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update

tags/v0
zhaohe 1 year ago
parent
99a7fdd3ac
commit
7a67b68a11
12 changed files with 720 additions and 171 deletions
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  1. 22
      src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java
  2. 4
      src/main/java/a8k/a8k_can_protocol/ModuleId.java
  3. 409
      src/main/java/a8k/a8k_can_protocol/RegIndex.java
  4. 19
      src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java
  5. 8
      src/main/java/a8k/appbean/SampleTubeState.java
  6. 6
      src/main/java/a8k/controller/TmpTestController.java
  7. 21
      src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java
  8. 9
      src/main/java/a8k/service/hardware/MotorTubeRackExitService.java
  9. 4
      src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java
  10. 67
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  11. 92
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

22
src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java
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@ -1,18 +1,20 @@
package a8k.a8k_can_protocol;
public class CmdIdInfo {
public String name;
public int id;
public int cmdAttachType = ATTACH_IS_INT32;
public int receiptAttachType = ATTACH_IS_BYTES;
public final static int ATTACH_IS_BYTES = 1;
public final static int ATTACH_IS_INT32 = 2;
public final static int ATTACH_IS_INT32 = 2;
public CmdIdInfo(Integer id, String name, int cmdAttachType, int receiptAttachType) {
this.id = id;
this.name = name;
this.cmdAttachType = cmdAttachType;
public String name;
public int id;
public int cmdAttachType = ATTACH_IS_INT32;
public int receiptAttachType = ATTACH_IS_BYTES;
public CmdIdInfo(Integer id, String name, int cmdAttachType, int receiptAttachType) {
this.id = id;
this.name = name;
this.cmdAttachType = cmdAttachType;
this.receiptAttachType = receiptAttachType;
}
}
}

4
src/main/java/a8k/a8k_can_protocol/ModuleId.java
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@ -12,7 +12,7 @@ public class ModuleId {
public static final int MotorIncubatorRotateModule = 71;//孵育盘旋转
public static final int MotorTestCardPullModule = 92;//板卡推杆电机
public static final int MotorTestCardScanModule = 91;//板卡扫描电机
public static final int MotorTubeBodyClipModule = 31;//试管固定夹爪电机
public static final int MotorTubeScanClampModule = 31;//试管固定夹爪电机
public static final int MotorTubeMoveUpDownModule = 32;//摇匀升降电机
public static final int MotorTubeRackExitModule = 63;//出料电机
public static final int MotorTubeRackFeedModule = 61;//入料电机
@ -42,7 +42,7 @@ public class ModuleId {
case MotorIncubatorRotateModule -> "MotorIncubatorRotateModule";
case MotorTestCardPullModule -> "MotorTestCardPullModule";
case MotorTestCardScanModule -> "MotorTestCardScanModule";
case MotorTubeBodyClipModule -> "MotorTubeBodyClipModule";
case MotorTubeScanClampModule -> "MotorTubeBodyClipModule";
case MotorTubeMoveUpDownModule -> "MotorTubeMoveUpDownModule";
case MotorTubeRackExitModule -> "MotorTubeRackExitModule";
case MotorTubeRackFeedModule -> "MotorTubeRackFeedModule";

