update

pom.xml

@@ -22,6 +22,18 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-aop</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework</groupId>
+            <artifactId>spring-aop</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.aspectj</groupId>
+            <artifactId>aspectjweaver</artifactId>
+        </dependency>
+        <dependency>
             <groupId>org.xerial</groupId>
             <artifactId>sqlite-jdbc</artifactId>
             <version>3.45.2.0</version>
@@ -57,6 +69,7 @@
             <artifactId>lombok</artifactId>
             <scope>annotationProcessor</scope>
         </dependency>
+
     </dependencies>
 
     <build>

src/main/java/a8k/BoditechA800Application.java

@@ -3,8 +3,10 @@ package a8k;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
 import org.springframework.context.annotation.ComponentScan;
+import org.springframework.context.annotation.EnableAspectJAutoProxy;
 
 @SpringBootApplication
+@EnableAspectJAutoProxy
 public class BoditechA800Application {
 	public static void main(String[] args) {
 	SpringApplication.run(BoditechA800Application.class, args);

src/main/java/a8k/SpringBootBeanUtil.java

@@ -3,6 +3,7 @@ package a8k;
 import org.springframework.beans.BeansException;
 import org.springframework.context.ApplicationContext;
 import org.springframework.context.ApplicationContextAware;
+import org.springframework.context.annotation.EnableAspectJAutoProxy;
 import org.springframework.stereotype.Component;
 
 import java.io.File;

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

@@ -18,11 +18,12 @@ public enum ExtApiTabConfig {
 	TubeFeedingModulePosCalibration("校准.试管入料校准", true),
 	TubePreProcesPosCalibration("校准.试管预处理校准", true),
 	ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
+	HbotConsumablePosCalibration("校准.耗材位置校准", true),
 
 	ActionReactorService("底层调试.单步调试", false),//OK
 	Hbot2DCodeScanPos("参数.Hbot二维码扫描坐标参数", false),
 	//底层硬件
-	A8kPipetteCtrlModule("A8kPipetteCtrlModule", false),
+	A8kPipetteCtrlModule("A8kPipetteCtrlModule", true),
 
 	SampleTransportParam("参数.样本出入料&扫描参数", false),
 	PosParam("PosParam", false),

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

@@ -26,13 +26,17 @@ import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.node.ArrayNode;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.Resource;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
 import org.slf4j.Logger;
+import org.springframework.context.annotation.Bean;
 import org.springframework.stereotype.Component;
 
 import java.util.Map;
 
-@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPosCalibration)
+@ExtApiTab(cfg = ExtApiTabConfig.HbotConsumablePosCalibration)
 @Component
+@Aspect
 public class HbotConsumablePosCalibration {
 	static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotConsumablePosCalibration.class);
 
@@ -71,10 +75,6 @@ public class HbotConsumablePosCalibration {
 		return hbotConsumablePosMgr.getParams();
 	}
 
-	@ExtApiFn(name = "获取所有坐标中文说明", group = "基础", order = 2)
-	public Object getPossChName() throws AppException {
-		return hbotConsumablePosMgr.getParamsChName();
-	}
 
 
 	//	测试工具
@@ -102,12 +102,15 @@ public class HbotConsumablePosCalibration {
 	//
 
 	@ExtApiFn(name = "标定HBOT坐标", group = "标定", order = 21)
-	void calibratePos(HbotConsumablePos hbotConsumablePos) throws AppException {
+	public void calibratePos(HbotConsumablePos hbotConsumablePos) throws AppException {
 		enableModule();
 		Pos2d xypos = hbotModule.readPos();
 		pipetteCtrlModule.zMotorMeasureDistance();
 		Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
 		hbotConsumablePosMgr.setParam(hbotConsumablePos, new Pos3d(xypos.x, xypos.y, z));
+		if (hbotConsumablePos.ordinal() <= HbotConsumablePos.Tip02_119Pos.ordinal()) {
+			pipetteCtrlModule.putTipBlock();
+		}
 	}
 
 
@@ -170,4 +173,6 @@ public class HbotConsumablePosCalibration {
 	public void stopTest() throws AppException {
 		setStopFlag();
 	}
+
+
 }

