM);
if (!state) {
// return AppRet;
public AppRet<Object> modGroupMoveToZero() throws HardwareException, InterruptedException {
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
}
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
}
/**
* 电机归零，电机运行时归零，特点是通过归零判断设备是否丢步
* @throws HardwareException
* @throws InterruptedException
* @throws HardwareException 硬件异常
* @throws InterruptedException 打断异常
*/
public void moveToZero() throws HardwareException, InterruptedException {
//先通过move_to 指令移动到零点
//再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao
//最后读取 寄存器dval,判断move_to_zero移动了多少距离，如果dval过大，则抛出电机丢步异常。
//1.记录运行前电机所在位置
//2.使用move_to_zero移动到零点
//3.读取电机运行完成后所在的位置
//4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。
var params = this.paramDao;
var beforePos = canBus.stepMotorReadPos(MId.FeedingModXM);
public AppRet<Object> modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
var ret = moveTubeRackTo(0);
if (!ret.isSuccess()) {
return AppRet.fail(ret);
}
moveTubeRackTo(0);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
var afterPos = canBus.stepMotorReadPos(MId.FeedingModXM);
var distance = beforePos - afterPos;
var dval = canBus.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
}
return AppRet.success();
}
//
// 试管架移动
//
/**
* 移动试管架到入口位置
*/
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
/*
* 1. 先控制试管架夹紧机构复位，让开通道
* 2. 移动到入口位置
*/
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackEnterPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackEnterPos());
}
/**
* 移动试管架到出口位置
*/
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
/*
* 1. 先控制试管架夹紧机构复位，让开通道
*/
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackExitPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackToExitPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackExitPos());
}
/**
* 移动试管架到试管架扫码位置
*/
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackScanCodePos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackToScanPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackScanCodePos());
}
/**
* 移动试管架到试管架扫码并扫码
*/
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
moveTubeRackToScanPos();
canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
// this.moveTubeRackToScanPos();
// moveTubeRackToScanPos();
// canBus.
// return "";
public AppRet<String> moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
String result;
var ret = moveTubeRackToScanPos();
if (!ret.isSuccess()) {
return AppRet.fail(ret);
}
scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, 1000);
scanClampModRelease();
return AppRet.success(result);
}
//
// 试管移动
//
/**
* 移动试管到扫码位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/
public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var scanPos = params.getTubeScanPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), scanPos, params.getActionOvertime());
public AppRet<Object> moveTubeToScanPos(Integer tubeIndex) throws HardwareException, InterruptedException {
var scanPos = paramDao.getTubeScanPos() + tubeIndex * paramDao.getTubeSpacing();
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, scanPos);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
}
/**
* 移动试管到扫码位置，并扫码
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
this.moveTubeToScanPos(tubeType, tubeIndex);
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), 200);
for (int i = 0; i < 10; i++) {
var resIsReady = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_result_is_ready.toInt());
if (1 == resIsReady.getContentI32(0)) {
break;
}
UfCommon.delay(500);
public AppRet<String> moveTubeToScanPosAndScan(Integer tubeIndex) throws HardwareException, InterruptedException {
var ret = this.moveTubeToScanPos(tubeIndex);
if (!ret.isSuccess()) {return AppRet.fail(ret);}
try {
scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
canBus.miniServoRotateWithTorque(MId.ShakeModTubeScanerClampingSV, paramDao.getTubeScanServoTorque());
String result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, paramDao.getTubeScanOvertime());
return AppRet.success(result);
} finally {
canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);
canBus.moduleStop(MId.FeedingModScannerMod);
scanClampModRelease();
}
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_stop.toInt(), 1);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
}
/**
* 移动试管到试管高低判断位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/
public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), detectPos, params.getActionOvertime());
public void moveTubeToHeighJudgmentPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubeHeighJudgmentPos() + tubeIndex * paramDao.getTubeSpacing());
}
/**
* 移动试管到试管预处理的位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/
public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var pos = params.getTubePreProcessPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), pos, params.getActionOvertime());
public void moveTubeToPreProcessPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubePreProcessPos() + tubeIndex * paramDao.getTubeSpacing());
}
//
// 状态检测
//
/**
* 移动试管到试管有无判断位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/
public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var pos = params.getTubeExistJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
public void moveTubeToExistJudgmentPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubeExistJudgmentPos() + tubeIndex * paramDao.getTubeSpacing());
}
public boolean isTubeRackInEnterPos() throws HardwareException {
return this.canBus.getIOState(IOId.InfeedPPS);
public void tryEnterTubeRack(Integer time) throws HardwareException, InterruptedException {
try {
canBus.stepMotorEasyRotate(MId.FeedingModInfeedM, 1);
Thread.sleep(time);
} finally {
canBus.moduleStop(MId.FeedingModInfeedM);
}
public boolean isTubeRackInExitPos() throws HardwareException {
return this.canBus.getIOState(IOId.OutfeedPPS);
}
/**
* 获取移动通道的光电状态
* @param photoelectricIndex 0:里光电，1:外光电
* @return true, 光电触发 false,光电没有触发
*/
public boolean getMoveChannelPhotoelectricState(Integer photoelectricIndex) throws HardwareException {
var io = 0 == photoelectricIndex ? IOId.THChOuterPPS : IOId.THChInterPPS;
return this.canBus.getIOState(io);
public void tryEjectTubeRack(Integer time) throws HardwareException, InterruptedException {
try {
canBus.stepMotorEasyRotate(MId.FeedingModOutfeedM, 1);
Thread.sleep(time);
} finally {
canBus.moduleStop(MId.FeedingModOutfeedM);
}
}
//
// 其他辅助组件
// 状态
//
/**
* 扫描夹紧机构夹紧
*/
public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeClampPos()}, params.getActionOvertime());
public AppRet<Boolean> isTubeRackInEnterPos() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.InfeedPPS));
}
/**
* 扫描夹紧机构复位
*/
public void scanClampModuleReset() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeReleasePos()}, params.getActionOvertime());
public AppRet<Boolean> isTubeRackInExitPos() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.OutfeedPPS));
}
public AppRet<Boolean> isHighTube() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.TubeHeightPPS));
}
public AppRet<Boolean> getTHchOuterPPS() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.THChOuterPPS));
}
public AppRet<Boolean> getTHchInterPPS() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.THChInterPPS));
}
}
Write Preview
Loading…
Cancel
Save