From 7a67b68a11b9e78c509fa37d2901ac5ec36d1b4a Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 14 Jul 2024 10:25:04 +0800 Subject: [PATCH] update --- src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java | 22 +- src/main/java/a8k/a8k_can_protocol/ModuleId.java | 4 +- src/main/java/a8k/a8k_can_protocol/RegIndex.java | 409 +++++++++++++++++++++ .../java/a8k/a8k_can_protocol/RegIndexInfo.java | 19 + src/main/java/a8k/appbean/SampleTubeState.java | 8 + .../java/a8k/controller/TmpTestController.java | 6 +- .../a8k/service/db/dao/A8kDirectCtrlPosDao.java | 21 +- .../service/hardware/MotorTubeRackExitService.java | 9 - .../hardware/MotorTubeRackMoveContrlService.java | 4 - .../hardware/MotorTubeRackMoveCtrlService.java | 161 ++++++++ .../service/hardware/MotorTubeRackMoveService.java | 136 ------- .../SamplesPreProcessModuleCtrlService.java | 92 +++++ 12 files changed, 720 insertions(+), 171 deletions(-) create mode 100644 src/main/java/a8k/a8k_can_protocol/RegIndex.java create mode 100644 src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java create mode 100644 src/main/java/a8k/appbean/SampleTubeState.java delete mode 100644 src/main/java/a8k/service/hardware/MotorTubeRackExitService.java delete mode 100644 src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java create mode 100644 src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java delete mode 100644 src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java create mode 100644 src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java diff --git a/src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java b/src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java index e792e1b..c1d1f42 100644 --- a/src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java +++ b/src/main/java/a8k/a8k_can_protocol/CmdIdInfo.java @@ -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; - } + } } diff --git a/src/main/java/a8k/a8k_can_protocol/ModuleId.java b/src/main/java/a8k/a8k_can_protocol/ModuleId.java index 14b647c..174a633 100644 --- a/src/main/java/a8k/a8k_can_protocol/ModuleId.java +++ b/src/main/java/a8k/a8k_can_protocol/ModuleId.java @@ -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"; diff --git a/src/main/java/a8k/a8k_can_protocol/RegIndex.java b/src/main/java/a8k/a8k_can_protocol/RegIndex.java new file mode 100644 index 0000000..1eac0cd --- /dev/null +++ b/src/main/java/a8k/a8k_can_protocol/RegIndex.java @@ -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 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))); + } +} diff --git a/src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java b/src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java new file mode 100644 index 0000000..3afc132 --- /dev/null +++ b/src/main/java/a8k/a8k_can_protocol/RegIndexInfo.java @@ -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; + } +} diff --git a/src/main/java/a8k/appbean/SampleTubeState.java b/src/main/java/a8k/appbean/SampleTubeState.java new file mode 100644 index 0000000..c66989b --- /dev/null +++ b/src/main/java/a8k/appbean/SampleTubeState.java @@ -0,0 +1,8 @@ +package a8k.appbean; + +/** + * 样品试管状态 + */ +public class SampleTubeState { + String tubeType; +} diff --git a/src/main/java/a8k/controller/TmpTestController.java b/src/main/java/a8k/controller/TmpTestController.java index b7dd16e..08ea25c 100644 --- a/src/main/java/a8k/controller/TmpTestController.java +++ b/src/main/java/a8k/controller/TmpTestController.java @@ -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 diff --git a/src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java b/src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java index 74e8864..8775b8d 100644 --- a/src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java +++ b/src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java @@ -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) { diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackExitService.java b/src/main/java/a8k/service/hardware/MotorTubeRackExitService.java deleted file mode 100644 index 75e15fa..0000000 --- a/src/main/java/a8k/service/hardware/MotorTubeRackExitService.java +++ /dev/null @@ -1,9 +0,0 @@ -package a8k.service.hardware; - -import org.springframework.stereotype.Component; - -@Component -public class MotorTubeRackExitService { - - -} diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java deleted file mode 100644 index cbfbb2c..0000000 --- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveContrlService.java +++ /dev/null @@ -1,4 +0,0 @@ -package a8k.service.hardware; - -public class MotorTubeRackMoveContrlService { -} diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java new file mode 100644 index 0000000..e0a5e01 --- /dev/null +++ b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java @@ -0,0 +1,161 @@ +package a8k.service.hardware; + +import