409
src/main/java/a8k/a8k_can_protocol/RegIndex.java
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@ -0,0 +1,409 @@
package a8k.a8k_can_protocol;
import java.util.Collections;
import java.util.HashSet;
import java.util.Set;
public class RegIndex {
private static int REG_INDEX(int type, int offset, int subconfigindex) {
return type * 100 + offset + subconfigindex;
}
public static final Set<RegIndexInfo> infoSet;
static public String idtoString(Integer id) {
for (RegIndexInfo ci : infoSet) {
if (ci.id == id) {
return ci.name;
}
}
return String.format("unknown(%d)", id);
}
static public RegIndexInfo getCmdIdInfo(Integer id) {
for (RegIndexInfo ci : infoSet) {
if (ci.id == id) {
return ci;
}
}
return new RegIndexInfo(id, "unkown", RegIndexInfo.VTYPE_HEX);
}
/*******************************************************************************
* 模块通用配置和状态 *
*******************************************************************************/
public static final int kreg_module_version = REG_INDEX(0, 0, 0); // 模块版本
public static final int kreg_module_type = REG_INDEX(0, 0, 1); // 模块类型
public static final int kreg_module_status = REG_INDEX(0, 0, 2); // 0idle,1busy,2error
public static final int kreg_module_errorcode = REG_INDEX(0, 0, 3); // inited_flag
/***********************************************************************************************************************
* 光学模组私有方法 *
***********************************************************************************************************************/
public static final int kreg_opt_module_do_action0 = REG_INDEX(0, 0, 40); // 方法0
public static final int kreg_opt_module_action_param1 = REG_INDEX(0, 0, 41); // 方法1
public static final int kreg_opt_module_action_param2 = REG_INDEX(0, 0, 42); // 方法2
public static final int kreg_opt_module_action_param3 = REG_INDEX(0, 0, 43); // 方法3
public static final int kreg_opt_module_action_ack1 = REG_INDEX(0, 0, 51); // ACK1
public static final int kreg_opt_module_action_ack2 = REG_INDEX(0, 0, 52); // ACK2
/***********************************************************************************************************************
* 水冷温度控制器 *
***********************************************************************************************************************/
public static final int kreg_water_cooling_tmp_controler_pid_target = REG_INDEX(30, 0, 0); // 目标数值
public static final int kreg_water_cooling_tmp_controler_pid_nowoutput = REG_INDEX(30, 0, 1); // 当前输出
public static final int kreg_water_cooling_tmp_controler_pid_feedbackval = REG_INDEX(30, 0, 2); // 当前输出
public static final int kreg_water_cooling_tmp_controler_temp0 = REG_INDEX(30, 0, 3); // 温度1
public static final int kreg_water_cooling_tmp_controler_temp1 = REG_INDEX(30, 0, 4); // 温度2
public static final int kreg_water_cooling_tmp_controler_temp2 = REG_INDEX(30, 0, 5); // 温度3
public static final int kreg_water_cooling_tmp_controler_temp3 = REG_INDEX(30, 0, 6); // 温度4
public static final int kreg_water_cooling_tmp_controler_pid_kp = REG_INDEX(30, 50, 0); // kp
public static final int kreg_water_cooling_tmp_controler_pid_ki = REG_INDEX(30, 50, 1); // ki
public static final int kreg_water_cooling_tmp_controler_pid_kd = REG_INDEX(30, 50, 2); // kd
public static final int kreg_water_cooling_tmp_controler_pid_max_output = REG_INDEX(30, 50, 3); // 最大输出
public static final int kreg_water_cooling_tmp_controler_pid_min_output = REG_INDEX(30, 50, 4); // 最小输出
public static final int kreg_water_cooling_tmp_controler_pid_max_integral = REG_INDEX(30, 50, 5); // 最大积分
public static final int kreg_water_cooling_tmp_controler_pid_min_integral = REG_INDEX(30, 50, 6); // 最小积分
public static final int kreg_water_cooling_tmp_controler_pid_error_limit = REG_INDEX(30, 50, 7); // 误差限制
public static final int kreg_water_cooling_tmp_controler_pid_compute_interval = REG_INDEX(30, 50, 8); // 计算间隔
/*******************************************************************************
* 移液枪状态 *
*******************************************************************************/
public static final int kreg_pipette_pos_ul = REG_INDEX(40, 0, 0); // 移液枪位置
public static final int kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1); // 移液枪电容值
public static final int kreg_pipette_tip_state = REG_INDEX(40, 0, 2); // 移动液枪tip状态
public static final int kreg_pipette_limit_ul = REG_INDEX(40, 50, 1);
public static final int kreg_pipette_pump_acc = REG_INDEX(40, 50, 2);
public static final int kreg_pipette_pump_dec = REG_INDEX(40, 50, 3);
public static final int kreg_pipette_pump_vstart = REG_INDEX(40, 50, 4);
public static final int kreg_pipette_pump_vstop = REG_INDEX(40, 50, 5);
public static final int kreg_pipette_pump_vmax = REG_INDEX(40, 50, 6);
public static final int kreg_pipette_aspirate_distribut_pump_vel = REG_INDEX(40, 50, 7);
public static final int kreg_pipette_lld_pump_vel = REG_INDEX(40, 50, 8);
public static final int kreg_pipette_lld_motor_vel_rpm = REG_INDEX(40, 50, 9);
public static final int kreg_pipette_lld_detect_period_ms = REG_INDEX(40, 50, 10);
public static final int kreg_pipette_lld_prepare_pos = REG_INDEX(40, 50, 11);
public static final int kreg_pipette_lld_prepare_distribut_pos = REG_INDEX(40, 50, 12);
/***********************************************************************************************************************
* 光学模组 *
***********************************************************************************************************************/
public static final int kreg_boditech_optical_module_raw_sector_size = REG_INDEX(41, 0, 0); // sector_size
public static final int kreg_boditech_optical_module_raw_sector_num = REG_INDEX(41, 0, 1); //
// scan action
public static final int kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0); // 0 t光学，1 f光学
public static final int kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1);
public static final int kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2);
public static final int kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3);
