update

src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java

@@ -119,6 +119,10 @@ public class HbotCtrlService {
 		hbotBaseMoveExDriver.hbotMoveTo(hbotConsumableParamMgr.getProbeSubstanceSamplePos(group, off));
 	}
 
+	public void moveToProbeSubstanceSamplePosEnd(ConsumableGroup group, Integer off) throws AppException {
+		hbotBaseMoveExDriver.hbotMoveTo(hbotConsumableParamMgr.getProbeSubstanceSamplePosEnd(group, off));
+	}
+
 	public void moveToLargeBufferPos(ConsumableGroup group) throws AppException {
 		Pos3d toPos = hbotConsumableParamMgr.getLargeBufferSamplePos(group);
 		hbotBaseMoveExDriver.hbotMoveTo(toPos);

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java

@@ -153,7 +153,7 @@ public class HbotLittleBSPosCalibration {
 	@ExtApiFn(name = "校准.小瓶缓冲液取样结束Z轴位置", group = "标定Z轴", order = 104)
 	public void calibrationSampleEndZPos() throws AppException {
 		//结束位置比设定位置高1mm的余量
-		calibrationZPos(HbotLittleBSPos.LittleBSSampleEndZPos, -15);
+		calibrationZPos(HbotLittleBSPos.LittleBSSampleEndZPos, -25);
 	}
 
 	//
@@ -169,8 +169,10 @@ public class HbotLittleBSPosCalibration {
 			hbotCtrlService.moveToLittleBufferSamplePosEnd(group, i);
 			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 			if (checkStopFlag())
-				return;
+				break;
 		}
+		disableModule();
+
 	}
 
 	@ExtApiFn(name = "停止校验", group = "校验", order = 304)

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java

@@ -65,76 +65,77 @@ public class HbotProbeSubstancePosCalibration {
 		stopFlag = true;
 	}
 
-
-	@ExtApiFn(name = "获取坐标", group = "基础", order = 1)
-	public Object getPoss() throws AppException {
-		return posMgr.getParams();
-	}
-
-
 	//	测试工具
-	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
+	@ExtApiFn(name = "归零", group = "测试工具", order = 1)
 	public void moveToZero() throws AppException {
 		enableModule();
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		hbotBaseMoveExDriver.moveToZero();
+		disableModule();
 	}
 
-	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
+	@ExtApiFn(name = "获取坐标", group = "测试工具", order = 2)
+	public Object getPoss() throws AppException {
+		return posMgr.getParams();
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 3)
 	public void enableModule() throws AppException {
 		pipetteCtrlDriver.zMotorEnable(1);
-		hbotDriver.enable(1);
+		hbotBaseMoveExDriver.enable(1);
 	}
 
-	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 4)
 	public void disableModule() throws AppException {
 		pipetteCtrlDriver.zMotorEnable(0);
-		hbotDriver.enable(0);
+		hbotBaseMoveExDriver.enable(0);
 	}
 
 
-	@ExtApiFn(name = "开始标定", group = "标定小瓶XY坐标", order = 30)
-	public void startCalibrateLittleBottleGroup() throws AppException {
-		refPoint = new java.util.ArrayList<>();
-		moveToZero();
+	//
+	@ExtApiFn(name = "标定1号耗材坐标", group = "标定耗材0号坐标", order = 30)
+	public Pos2d calibrationPos00(ConsumableGroup group) throws AppException {
+		enableModule();
+		Pos2d xypos = hbotDriver.readPos();
 		disableModule();
+		posMgr.setPos00(group, xypos);
+		return xypos;
 	}
 
-	@ExtApiFn(name = "添加参考点", group = "标定小瓶XY坐标", order = 31)
-	public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException {
+
+	Pos2d pos01;
+	Pos2d pos25;
+
+	@ExtApiFn(name = "步骤1.测量1号坐标", group = "标定Dy和Dy", order = 31)
+	public Pos2d measurePos01() throws AppException {
 		enableModule();
-		Pos2d                          xypos                = hbotDriver.readPos();
-		LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, 0));
-		this.refPoint.add(littleBufferRefPoint);
+		pos01 = hbotDriver.readPos();
 		disableModule();
-		ObjectNode node = ZJsonHelper.createObjectNode();
-		node.put("newPoint", ZJsonHelper.createObjectNode(littleBufferRefPoint));
-		node.put("computeResult", ZJsonHelper.createObjectNode(computeLittleBottlePosInfo()));
-		return node;
+		return pos01;
 	}
 
-	@ExtApiFn(name = "移除最后一个参考点", group = "标定小瓶XY坐标", order = 32)
-	public void removeTheLastLittleBottleGroupRefPoint() {
-		if (!refPoint.isEmpty()) {
-			refPoint.remove(refPoint.size() - 1);
-		}
+	@ExtApiFn(name = "步骤2.测量25号坐标", group = "标定Dy和Dy", order = 32)
+	public Pos2d measurePos25() throws AppException {
+		enableModule();
+		pos25 = hbotDriver.readPos();
+		disableModule();
+		return pos25;
 	}
 
