update

src/main/java/a8k/app/service/lowerctrl/TubeFeedingCtrlService.java

@@ -1,6 +1,7 @@
 package a8k.app.service.lowerctrl;
 
 import a8k.OS;
+import a8k.app.a8ktype.device.A8kTubeHolderType;
 import a8k.app.hardware.driver.CodeScanerDriver;
 import a8k.app.hardware.driver.MiniServoDriver;
 import a8k.app.hardware.driver.StepMotorCtrlDriver;
@@ -209,6 +210,13 @@ public class TubeFeedingCtrlService {
 			return null;
 		}
 		logger.info("扫描试管架类型成功,{}", tubeType);
+		A8kTubeHolderType tubeHolderType = A8kTubeHolderType.of(tubeType);
+		if (tubeHolderType == null) {
+			logger.error("试管架类型不支持");
+			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT));
+			return null;
+		}
+
 		//逐个扫描试管
 		TubesScanResult[] tubesScanResult = new TubesScanResult[10];
 		boolean           hasTube         = false;
@@ -218,8 +226,13 @@ public class TubeFeedingCtrlService {
 			if (isTubeExist) {
 				hasTube                        = true;
 				tubesScanResult[i].isTubeExist = true;
-				tubesScanResult[i].isHighTube  = moveAndJudgeTubeAltit(i);
-				tubesScanResult[i].tubeCode    = moveTubeToScanPosAndScan(i);
+				if (tubeHolderType == A8kTubeHolderType.BloodTube) {
+					tubesScanResult[i].isHighTube = moveAndJudgeTubeAltit(i);
+					tubesScanResult[i].tubeCode   = moveTubeToScanPosAndScan(i);
+				} else {
+					tubesScanResult[i].isHighTube = false;
+					tubesScanResult[i].tubeCode   = "";
+				}
 			} else {
 				tubesScanResult[i].isTubeExist = false;
 			}

src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java

@@ -16,6 +16,7 @@ import a8k.extui.page.frond_end_test.FakeReactionRecordGeneratorPage;
 
 import a8k.extui.page.frond_end_test.VirtualEventGeneratorPage;
 import a8k.extui.page.opt_calibration.OptModuleParamCalibration;
+import a8k.extui.page.pos_calibration_h.HbotSamplePosCalibration;
 import a8k.extui.page.stress_test.PipetteGunStressTest;
 import a8k.extui.page.verification.P01PipetteGunVerification;
 import a8k.extui.page.verification.P02A8kTemperaturaVerfication;