public static final int kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4);
public static final int kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5);
public static final int kreg_boditech_optical_laster_gain_potentiometer_val = REG_INDEX(42, 0, 6);
public static final int kreg_boditech_optical_scan_gain_potentiometer = REG_INDEX(42, 0, 7);
public static final int kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8);
public static final int kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9);
public static final int kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10);
public static final int kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11);
public static final int kreg_boditech_optical_scan_gain_potentiometer_adjust_suggestion = REG_INDEX(42, 0, 12);
public static final int kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13);
public static final int kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14);
//
public static final int kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0); // 0 t光学，1 f光学
public static final int kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1);
public static final int kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2);
public static final int kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3);
public static final int kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4);
public static final int kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5);
public static final int kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6);
public static final int kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12);
public static final int kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13);
public static final int kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14);
public static final int kreg_laster_scaner_raw_sector_size = REG_INDEX(44, 0, 1);
public static final int kreg_laster_scaner_raw_sector_num = REG_INDEX(44, 0, 2);
/**
* @brief
*
* ------------------------------------------------------
*
*
* 扫描零点偏移:（F光学向左扫描的起始位置）
* 扫描方向:1:板卡箭头方向，-1板卡箭头反方向
* 扫描点数:固定为1200
* 扫描步距:固定为1
*
* 返回点数:(1200)
*
*
*/
// 坐标参数
public static final int kreg_a8k_opt_t_pos_offset = REG_INDEX(45, 0, 1); // T光学正向扫描，扫描起始位距离零点的偏移
public static final int kreg_a8k_opt_f_pos_offset = REG_INDEX(45, 0, 2); // F光学正向扫描，扫描起始位距离零点的偏移
public static final int kreg_a8k_opt_t_reverse_scan_pos_offset = REG_INDEX(45, 0, 3); // T光学逆向扫描，扫描起始位距离零点的偏移
public static final int kreg_a8k_opt_f_reverse_scan_pos_offset = REG_INDEX(45, 0, 4); // F光学逆向扫描，扫描起始位距离零点的偏移
public static final int kreg_a8k_opt_scan_step_interval = REG_INDEX(45, 0, 5); // 参数固定:为1
public static final int kreg_a8k_opt_scan_pointnum = REG_INDEX(45, 0, 6); // 参数固定:为1200个点
//
/***********************************************************************************************************************
* XYROBOT *
***********************************************************************************************************************/
public static final int kreg_xyrobot_io_state = REG_INDEX(99, 0, 0); // IO状态
public static final int kreg_xyrobot_robot_type = REG_INDEX(99, 50, 0); // 机器人类型 0:hbot 1:corexy
public static final int kreg_xyrobot_one_circle_pulse = REG_INDEX(99, 50, 1);
public static final int kreg_xyrobot_one_circle_pulse_denominator = REG_INDEX(99, 50, 2);
public static final int kreg_xyrobot_ihold = REG_INDEX(99, 50, 4);
public static final int kreg_xyrobot_irun = REG_INDEX(99, 50, 5);
public static final int kreg_xyrobot_iholddelay = REG_INDEX(99, 50, 6);
public static final int kreg_xyrobot_iglobalscaler = REG_INDEX(99, 50, 7);
public static final int kreg_xyrobot_vstart = REG_INDEX(99, 50, 8);
public static final int kreg_xyrobot_a1 = REG_INDEX(99, 50, 9);
public static final int kreg_xyrobot_amax = REG_INDEX(99, 50, 10);
public static final int kreg_xyrobot_v1 = REG_INDEX(99, 50, 11);
public static final int kreg_xyrobot_dmax = REG_INDEX(99, 50, 12);
public static final int kreg_xyrobot_d1 = REG_INDEX(99, 50, 13);
public static final int kreg_xyrobot_vstop = REG_INDEX(99, 50, 14);
public static final int kreg_xyrobot_tzerowait = REG_INDEX(99, 50, 15);
public static final int kreg_xyrobot_enc_resolution = REG_INDEX(99, 50, 16);
public static final int kreg_xyrobot_enable_enc = REG_INDEX(99, 50, 17);
public static final int kreg_xyrobot_x_shaft = REG_INDEX(99, 50, 18); // x轴是否反转
public static final int kreg_xyrobot_y_shaft = REG_INDEX(99, 50, 19); // y轴是否反转
public static final int kreg_xyrobot_min_x = REG_INDEX(99, 50, 22);
public static final int kreg_xyrobot_min_y = REG_INDEX(99, 50, 23);
public static final int kreg_xyrobot_max_x = REG_INDEX(99, 50, 24);
public static final int kreg_xyrobot_max_y = REG_INDEX(99, 50, 25);
public static final int kreg_xyrobot_run_to_zero_speed = REG_INDEX(99, 50, 26);
public static final int kreg_xyrobot_look_zero_edge_speed = REG_INDEX(99, 50, 27);
public static final int kreg_xyrobot_shift_x = REG_INDEX(99, 50, 28);
public static final int kreg_xyrobot_shift_y = REG_INDEX(99, 50, 29);
public static final int kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0);
/***********************************************************************************************************************
* step_motor *
***********************************************************************************************************************/
public static final int kreg_step_motor_pos = REG_INDEX(101, 0, 1); // 机器人x坐标
public static final int kreg_step_motor_dpos = REG_INDEX(101, 0, 3); // 执行完上一条指令后的相对位移
public static final int kreg_step_motor_shift = REG_INDEX(101, 50, 0); // x偏移
public static final int kreg_step_motor_shaft = REG_INDEX(101, 50, 1); // x轴是否反转
public static final int kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2); // x轴一圈脉冲数
public static final int kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3); // 设置一圈脉冲数的分母
public static final int kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4); // 默认速度
public static final int kreg_step_motor_ihold = REG_INDEX(101, 50, 8); // 步进电机电流配置
