4 changed files with 215 additions and 155 deletions
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17src/main/java/a8k/app/service/lowerctrl/TubeFeedingCtrlService.java
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1src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java
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153src/main/java/a8k/extui/page/pos_calibration/HbotSamplePosCalibration.java
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199src/main/java/a8k/extui/page/pos_calibration_h/HbotSamplePosCalibration.java
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package a8k.extui.page.pos_calibration; |
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import a8k.extui.mgr.ExtApiPageMgr; |
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import a8k.app.service.lowerctrl.TubePreProcesModuleExCtrlService; |
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import a8k.app.service.lowerctrl.HbotMoveCtrlService; |
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import a8k.app.hardware.extdriver.MotorMoveZeroExDriver; |
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import a8k.app.a8ktype.param.HbotSamplePos; |
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import a8k.app.hardware.driver.HbotDriver; |
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import a8k.app.hardware.driver.PipetteCtrlDriver; |
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import a8k.app.service.lowerctrl.HbotMoveExCtrlService; |
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import a8k.app.hardware.driver.StepMotorCtrlDriver; |
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import a8k.app.hardware.driver.type.StepMotorMId; |
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import a8k.app.hardware.extdriver.MotorEnableExDriver; |
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import a8k.app.service.lowerctrl.TubePreProcesModuleCtrlService; |
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import a8k.app.service.param.HbotSamplePosParamMgr; |
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import a8k.app.a8ktype.device.Pos2d; |
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import a8k.app.a8ktype.device.Pos3d; |
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import a8k.app.a8ktype.exception.AppException; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import lombok.extern.slf4j.Slf4j; |
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import org.slf4j.Logger; |
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import org.springframework.stereotype.Component; |
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@Component |
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@Slf4j |
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public class HbotSamplePosCalibration { |
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static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotSamplePosCalibration.class); |
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@Resource |
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PipetteCtrlDriver pipetteCtrlDriver; |
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@Resource |
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MotorEnableExDriver motorEnableExDriver; |
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@Resource |
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HbotDriver hbotDriver; |
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@Resource |
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TubePreProcesModuleCtrlService tubePreProcesModuleCtrlService; |
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@Resource |
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HbotMoveCtrlService hbotMoveCtrlService; |
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@Resource |
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TubePreProcesModuleExCtrlService tubePreProcesCtrlService; |
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@Resource |
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MotorMoveZeroExDriver motorMoveZeroExDriver; |
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@Resource |
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HbotMoveExCtrlService hbotMoveExCtrlService; |
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@Resource |
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HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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@Resource |
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StepMotorCtrlDriver stepMotorCtrlDriver; |
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public Object getPoss() throws AppException { |
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return hbotSamplePosParamMgr.getParams(); |
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} |
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// 测试工具 |
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public void moveToZero() throws AppException { |
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enableModule(); |
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motorEnableExDriver.preProcessRelatedModuleEnable(true); |
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// motorEnableExDriver.tubeFeedRelatedModuleEnable(true); |
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motorMoveZeroExDriver.preProcessModuleMoveToZero(); |
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pipetteCtrlDriver.zMotorMoveZeroBlock(); |
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hbotMoveCtrlService.moveToZero(); |
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// motorMoveZeroExDriver.tubeFeeddingModuleMoveToZero(); |
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} |
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public void enableModule() throws AppException { |
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pipetteCtrlDriver.zMotorEnable(1); |
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hbotMoveCtrlService.enable(1); |
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} |
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public void disableModule() throws AppException { |
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1); |
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stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, 3000); |
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pipetteCtrlDriver.zMotorEnable(0); |
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hbotMoveCtrlService.enable(0); |
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motorEnableExDriver.forceDisableAllMotor(); |
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} |
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public void takeTubeToShakePos(Boolean isHtube) throws AppException { |
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tubePreProcesCtrlService.takeTubeFromTubeholderToShakePos(isHtube); |
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tubePreProcesCtrlService.takeTubeCap(); |
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} |
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// |
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// 标定Z轴 |
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// |
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public Pos3d readPos() throws AppException { |
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enableModule(); |
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Pos2d xypos = hbotDriver.readPos(); |
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pipetteCtrlDriver.zMotorMeasureDistance(); |
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Integer z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult(); |
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Pos3d var = new Pos3d(xypos.x, xypos.y, z); |
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disableModule(); |
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return var; |
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} |
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public void calibrationSamplePos(HbotSamplePos posType) throws AppException { |
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Pos3d pos3d = readPos(); |
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hbotSamplePosParamMgr.setSamplePos(posType, pos3d); |
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} |
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// |