-
-	@ExtApiFn(name = "读取坐标计算结果", group = "标定小瓶XY坐标", order = 33)
-	public LittleBottleConsumablePosInfo computeLittleBottlePosInfo() {
-		return HbotLittleBSCalibrationAlgo.compute(refPoint);
+	@ExtApiFn(name = "步骤3.计算Dx和Dy", group = "标定Dy和Dy", order = 33)
+	public Object computeDxAndDy() throws AppException {
+		ObjectNode node = ZJsonHelper.createObjectNode();
+		node.put("dx", (pos25.x - pos01.x) / 4);
+		node.put("dy", (pos25.y - pos01.y) / 4);
+		return node;
 	}
 
-	@ExtApiFn(name = "保存计算结果", group = "标定小瓶XY坐标", order = 34)
-	public void saveLittleBottleConsumablePosInfo() throws AppException {
-		posMgr.setPosInfo(computeLittleBottlePosInfo());
+	@ExtApiFn(name = "步骤4.设置Dx和Dy", group = "标定Dy和Dy", order = 34)
+	public void setDxAndDy(Double dx, Double dy) throws AppException {
+		posMgr.setParam(HbotProbeSubstancePos.ProbeSubstanceDX, dx);
+		posMgr.setParam(HbotProbeSubstancePos.ProbeSubstanceDY, dy);
 	}
 
-	@ExtApiFn(name = "读取所有参考点", group = "标定小瓶XY坐标", order = 35)
-	public Object readAllRefPoint() throws AppException {
-		return refPoint;
-	}
 
 	//
 	//	标定Z轴
@@ -151,7 +152,7 @@ public class HbotProbeSubstancePosCalibration {
 	public void setSampleZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleZPos, 0);}
 
 	@ExtApiFn(name = "校准.小瓶缓冲液取样结束Z轴位置", group = "标定Z轴", order = 104)
-	public void setSampleEndZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleEndZPos, 20/*2mm*/);}
+	public void setSampleEndZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleEndZPos, -25/*2mm*/);}
 
 	//
 	//	校验
@@ -162,11 +163,12 @@ public class HbotProbeSubstancePosCalibration {
 		enableModule();
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
-			hbotCtrlService.moveToProbeSubstanceSamplePos(group, i);
+			hbotCtrlService.moveToProbeSubstanceSamplePosEnd(group, i);
 			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 			if (checkStopFlag())
-				return;
+				break;
 		}
+		disableModule();
 	}
 
 	@ExtApiFn(name = "停止校验", group = "校验", order = 304)

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLittleBSPosMgr.java

@@ -29,16 +29,6 @@ public class HbotLittleBSPosMgr  extends ParamMgr {
 		setParam(param.name(), val);
 	}
 
-	public void setPosInfo(LittleBottleConsumablePosInfo info) {
-		setParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, info.g0_000);
-		setParam(HbotLittleBSPos.LittleBufferGroup1_000Pos, info.g1_000);
-		setParam(HbotLittleBSPos.LittleBufferGroup2_000Pos, info.g2_000);
-		setParam(HbotLittleBSPos.LittleBufferGroup3_000Pos, info.g3_000);
-		setParam(HbotLittleBSPos.LittleBufferGroup4_000Pos, info.g4_000);
-		setParam(HbotLittleBSPos.LittleBufferGroup5_000Pos, info.g5_000);
-		setParam(HbotLittleBSPos.LittleBufferGroupDX, info.dx);
-		setParam(HbotLittleBSPos.LittleBufferGroupDY, info.dy);
-	}
 
 	public void setPos00(ConsumableGroup group, Pos2d pos) {
 		HbotLittleBSPos param = HbotLittleBSPos.valueOf(HbotLittleBSPos.LittleBufferGroup0_000Pos.ordinal() + group.ordinal());

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotProbeSubstancePosMgr.java

@@ -1,9 +1,11 @@
 package a8k.service.app.devicectrl.param.param_mgr;
 
 import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
+import a8k.service.app.devicectrl.param.type.HbotLittleBSPos;
 import a8k.service.app.devicectrl.param.type.HbotProbeSubstancePos;
 import a8k.type.ConsumableGroup;
 import a8k.type.LittleBottleConsumablePosInfo;
+import a8k.type.cfg.Pos2d;
 import a8k.type.cfg.Pos3d;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
@@ -14,7 +16,7 @@ import org.springframework.stereotype.Component;
  * HBOT二维码扫描坐标参数
  */
 @Component
-public class HbotProbeSubstancePosMgr  extends ParamMgr {
+public class HbotProbeSubstancePosMgr extends ParamMgr {
 	static final Logger logger = LoggerFactory.getLogger(HbotProbeSubstancePosMgr.class);
 
 
@@ -30,15 +32,9 @@ public class HbotProbeSubstancePosMgr  extends ParamMgr {
 	}
 
 
-	public void setPosInfo(LittleBottleConsumablePosInfo info) {
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup0_000Pos, info.g0_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup1_000Pos, info.g1_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup2_000Pos, info.g2_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup3_000Pos, info.g3_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup4_000Pos, info.g4_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceGroup5_000Pos, info.g5_000);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceDX, info.dx);
-		setParam(HbotProbeSubstancePos.ProbeSubstanceDY, info.dy);
+	public void setPos00(ConsumableGroup group, Pos2d pos) {
+		HbotProbeSubstancePos param = HbotProbeSubstancePos.valueOf(HbotProbeSubstancePos.ProbeSubstanceGroup0_000Pos.ordinal() + group.ordinal());
+		setParam(param, pos);
 	}