public static final int kreg_step_motor_irun = REG_INDEX(101, 50, 9); // 步进电机电流配置
public static final int kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10); // 步进电机电流配置
public static final int kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11); // 步进电机电流配置
public static final int kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23); // 回零速度
public static final int kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25); // 找零边缘速度
public static final int kreg_step_motor_max_d = REG_INDEX(101, 50, 28); // 最大限制距离
public static final int kreg_step_motor_min_d = REG_INDEX(101, 50, 29); // 最小限制距离
public static final int kreg_step_motor_in_debug_mode = REG_INDEX(101, 50, 30); // 驱动器处于调试模式
public static final int kreg_step_motor_vstart = REG_INDEX(101, 50, 31); // a1起作用的速度
public static final int kreg_step_motor_a1 = REG_INDEX(101, 50, 32); //
public static final int kreg_step_motor_amax = REG_INDEX(101, 50, 33);
public static final int kreg_step_motor_v1 = REG_INDEX(101, 50, 34);
public static final int kreg_step_motor_dmax = REG_INDEX(101, 50, 35);
public static final int kreg_step_motor_d1 = REG_INDEX(101, 50, 36);
public static final int kreg_step_motor_vstop = REG_INDEX(101, 50, 37);
public static final int kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38);
public static final int kreg_step_motor_enc_resolution = REG_INDEX(101, 50, 39); // 编码器分辨率 1000,1024,4000,4096,16384
public static final int kreg_step_motor_enable_enc = REG_INDEX(101, 50, 40); //
/***********************************************************************************************************************
* MINI_STEP_MOTOR *
***********************************************************************************************************************/
public static final int kreg_mini_servo_pos = REG_INDEX(102, 0, 1); // 位置
public static final int kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1); // 限制速度
public static final int kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2); // 限制扭矩
public static final int kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3); // 保护扭矩
/***********************************************************************************************************************
* ID_CARD_READER *
***********************************************************************************************************************/
public static final int kreg_id_card_reader_raw_sector_size = REG_INDEX(103, 0, 1);
public static final int kreg_id_card_reader_raw_sector_num = REG_INDEX(103, 0, 2);
public static final int kreg_id_card_reader_is_online = REG_INDEX(103, 0, 3);
/***********************************************************************************************************************
* BOARD *
***********************************************************************************************************************/
public static final int kreg_plate_code_scaner_laster_intensity = REG_INDEX(103, 0, 1);
public static final int kreg_plate_code_scaner_scan_gain = REG_INDEX(103, 0, 2);
public static final int kreg_plate_code_scaner_scan_velocity = REG_INDEX(103, 0, 3);
public static final int kreg_plate_code_scaner_scan_start_pos = REG_INDEX(103, 0, 4);
public static final int kreg_plate_code_scaner_final_stop_pos = REG_INDEX(103, 0, 5);
public static final int kreg_plate_code_scaner_code_judgment_threshold = REG_INDEX(103, 0, 6);
public static final int kreg_plate_code_scaner_item = REG_INDEX(103, 0, 7);
public static final int kreg_plate_code_scaner_lot = REG_INDEX(103, 0, 8);
public static final int kreg_plate_code_scaner_rawcode = REG_INDEX(103, 0, 9);
public static final int kreg_plate_code_scaner_code_legal = REG_INDEX(103, 0, 10);
static {
infoSet = Collections.unmodifiableSet(Set.of(//
new RegIndexInfo(kreg_module_version, "module_version", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_module_type, "module_type", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_module_status, "module_status", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_module_errorcode, "module_errorcode", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_do_action0, "opt_module_do_action0", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_action_param1, "opt_module_action_param1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_action_param2, "opt_module_action_param2", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_action_param3, "opt_module_action_param3", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_action_ack1, "opt_module_action_ack1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_opt_module_action_ack2, "opt_module_action_ack2", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_target, "water_cooling_tmp_controler_pid_target", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_nowoutput, "water_cooling_tmp_controler_pid_nowoutput", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_feedbackval, "water_cooling_tmp_controler_pid_feedbackval", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_temp0, "water_cooling_tmp_controler_temp0", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_temp1, "water_cooling_tmp_controler_temp1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_temp2, "water_cooling_tmp_controler_temp2", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_temp3, "water_cooling_tmp_controler_temp3", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_kp, "water_cooling_tmp_controler_pid_kp", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_ki, "water_cooling_tmp_controler_pid_ki", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_kd, "water_cooling_tmp_controler_pid_kd", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_max_output, "water_cooling_tmp_controler_pid_max_output", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_min_output, "water_cooling_tmp_controler_pid_min_output", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_max_integral, "water_cooling_tmp_controler_pid_max_integral", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