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// 校验 |
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// |
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public void testSamplePos(HbotSamplePos posType) throws AppException { |
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hbotMoveExCtrlService.moveToSamplePos(posType); |
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} |
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@Resource |
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ExtApiPageMgr extApiPageMgr; |
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@PostConstruct |
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public void init() { |
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var page = extApiPageMgr.newPage(this); |
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page.newGroup("基础"); |
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page.addFunction("获取坐标", this::getPoss); |
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page.newGroup("测试工具"); |
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page.addFunction("归零", this::moveToZero); |
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page.addFunction("使能相关模块", this::enableModule); |
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page.addFunction("失能相关模块", this::disableModule); |
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page.newGroup("辅助工具"); |
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page.addFunction("取试管到试管摇匀位", this::takeTubeToShakePos); |
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page.newGroup("标定"); |
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page.addFunction("校准.采样位置", this::calibrationSamplePos); |
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page.newGroup("校验"); |
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page.addFunction("校验坐标", this::testSamplePos); |
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extApiPageMgr.addPage(page); |
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} |
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} |
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@ -0,0 +1,199 @@ |
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package a8k.extui.page.pos_calibration_h; |
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import a8k.app.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.app.service.lowerctrl.*; |
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import a8k.extui.mgr.ExtApiPageMgr; |
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import a8k.app.hardware.extdriver.MotorMoveZeroExDriver; |
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import a8k.app.a8ktype.param.HbotSamplePos; |
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import a8k.app.hardware.driver.HbotDriver; |
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import a8k.app.hardware.driver.PipetteCtrlDriver; |
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import a8k.app.hardware.driver.StepMotorCtrlDriver; |
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import a8k.app.hardware.driver.type.StepMotorMId; |
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import a8k.app.hardware.extdriver.MotorEnableExDriver; |
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import a8k.app.service.param.HbotSamplePosParamMgr; |
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import a8k.app.a8ktype.device.Pos2d; |
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import a8k.app.a8ktype.device.Pos3d; |
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import a8k.app.a8ktype.exception.AppException; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import lombok.extern.slf4j.Slf4j; |
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import org.slf4j.Logger; |
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import org.springframework.stereotype.Component; |
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@Component |
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@Slf4j |
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public class HbotSamplePosCalibration { |
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// @Resource |
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// PipetteCtrlDriver pipetteCtrlDriver; |
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// @Resource |
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// MotorEnableExDriver motorEnableExDriver; |
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// @Resource |
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// HbotDriver hbotDriver; |
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// @Resource |
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// TubePreProcesModuleCtrlService tubePreProcesModuleCtrlService; |
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// @Resource |
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// HbotMoveCtrlService hbotMoveCtrlService; |
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// @Resource |
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// TubePreProcesModuleExCtrlService tubePreProcesCtrlService; |
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// @Resource |
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// MotorMoveZeroExDriver motorMoveZeroExDriver; |
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// |
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// |
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// @Resource |
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// HbotMoveExCtrlService hbotMoveExCtrlService; |
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// @Resource |
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// HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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// |
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// |
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// @Resource |
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// StepMotorCtrlDriver stepMotorCtrlDriver; |
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// |
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// |
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// public Object getPoss() throws AppException { |
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// return hbotSamplePosParamMgr.getParams(); |
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// } |
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// |
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// // 测试工具 |
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// |
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// public void moveToZero() throws AppException { |
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// enableModule(); |
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// |
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// motorEnableExDriver.preProcessRelatedModuleEnable(true); |
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// // motorEnableExDriver.tubeFeedRelatedModuleEnable(true); |
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// |
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// motorMoveZeroExDriver.preProcessModuleMoveToZero(); |
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// pipetteCtrlDriver.zMotorMoveZeroBlock(); |
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// hbotMoveCtrlService.moveToZero(); |
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// // motorMoveZeroExDriver.tubeFeeddingModuleMoveToZero(); |
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// } |
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// |
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// |
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// public void enableModule() throws AppException { |
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// pipetteCtrlDriver.zMotorEnable(1); |
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// hbotMoveCtrlService.enable(1); |
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// } |
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// |
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// |
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// public void disableModule() throws AppException { |
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// stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1); |
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// stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, 3000); |