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

@@ -60,9 +60,9 @@ public class HbotControler {
 
 		//取tip
 		pipetteCtrlModule.zMotorMoveToBlock(tipPos.z - 100);
-		if (!pipetteCtrlModule.isHasTip()) {
-			throw new AppException(A8kEcode.APPE_TAKE_TIP_FAIL);
-		}
+//		if (!pipetteCtrlModule.isHasTip()) {
+//			throw new AppException(A8kEcode.APPE_TAKE_TIP_FAIL);
+//		}
 
 		//丢tip
 		pipetteCtrlModule.putTipBlock();

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

@@ -10,12 +10,18 @@ import a8k.type.HbotConsumablePos;
 import a8k.type.cfg.Pos3d;
 import a8k.type.type.TipGroup;
 import a8k.utils.PlaneUtils;
+import a8k.utils.ZJsonHelper;
+import a8k.utils.ZSqliteJdbcHelper;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ArrayNode;
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
 import java.util.Map;
 
 /**
@@ -31,7 +37,7 @@ public class HbotConsumablePosMgr {
 	LowerDeviceParameterDBService lowerDeviceParameterDBService;
 	PosParameterReader posReader = null;
 
-	static Integer nowParaVersion = 0;
+	static Integer nowParaVersion = 2;
 
 	@PostConstruct
 	void initialize() {
@@ -45,36 +51,46 @@ public class HbotConsumablePosMgr {
 	public void paramReset() {
 		logger.info("init param");
 		posReader.setVersion(nowParaVersion);
-		posReader.updatePos(HbotConsumablePos.Tip00_000Pos.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.Tip00_119Pos.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.Tip01_000Pos.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.Tip01_119Pos.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.Tip02_000Pos.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.Tip02_119Pos.name(), new Pos3d(0, 0, 0));
-
-		posReader.updatePos(HbotConsumablePos.LittleBufferPos00_00.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.LittleBufferPos05_24.name(), new Pos3d(0, 0, 0));
-
-		posReader.updatePos(HbotConsumablePos.ProbeSubstance00_00.name(), new Pos3d(0, 0, 0));
-		posReader.updatePos(HbotConsumablePos.ProbeSubstance05_24.name(), new Pos3d(0, 0, 0));
-	}
 
-	public Map<String, Pos3d> getParams() {
-		Map<String, Pos3d> map = new java.util.HashMap<>();
-		for (HbotConsumablePos param : HbotConsumablePos.values()) {
-			map.put(param.name(), posReader.getPos(param.name(), Pos3d.class));
-		}
-		return map;
+		posReader.updatePos(HbotConsumablePos.Tip00_000Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip00_011Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip00_108Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip00_119Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip01_000Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip01_011Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip01_108Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip01_119Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip02_000Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip02_011Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip02_108Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.Tip02_119Pos, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos00_00, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos00_24, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos05_00, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos05_24, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance00_00, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance00_24, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance05_00, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance05_24, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LargeBufferPos00, new Pos3d());
+		posReader.updatePos(HbotConsumablePos.LargeBufferPos05, new Pos3d());
+
+
 	}
 
-	public Map<String, String> getParamsChName() {
-		Map<String, String> map = new java.util.HashMap<>();
+	public List<ObjectNode> getParams() {
+		List<ObjectNode> list = new java.util.ArrayList<>();
 		for (HbotConsumablePos param : HbotConsumablePos.values()) {
-			map.put(param.name(), param.chName);
+			ObjectNode posNode = ZJsonHelper.createObjectNode();
+			posNode.put("pos", ZJsonHelper.createObjectNode(posReader.getPos(param.name(), Pos3d.class)));
+			posNode.put("name", param.name());
+			posNode.put("chName", param.chName);
+			list.add(posNode);
 		}
-		return map;
+		return list;
 	}
 
+
 	public void setParam(HbotConsumablePos param, Pos3d pos) {
 		posReader.updatePos(param.name(), pos);
 	}
@@ -109,9 +125,9 @@ public class HbotConsumablePosMgr {
 		assert tip119 != null;
 