_min_integral, "water_cooling_tmp_controler_pid_min_integral", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_error_limit, "water_cooling_tmp_controler_pid_error_limit", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_water_cooling_tmp_controler_pid_compute_interval, "water_cooling_tmp_controler_pid_compute_interval", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pos_ul, "pipette_pos_ul", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_capactitance_val, "pipette_capactitance_val", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_tip_state, "pipette_tip_state", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_limit_ul, "pipette_limit_ul", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pump_acc, "pipette_pump_acc", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pump_dec, "pipette_pump_dec", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pump_vstart, "pipette_pump_vstart", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pump_vstop, "pipette_pump_vstop", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_pump_vmax, "pipette_pump_vmax", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_aspirate_distribut_pump_vel, "pipette_aspirate_distribut_pump_vel", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_lld_pump_vel, "pipette_lld_pump_vel", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_lld_motor_vel_rpm, "pipette_lld_motor_vel_rpm", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_lld_detect_period_ms, "pipette_lld_detect_period_ms", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_lld_prepare_pos, "pipette_lld_prepare_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_pipette_lld_prepare_distribut_pos, "pipette_lld_prepare_distribut_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_module_raw_sector_size, "boditech_optical_module_raw_sector_size", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_module_raw_sector_num, "boditech_optical_module_raw_sector_num", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_type, "boditech_optical_scan_type", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_start_pos, "boditech_optical_scan_start_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_direction, "boditech_optical_scan_direction", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_step_interval, "boditech_optical_scan_step_interval", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_pointnum, "boditech_optical_scan_pointnum", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_channel_select_num, "boditech_optical_channel_select_num", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_laster_gain_potentiometer_val, "boditech_optical_laster_gain_potentiometer_val", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_gain_potentiometer, "boditech_optical_scan_gain_potentiometer", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_trf_uvled_on_duration_us, "boditech_optical_trf_uvled_on_duration_us", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_trf_uvled_off_duration_us, "boditech_optical_trf_uvled_off_duration_us", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_trf_scan_delay_us, "boditech_optical_trf_scan_delay_us", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_trf_scan_duration_us, "boditech_optical_trf_scan_duration_us", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_scan_gain_potentiometer_adjust_suggestion, "boditech_optical_scan_gain_potentiometer_adjust_suggestion", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_adc_result_overflow, "boditech_optical_adc_result_overflow", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_boditech_optical_laster_intensity, "boditech_optical_laster_intensity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_type, "laster_scaner_scan_type", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_start_pos, "laster_scaner_scan_start_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_direction, "laster_scaner_scan_direction", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_step_interval, "laster_scaner_scan_step_interval", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_pointnum, "laster_scaner_scan_pointnum", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_laster_gain, "laster_scaner_laster_gain", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_gain, "laster_scaner_scan_gain", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_scan_gain_adjust_suggestion, "laster_scaner_scan_gain_adjust_suggestion", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_adc_result_overflow, "laster_scaner_adc_result_overflow", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_laster_intensity, "laster_scaner_laster_intensity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_raw_sector_size, "laster_scaner_raw_sector_size", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_laster_scaner_raw_sector_num, "laster_scaner_raw_sector_num", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_t_pos_offset, "a8k_opt_t_pos_offset", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_f_pos_offset, "a8k_opt_f_pos_offset", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_t_reverse_scan_pos_offset, "a8k_opt_t_reverse_scan_pos_offset", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_f_reverse_scan_pos_offset, "a8k_opt_f_reverse_scan_pos_offset", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_scan_step_interval, "a8k_opt_scan_step_interval", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_a8k_opt_scan_pointnum, "a8k_opt_scan_pointnum", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_io_state, "xyrobot_io_state", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_robot_type, "xyrobot_robot_type", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_one_circle_pulse, "xyrobot_one_circle_pulse", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_one_circle_pulse_denominator, "xyrobot_one_circle_pulse_denominator", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_ihold, "xyrobot_ihold", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_irun, "xyrobot_irun", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_iholddelay, "xyrobot_iholddelay", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_iglobalscaler, "xyrobot_iglobalscaler", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_vstart, "xyrobot_vstart", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_a1, "xyrobot_a1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_amax, "xyrobot_amax", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_v1, "xyrobot_v1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_dmax, "xyrobot_dmax", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_d1, "xyrobot_d1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_vstop, "xyrobot_vstop", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_tzerowait, "xyrobot_tzerowait", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_enc_resolution, "xyrobot_enc_resolution", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_enable_enc, "xyrobot_enable_enc", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_x_shaft, "xyrobot_x_shaft", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_y_shaft, "xyrobot_y_shaft", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_min_x, "xyrobot_min_x", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_min_y, "xyrobot_min_y", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_max_x, "xyrobot_max_x", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_max_y, "xyrobot_max_y", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_run_to_zero_speed, "xyrobot_run_to_zero_speed", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_look_zero_edge_speed, "xyrobot_look_zero_edge_speed", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_shift_x, "xyrobot_shift_x", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_shift_y, "xyrobot_shift_y", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_xyrobot_default_velocity, "xyrobot_default_velocity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_pos, "step_motor_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_dpos, "step_motor_dpos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_shift, "step_motor_shift", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_shaft, "step_motor_shaft", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_one_circle_pulse, "step_motor_one_circle_pulse", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_one_circle_pulse_denominator, "step_motor_one_circle_pulse_denominator", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_default_velocity, "step_motor_default_velocity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_ihold, "step_motor_ihold", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_irun, "step_motor_irun", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_iholddelay, "step_motor_iholddelay", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_iglobalscaler, "step_motor_iglobalscaler", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_run_to_zero_speed, "step_motor_run_to_zero_speed", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_look_zero_edge_speed, "step_motor_look_zero_edge_speed", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_max_d, "step_motor_max_d", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_min_d, "step_motor_min_d", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_in_debug_mode, "step_motor_in_debug_mode", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_vstart, "step_motor_vstart", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_a1, "step_motor_a1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_amax, "step_motor_amax", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_v1, "step_motor_v1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_dmax, "step_motor_dmax", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_d1, "step_motor_d1", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_vstop, "step_motor_vstop", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_tzerowait, "step_motor_tzerowait", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_enc_resolution, "step_motor_enc_resolution", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_step_motor_enable_enc, "step_motor_enable_enc", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_mini_servo_pos, "mini_servo_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_mini_servo_limit_velocity, "mini_servo_limit_velocity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_mini_servo_limit_torque, "mini_servo_limit_torque", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_mini_servo_protective_torque, "mini_servo_protective_torque", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_id_card_reader_raw_sector_size, "id_card_reader_raw_sector_size", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_id_card_reader_raw_sector_num, "id_card_reader_raw_sector_num", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_id_card_reader_is_online, "id_card_reader_is_online", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_laster_intensity, "plate_code_scaner_laster_intensity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_scan_gain, "plate_code_scaner_scan_gain", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_scan_velocity, "plate_code_scaner_scan_velocity", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_scan_start_pos, "plate_code_scaner_scan_start_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_final_stop_pos, "plate_code_scaner_final_stop_pos", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_code_judgment_threshold, "plate_code_scaner_code_judgment_threshold", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_item, "plate_code_scaner_item", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_lot, "plate_code_scaner_lot", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_rawcode, "plate_code_scaner_rawcode", RegIndexInfo.VTYPE_DECI), //
new RegIndexInfo(kreg_plate_code_scaner_code_legal, "plate_code_scaner_code_legal", RegIndexInfo.VTYPE_DECI)));
}
}