src/main/java/a8k/extui/page/pos_calibration/HbotSamplePosCalibration.java

@@ -1,153 +0,0 @@
-package a8k.extui.page.pos_calibration;
-
-
-import a8k.extui.mgr.ExtApiPageMgr;
-import a8k.app.service.lowerctrl.TubePreProcesModuleExCtrlService;
-import a8k.app.service.lowerctrl.HbotMoveCtrlService;
-import a8k.app.hardware.extdriver.MotorMoveZeroExDriver;
-import a8k.app.a8ktype.param.HbotSamplePos;
-import a8k.app.hardware.driver.HbotDriver;
-import a8k.app.hardware.driver.PipetteCtrlDriver;
-import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
-import a8k.app.hardware.driver.StepMotorCtrlDriver;
-import a8k.app.hardware.driver.type.StepMotorMId;
-import a8k.app.hardware.extdriver.MotorEnableExDriver;
-import a8k.app.service.lowerctrl.TubePreProcesModuleCtrlService;
-import a8k.app.service.param.HbotSamplePosParamMgr;
-import a8k.app.a8ktype.device.Pos2d;
-import a8k.app.a8ktype.device.Pos3d;
-import a8k.app.a8ktype.exception.AppException;
-import jakarta.annotation.PostConstruct;
-import jakarta.annotation.Resource;
-import lombok.extern.slf4j.Slf4j;
-import org.slf4j.Logger;
-import org.springframework.stereotype.Component;
-
-@Component
-@Slf4j
-public class HbotSamplePosCalibration {
-	static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotSamplePosCalibration.class);
-
-	@Resource
-	PipetteCtrlDriver                pipetteCtrlDriver;
-	@Resource
-	MotorEnableExDriver              motorEnableExDriver;
-	@Resource
-	HbotDriver                       hbotDriver;
-	@Resource
-	TubePreProcesModuleCtrlService   tubePreProcesModuleCtrlService;
-	@Resource
-	HbotMoveCtrlService              hbotMoveCtrlService;
-	@Resource
-	TubePreProcesModuleExCtrlService tubePreProcesCtrlService;
-	@Resource
-	MotorMoveZeroExDriver            motorMoveZeroExDriver;
-
-
-	@Resource
-	HbotMoveExCtrlService hbotMoveExCtrlService;
-	@Resource
-	HbotSamplePosParamMgr hbotSamplePosParamMgr;
-
-
-	@Resource
-	StepMotorCtrlDriver stepMotorCtrlDriver;
-
-	
-	public Object getPoss() throws AppException {
-		return hbotSamplePosParamMgr.getParams();
-	}
-
-	//	测试工具
-	
-	public void moveToZero() throws AppException {
-		enableModule();
-
-		motorEnableExDriver.preProcessRelatedModuleEnable(true);
-		//		motorEnableExDriver.tubeFeedRelatedModuleEnable(true);
-
-		motorMoveZeroExDriver.preProcessModuleMoveToZero();
-		pipetteCtrlDriver.zMotorMoveZeroBlock();
-		hbotMoveCtrlService.moveToZero();
-		//		motorMoveZeroExDriver.tubeFeeddingModuleMoveToZero();
-	}
-
-	
-	public void enableModule() throws AppException {
-		pipetteCtrlDriver.zMotorEnable(1);
-		hbotMoveCtrlService.enable(1);
-	}
-
-	
-	public void disableModule() throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, 3000);
-
-		pipetteCtrlDriver.zMotorEnable(0);
-		hbotMoveCtrlService.enable(0);
-		motorEnableExDriver.forceDisableAllMotor();
-	}
-
-
-	
-	public void takeTubeToShakePos(Boolean isHtube) throws AppException {
-		tubePreProcesCtrlService.takeTubeFromTubeholderToShakePos(isHtube);
-		tubePreProcesCtrlService.takeTubeCap();
-	}
-
-
-	//
-	//	标定Z轴
-	//
-	public Pos3d readPos() throws AppException {
-		enableModule();
-		Pos2d xypos = hbotDriver.readPos();
-		pipetteCtrlDriver.zMotorMeasureDistance();
-		Integer z   = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
-		Pos3d   var = new Pos3d(xypos.x, xypos.y, z);
-		disableModule();
-		return var;
-	}
-
-	
-	public void calibrationSamplePos(HbotSamplePos posType) throws AppException {
-		Pos3d pos3d = readPos();
-		hbotSamplePosParamMgr.setSamplePos(posType, pos3d);
-	}
-
-	//
-	//	校验
-	//
-	
-	public void testSamplePos(HbotSamplePos posType) throws AppException {
-		hbotMoveExCtrlService.moveToSamplePos(posType);
-	}
-
-	@Resource
-	ExtApiPageMgr extApiPageMgr;
-
-	@PostConstruct
-	public void init() {
-		var page = extApiPageMgr.newPage(this);
-
-		page.newGroup("基础");
-		page.addFunction("获取坐标", this::getPoss);
-
-		page.newGroup("测试工具");
-		page.addFunction("归零", this::moveToZero);
-		page.addFunction("使能相关模块", this::enableModule);
-		page.addFunction("失能相关模块", this::disableModule);
-
-		page.newGroup("辅助工具");
-		page.addFunction("取试管到试管摇匀位", this::takeTubeToShakePos);
-
-		page.newGroup("标定");
-		page.addFunction("校准.采样位置", this::calibrationSamplePos);
-
-		page.newGroup("校验");
-		page.addFunction("校验坐标", this::testSamplePos);
-
-		extApiPageMgr.addPage(page);
-	}
-
-}

src/main/java/a8k/extui/page/pos_calibration_h/HbotSamplePosCalibration.java

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