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// |
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// pipetteCtrlDriver.zMotorEnable(0); |
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// hbotMoveCtrlService.enable(0); |
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// motorEnableExDriver.forceDisableAllMotor(); |
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// } |
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// |
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// |
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// |
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// public void takeTubeToShakePos(Boolean isHtube) throws AppException { |
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// tubePreProcesCtrlService.takeTubeFromTubeholderToShakePos(isHtube); |
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// tubePreProcesCtrlService.takeTubeCap(); |
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// } |
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// |
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// |
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// // |
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// // 标定Z轴 |
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// // |
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// public Pos3d readPos() throws AppException { |
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// enableModule(); |
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// Pos2d xypos = hbotDriver.readPos(); |
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// pipetteCtrlDriver.zMotorMeasureDistance(); |
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// Integer z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult(); |
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// Pos3d var = new Pos3d(xypos.x, xypos.y, z); |
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// disableModule(); |
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// return var; |
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// } |
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// |
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// |
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// public void calibrationSamplePos(HbotSamplePos posType) throws AppException { |
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// Pos3d pos3d = readPos(); |
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// hbotSamplePosParamMgr.setSamplePos(posType, pos3d); |
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// } |
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// |
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// // |
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// // 校验 |
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// // |
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// |
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// public void testSamplePos(HbotSamplePos posType) throws AppException { |
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// hbotMoveExCtrlService.moveToSamplePos(posType); |
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// } |
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@Resource |
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TubeFeedingCtrlService tubeFeedingCtrlService; |
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@Resource |
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DeviceInitCtrlService deviceInitCtrlService; |
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@Resource |
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HbotDriver hbotDriver; |
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@Resource |
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PipetteCtrlDriver pipetteCtrlDriver; |
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@Resource |
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HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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public void prepareMeasureEnv() throws AppException { |
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Boolean suc = tubeFeedingCtrlService.enterTubeHolder(); |
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if (suc) { |
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tubeFeedingCtrlService.moveTubeToPreProcessPos(0); |
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} else { |
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throw AppException.of(A8kEcode.CODEERROR, "未检测到试管架"); |
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} |
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hbotDriver.enable(0); |
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pipetteCtrlDriver.zMotorEnable(0); |
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} |
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public Pos3d measure() throws AppException { |
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Pos2d pos2d = hbotDriver.readPos(); |
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pipetteCtrlDriver.zMotorEnable(1); |
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pipetteCtrlDriver.zMotorMeasureDistance(); |
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Integer z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult(); |
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pipetteCtrlDriver.zMotorEnable(0); |
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return new Pos3d(pos2d.x, pos2d.y, z); |
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} |
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public void setPos(HbotSamplePos posType, Integer x, Integer y, Integer z) throws AppException { |
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Pos3d pos = new Pos3d(x, y, z); |
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hbotSamplePosParamMgr.setSamplePos(posType, pos); |
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} |
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@Resource |
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ExtApiPageMgr extApiPageMgr; |
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@PostConstruct |
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public void init() { |
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var page = extApiPageMgr.newPage(this); |
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// page.newGroup("基础"); |
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// page.addFunction("获取坐标", this::getPoss); |
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// |
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// page.newGroup("测试工具"); |
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// page.addFunction("归零", this::moveToZero); |
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// page.addFunction("使能相关模块", this::enableModule); |
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// page.addFunction("失能相关模块", this::disableModule); |
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// |
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// page.newGroup("辅助工具"); |
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// page.addFunction("取试管到试管摇匀位", this::takeTubeToShakePos); |
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// |
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// page.newGroup("标定"); |
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// page.addFunction("校准.采样位置", this::calibrationSamplePos); |
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// |
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// page.newGroup("校验"); |
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// page.addFunction("校验坐标", this::testSamplePos); |
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page.newGroup("控制"); |
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page.addFunction("准备测量环境", this::prepareMeasureEnv); |
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page.addFunction("测量", this::measure); |
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page.newGroup("参数"); |
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page.addFunction("设置位置", this::setPos); |
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extApiPageMgr.addPage(page); |
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} |
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} |
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