19
src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java
View File

@ -0,0 +1,19 @@
package a8k.a8k_can_protocol;
public class RegIndexInfo {
public static final int VTYPE_HEX = 0;
public static final int VTYPE_DECI = 0;
public static final int VTYPE_BINARY = 1;
public String name;
public int id;
public int valType;
public RegIndexInfo(int id, String name, int valType) {
this.name = name;
this.id = id;
this.valType = valType;
}
}

8
src/main/java/a8k/appbean/SampleTubeState.java
View File

@ -0,0 +1,8 @@
package a8k.appbean;
/**
* 样品试管状态
*/
public class SampleTubeState {
String tubeType;
}

6
src/main/java/a8k/controller/TmpTestController.java
View File

@ -14,14 +14,14 @@ public class TmpTestController {
@GetMapping("/tmp-test/a8k-can-bus-service-call")
@ResponseBody
public String a8kCanBusServiceCall() throws HardwareException {
public String a8kCanBusServiceCall() throws HardwareException, InterruptedException {
this.a8kCanBusService.callcmd(
ModuleId.ServoTubeRackTubeRotateId,
ModuleId.ServoTubeRackTubeRotateModule,
CmdId.kmini_servo_enable,
new Integer[]{1}
);
this.a8kCanBusService.callblockcmd(
ModuleId.MotorTubeRackFeedId,
ModuleId.MotorTubeRackFeedModule,
CmdId.kstep_motor_easy_move_by,
new Integer[]{5000},
20000

21
src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java
View File

@ -22,13 +22,20 @@ public class A8kDirectCtrlPosDao {
// 2.移动坐标参考点为从左往右数第一个试管
// 3.正方向为执行机构的正方向
//
public static final String kMotorTubeRackMotor_tubeScanPos = "kMotorTubeRackMotor_tubeScanPos"; //扫码位置
public static final String kMotorTubeRackMotor_tubeHeighJudgmentPos = "kMotorTubeRackMotor_tubeHeighJudgmentPos"; //高低试管判断位置
public static final String kMotorTubeRackMotor_tubePreProcessPos = "kMotorTubeRackMotor_tubePreProcessPos"; //试管预处理位置
public static final String kMotorTubeRackMotor_tubeExistJudgmentPos = "kMotorTubeRackMotor_tubeExistJudgmentPos";//试管有无
public static final String kMotorTubeRackMotor_tubeRackEnterPos = "kMotorTubeRackMotor_tubeRackEnterPos"; //入料位置
public static final String kMotorTubeRackMotor_tubeRackExitPos = "kMotorTubeRackMotor_tubeRackExitPos"; //出料位置
public static final String kMotorTubeRackMotor_tubeRackScanCodePos = "kMotorTubeRackMotor_tubeRackScanCodePos"; //出料位置
public static final String MotorTubeRackMotor_tubeScanPos = "MotorTubeRackMotor_tubeScanPos"; //扫码位置
public static final String MotorTubeRackMotor_tubeHeighJudgmentPos = "MotorTubeRackMotor_tubeHeighJudgmentPos"; //高低试管判断位置
public static final String MotorTubeRackMotor_tubePreProcessPos = "MotorTubeRackMotor_tubePreProcessPos"; //试管预处理位置
public static final String MotorTubeRackMotor_tubeExistJudgmentPos = "MotorTubeRackMotor_tubeExistJudgmentPos";//试管有无
public static final String MotorTubeRackMotor_tubeRackEnterPos = "MotorTubeRackMotor_tubeRackEnterPos"; //入料位置
public static final String MotorTubeRackMotor_tubeRackExitPos = "MotorTubeRackMotor_tubeRackExitPos"; //出料位置
public static final String MotorTubeRackMotor_tubeRackScanCodePos = "MotorTubeRackMotor_tubeRackScanCodePos"; //出料位置
//
// 试管扫码夹紧模块
//
public static final String MotorTubeScanClampModule_clampPos = "MotorTubeScanClampModule_clampPos";//试管扫码夹紧模组 夹紧位置
public static final String MotorTubeScanClampModule_releasePos = "MotorTubeScanClampModule_releasePos";//试管扫码夹紧模组 释放位置
PosBean getPosBean(String posName) {

9
src/main/java/a8k/service/hardware/MotorTubeRackExitService.java
View File

@ -1,9 +0,0 @@
package a8k.service.hardware;
import org.springframework.stereotype.Component;
@Component
public class MotorTubeRackExitService {
}

4
src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java
View File

@ -1,4 +0,0 @@
package a8k.service.hardware;
public class MotorTubeRackMoveContrlService {
}