a8k.service.db.dao.A8kDirectCtrlPosDao; +import a8k.service.db.dao.A8kTubeInfoDao; +import a8k.service.db.dao.MotorParameterDao; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +@Component +public class MotorTubeRackMoveCtrlService { + /** + * + * 主要用来控制试管架的平移动作控制 + * + * 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 + */ + + // MotorTubeRackMotor_tubeScanPos + // MotorTubeRackMotor_tubeHeighJudgmentPos + // MotorTubeRackMotor_tubePreProcessPos + // MotorTubeRackMotor_tubeExistJudgmentPos + // + // MotorTubeRackMotor_tubeRackEnterPos + // MotorTubeRackMotor_tubeRackExitPos + // MotorTubeRackMotor_tubeRackScanCodePos + // MotorTubeScanClampModule_clampPos + // MotorTubeScanClampModule_releasePos + + @Autowired + A8kDirectCtrlPosDao directCtrlPosTableDao; + @Autowired + A8kTubeInfoDao tubeInfoDao; + @Autowired + MotorParameterDao motorParameterDao; + + + // + // 电机基础控制 + // + + public void moveToZeroWhenDeviceSetup() { + + } + + + 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。 + } + + + // + // 试管架移动 + // + + /** + * 移动试管架到入口位置 + */ + public void moveTubeRackToEnterPos() { + } + + /** + * 移动试管架到出口位置 + */ + public void moveTubeRackToExitPos() { + } + + /** + * 移动试管架到试管架扫码位置 + */ + public void moveTubeRackToScanPos() { + } + + /** + * 移动试管架到试管架扫码并扫码 + */ + public String moveTubeRackToScanPosAndScan() { + return ""; + } + + // + // 试管移动 + // + + + /** + * 移动试管到扫码位置 + * @param tubeType + * @param 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; + } + + /** + * 移动试管到试管高低判断位置 + * @param tubeType + * @param tubeIndex + */ + public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) { + } + + /** + * 移动试管到试管预处理的位置 + * @param tubeType + * @param tubeIndex + */ + public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) { + } + + // + // 状态检测 + // + + /** + * 移动试管到试管有无判断位置 + * @param tubeType + * @param tubeIndex + */ + public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) { + } + + public boolean isTubeRackExitInEnterPos() { + return false; + } + + public boolean isTubeRackExitInExitPos() { + return false; + } + + /** + * 获取移动通道的光电状态 + * @param photoelectricIndex 0:里光电，1:外光电 + * @return true, 光电触发 false,光电没有触发 + */ + public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) { + return false; + } + + // + // 其他辅助组件 + // + + +} diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java deleted file mode 100644 index de4a092..0000000 --- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java +++ /dev/null @@ -1,136 +0,0 @@ -package a8k.service.hardware; - -import a8k.service.db.dao.A8kDirectCtrlPosDao; -import a8k.service.db.dao.A8kTubeInfoDao; -import a8k.service.db.dao.MotorParameterDao; -import org.springframework.beans.factory.annotation.Autowired; -import org.springframework.stereotype.Component; - -@Component -public class MotorTubeRackMoveService { - /** - * - * 主要用来控制试管架的平移动作控制 - * - * 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 - * - */ - - // kMotorTubeRackMotor_tubeScanPos - // kMotorTubeRackMotor_tubeHeighJudgmentPos - // kMotorTubeRackMotor_tubePreProcessPos - // kMotorTubeRackMotor_tubeExistJudgmentPos - // - // kMotorTubeRackMotor_tubeRackEnterPos - // kMotorTubeRackMotor_tubeRackExitPos - // kMotorTubeRackMotor_tubeRackScanCodePos - - @Autowired - A8kDirectCtrlPosDao directCtrlPosTableDao; - @Autowired - A8kTubeInfoDao tubeInfoDao; - @Autowired - MotorParameterDao motorParameterDao; - - - // - // 电机基础控制 - // - - void moveToZeroWhenDeviceSetup() { - - } - - - 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。 - } - - - // - // 试管架移动 - // - - /** - * 移动试管架到入口位置 - */ - void moveTubeRackToEnterPos() { - } - - /** - * 移动试管架到出口位置 - */ - void moveTubeRackToExitPos() { - } - - /** - * 移动试管架到试管架扫码位置 - */ - void moveTubeRackToScanPos() { - } - - // - // 试管移动 - // - - - /** - * 移动试管到扫码位置 - * @param tubeType - * @param tubeIndex - */ - void moveTubeToScanPos(String tubeType, Integer tubeIndex) { - } - - /** - * 移动试管到试管高低判断位置 - * @param tubeType - * @param tubeIndex - */ - void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) { - } - - /** - * 移动试管到试管预处理的位置 - * @param tubeType - * @param tubeIndex - */ - void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) { - } - - // - // 状态检测 - // - - /** - * 移动试管到试管有无判断位置 - * @param tubeType - * @param tubeIndex - */ - void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) { - } - - boolean isTubeRackExitInEnterPos() { - return false; - } - - boolean isTubeRackExitInExitPos() { - return false; - } - - /** - * 获取移动通道的光电状态 - * @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) { - return false; - } - - -} diff --git a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java new file mode 100644 index 0000000..32065e5 --- /dev/null +++ b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java @@ -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() { + + } +}