 		//水平方向
-		double dx = (tip119.x - tip000.x) / 12.0;
+		double dx = (tip119.x - tip000.x) / 11.0;
 		//前后方向
-		double dy = (tip119.y - tip000.y) / 10.0;
+		double dy = (tip119.y - tip000.y) / 9.0;
 
 		int xoff = tipoff % 12;
 		int yoff = tipoff / 12;

src/main/java/a8k/type/HbotConsumablePos.java

@@ -1,36 +1,37 @@
 package a8k.type;
 
 public enum HbotConsumablePos {
-	Tip00_000Pos("Tip00_000Pos"),
-	Tip00_011Pos("Tip00_011Pos"),
-	Tip00_108Pos("Tip00_108Pos"),
-	Tip00_119Pos("Tip00_119Pos"),
-
-	Tip01_000Pos("Tip01_000Pos"),
-	Tip01_011Pos("Tip01_011Pos"),
-	Tip01_108Pos("Tip01_108Pos"),
-	Tip01_119Pos("Tip01_119Pos"),
-
-	Tip02_000Pos("Tip02_000Pos"),
-	Tip02_011Pos("Tip02_011Pos"),
-	Tip02_108Pos("Tip02_108Pos"),
-	Tip02_119Pos("Tip02_119Pos"),
-
-	LittleBufferPos00_00("LittleBufferPos00_00"),
-	LittleBufferPos00_24("LittleBufferPos00_24"),
-	LittleBufferPos05_00("LittleBufferPos05_00"),
-	LittleBufferPos05_24("LittleBufferPos05_24"),
-
-	ProbeSubstance00_00("ProbeSubstance00_00"),
-	ProbeSubstance00_24("ProbeSubstance00_24"),
-	ProbeSubstance05_00("ProbeSubstance05_00"),
-	ProbeSubstance05_24("ProbeSubstance05_24"),
-
-	LargeBufferPos00("LargeBufferPos00"),
-	LargeBufferPos05("LargeBufferPos05"),
+	Tip00_000Pos("第0组TIP的第0个位置"),
+	Tip00_011Pos("第0组TIP的第11个位置"),
+	Tip00_108Pos("第0组TIP的第108个位置"),
+	Tip00_119Pos("第0组TIP的第119个位置"),
+
+	Tip01_000Pos("第1组TIP的第0个位置"),
+	Tip01_011Pos("第1组TIP的第11个位置"),
+	Tip01_108Pos("第1组TIP的第108个位置"),
+	Tip01_119Pos("第1组TIP的第119个位置"),
+
+	Tip02_000Pos("第2组TIP的第0个位置"),
+	Tip02_011Pos("第2组TIP的第11个位置"),
+	Tip02_108Pos("第2组TIP的第108个位置"),
+	Tip02_119Pos("第2组TIP的第119个位置"),
+
+	LittleBufferPos00_00("第0组小瓶的第0个位置"),
+	LittleBufferPos00_24("第0组小瓶的第24个位置"),
+	LittleBufferPos05_00("第5组小瓶的第0个位置"),
+	LittleBufferPos05_24("第5组小瓶的第24个位置"),
+
+	ProbeSubstance00_00("第0组探针的第0个位置"),
+	ProbeSubstance00_24("第0组探针的第24个位置"),
+	ProbeSubstance05_00("第5组探针的第0个位置"),
+	ProbeSubstance05_24("第5组探针的第24个位置"),
+
+	LargeBufferPos00("左上角大瓶位置"),
+	LargeBufferPos05("右下角大瓶位置"),
 
 	;
 	final public String chName;
+
 	HbotConsumablePos(String chName) {
 		this.chName = chName;
 	}

src/main/java/a8k/type/cfg/Pos3d.java

@@ -14,10 +14,6 @@ public class Pos3d {
 		this.z = z;
 	}
 
-	public Pos2d getXYPos() {
-		return new Pos2d(x, y);
-	}
-
 	public String toString() {
 		return String.format("(%d, %d, %d)", x, y, z);
 	}

src/main/java/a8k/utils/ZJsonHelper.java

@@ -1,6 +1,9 @@
 package a8k.utils;
 
+import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ArrayNode;
+import com.fasterxml.jackson.databind.node.ObjectNode;
 
 public class ZJsonHelper {
 	public static String objectToJson(Object obj) {
@@ -13,5 +16,12 @@ public class ZJsonHelper {
 		}
 	}
 
+	public static ObjectNode createObjectNode() {
+		return new ObjectMapper().createObjectNode();
+	}
 
+	public static ObjectNode createObjectNode(Object obj) {
+		ObjectMapper ObjectMapper = new ObjectMapper();
+		return ObjectMapper.valueToTree(obj);
+	}
 }