67
src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java → src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -7,26 +7,31 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@Component
public class MotorTubeRackMoveService {
public class MotorTubeRackMoveCtrlService {
/**
*
* 主要用来控制试管架的平移动作控制
*
* 编写注意事项:
* 通用编写注意事项:
* 1.坐标从数据库中拿一些关键点的坐标进行运算
* 2.直接调用A8kCanBusService的方法。
* 3.利用光电，和编码器检查设备是否运行到位
*
* 当前模块编写注意事项
* 1. 电机移动前先将试管扫码夹紧复位
* 2. 扫码时试管夹紧夹紧
*/
// kMotorTubeRackMotor_tubeScanPos
// kMotorTubeRackMotor_tubeHeighJudgmentPos
// kMotorTubeRackMotor_tubePreProcessPos
// kMotorTubeRackMotor_tubeExistJudgmentPos
// MotorTubeRackMotor_tubeScanPos
// MotorTubeRackMotor_tubeHeighJudgmentPos
// MotorTubeRackMotor_tubePreProcessPos
// MotorTubeRackMotor_tubeExistJudgmentPos
//
// kMotorTubeRackMotor_tubeRackEnterPos
// kMotorTubeRackMotor_tubeRackExitPos
// kMotorTubeRackMotor_tubeRackScanCodePos
// MotorTubeRackMotor_tubeRackEnterPos
// MotorTubeRackMotor_tubeRackExitPos
// MotorTubeRackMotor_tubeRackScanCodePos
// MotorTubeScanClampModule_clampPos
// MotorTubeScanClampModule_releasePos
@Autowired
A8kDirectCtrlPosDao directCtrlPosTableDao;
@ -40,12 +45,12 @@ public class MotorTubeRackMoveService {
// 电机基础控制
//
void moveToZeroWhenDeviceSetup() {
public void moveToZeroWhenDeviceSetup() {
}
void moveToZero() {
public void moveToZero() {
//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。
@ -59,19 +64,26 @@ public class MotorTubeRackMoveService {
/**
* 移动试管架到入口位置
*/
void moveTubeRackToEnterPos() {
public void moveTubeRackToEnterPos() {
}
/**
* 移动试管架到出口位置
*/
void moveTubeRackToExitPos() {
public void moveTubeRackToExitPos() {
}
/**
* 移动试管架到试管架扫码位置
*/
void moveTubeRackToScanPos() {
public void moveTubeRackToScanPos() {
}
/**
* 移动试管架到试管架扫码并扫码
*/
public String moveTubeRackToScanPosAndScan() {
return "";
}
//
@ -84,7 +96,16 @@ public class MotorTubeRackMoveService {
* @param tubeType
* @param tubeIndex
*/
void moveTubeToScanPos(String tubeType, Integer tubeIndex) {
public void moveTubeToScanPos(String tubeType, Integer tubeIndex) {
}
/**
* 移动试管到扫码位置，并扫码
* @param tubeType
* @param tubeIndex
*/
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) {
return null;
}
/**
@ -92,7 +113,7 @@ public class MotorTubeRackMoveService {
* @param tubeType
* @param tubeIndex
*/
void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) {
public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) {
}
/**
@ -100,7 +121,7 @@ public class MotorTubeRackMoveService {
* @param tubeType
* @param tubeIndex
*/
void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) {
public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) {
}
//
@ -112,14 +133,14 @@ public class MotorTubeRackMoveService {
* @param tubeType
* @param tubeIndex
*/
void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) {
public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) {
}
boolean isTubeRackExitInEnterPos() {
public boolean isTubeRackExitInEnterPos() {
return false;
}
boolean isTubeRackExitInExitPos() {
public boolean isTubeRackExitInExitPos() {
return false;
}
@ -128,9 +149,13 @@ public class MotorTubeRackMoveService {
* @param photoelectricIndex 0:里光电，1:外光电
* @return true, 光电触发 false,光电没有触发
*/
boolean getMoveChannelPhotoelectricState(int photoelectricIndex) {
public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) {
return false;
}
//
// 其他辅助组件
//
}

92
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -0,0 +1,92 @@
package a8k.service.hardware;
import a8k.appbean.SampleTubeState;
public class SamplesPreProcessModuleCtrlService {
/**
* 样品预处理模块
* 主要负责样品预处理的相关操作
*
* 涉及到常量
* 1.试管的相关信息---试管高度
* 2.试管的相关信息---试管含帽高度
* 3.平移电机待机位置
* 4.平移电机取试管位置
* 5.平移电机试管处理位置
*
*
*/
public void takeTube(String tubeType) {
//
// 取试管并将试管放在夹紧位置，同时升降电机和平移电机移动到待机位
// 试管放置的水平高度和其在试管架中的高度保持一直
//
}
/**
* 摇匀试管
* @param tubeState
* @param times
* @param shakeDegree
*/
public void ShakeTube(String tubeType, int times, int shakeDegree) {
//
//
//
}
/**
* 取试管帽
*/
public void takeTubeCap() {
//
//
//
}
/**
* 盖试管帽，并将试管移动回试管架中
*/
public void pushBackTubeCapAndTakeBakTube(String tubeType) {
//
//
//
}
/**
* 打开气溶胶风扇
*/
public void openAerosolFan() {
}
/**
* 关闭气溶胶风扇
*/
public void closeAerosolFan() {
}
/**
* 设备初始化时复位
*/
public void moduleResetWhenPowerOn() {
}
/**
* 设备运行时复位
*/
public void moduleRuntimeReset() {
}
}
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