add A8kPipetteCtrlModule

src/main/java/a8k/hardware/A8kPipetteCtrlModule.java

@@ -0,0 +1,158 @@
+package a8k.hardware;
+
+import a8k.hardware.type.a8kcanprotocol.CmdId;
+import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.type.HardwareException;
+import jakarta.annotation.Resource;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+@Component
+public class A8kPipetteCtrlModule {
+
+	@Resource
+	A8kCanBusService canBusService;
+
+	final Integer overtime = 10000;
+	/*
+  virtual int32_t pipette_zmotor_enable(int32_t enable);
+  virtual int32_t pipette_zmotor_move_zero();
+  virtual int32_t pipette_zmotor_move_to_zero_point_quick();
+  virtual int32_t pipette_zmotor_measure_distance();
+  virtual int32_t pipette_zmotor_read_measure_distance_result(int32_t *result0);
+  virtual int32_t pipette_zmotor_move_by(int32_t distance);
+  virtual int32_t pipette_zmotor_move_to(int32_t position);
+
+  virtual int32_t pipette_init_device();
+  virtual int32_t pipette_put_tip();
+  virtual int32_t pipette_lld_prepare();
+  virtual int32_t pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
+  virtual int32_t pipette_aspirate_prepare();
+  virtual int32_t pipette_aspirate_set_llf_velocity(int32_t llf_zm_rpm);
+  virtual int32_t pipette_aspirate_set_operation_verifi_p_thre(int32_t p_thre);
+  virtual int32_t pipette_aspirate_set_operation_verifi_eigen_time(int32_t eigen_time);
+  virtual int32_t pipette_aspirate_set_operation_verifi_tolerance(int32_t tolerance);
+  virtual int32_t pipette_aspirate(int32_t ul);
+  virtual int32_t pipette_aspirate_and_verify(int32_t ul);
+  virtual int32_t pipette_shake_up(int32_t ul, int32_t times);
+  virtual int32_t pipette_aspirate_infer_pressure(int32_t ul);
+  virtual int32_t pipette_aspirate_infer_eigen_time(int32_t ul);
+  virtual int32_t pipette_get_aspirate_infer_pressure_result(int32_t *result);
+  virtual int32_t pipette_get_aspirate_infer_eigen_time_result(int32_t *result);
+
+  virtual int32_t pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval);
+  virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num);
+  virtual int32_t pipette_zmotor_read_zero_point_state(int32_t *state);
+  virtual int32_t pipette_zmotor_read_dev_status_cache(int32_t *devStatus);
+  */
+
+
+	public void zMotorEnable(int enable) throws HardwareException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_enable.toInt(), enable);
+	}
+
+	public void zMotorMoveZeroBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_move_zero.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void zMotorMoveToZeroPointQuickBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_move_to_zero_point_quick.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void zMotorMoveByBlock(int distance) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_move_by.toInt(), distance);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void zMotorMoveToBlock(int position) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_move_to.toInt(), position);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+
+	public void initDeviceBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_init_device.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void putTipBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_put_tip.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void lldPrepareBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_lld_prepare.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+
+	public void lldBlock(int lldtype, int zdpos, int c_threshold, int p_threshold) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_lld.toInt(), lldtype, zdpos, c_threshold, p_threshold);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+
+	public void aspiratePrepareBlock() throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_prepare.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void aspirateSetLlfVelocity(int llf_zm_rpm) throws HardwareException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_set_llf_velocity.toInt(), llf_zm_rpm);
+	}
+
+	public void aspirateSetOperationVerifPThre(int p_thre) throws HardwareException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_set_operation_verifi_p_thre.toInt(), p_thre);
+	}
+
+	public void aspirateSetOperationVerifEigenTime(int eigen_time) throws HardwareException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_set_operation_verifi_eigen_time.toInt(), eigen_time);
+	}
+
+	public void aspirateSetOperationVerifTolerance(int tolerance) throws HardwareException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_set_operation_verifi_tolerance.toInt(), tolerance);
+	}
+
+	public void aspirateBlock(int ul) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate.toInt(), ul);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void aspirateAndVerifyBlock(int ul) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_and_verify.toInt(), ul);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void shakeUpBlock(int ul, int times) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_shake_up.toInt(), ul, times);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void aspirateInferPressureBlock(int ul) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_infer_pressure.toInt(), ul);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void aspirateInferEigenTimeBlock(int ul) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_infer_eigen_time.toInt(), ul);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
+	public void getAspirateInferPressureResult(int[] result) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_get_aspirate_infer_pressure_result.toInt());
+	}
+
+	public void getAspirateInferEigenTimeResultBlock(int[] result) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_get_aspirate_infer_eigen_time_result.toInt());
+	}
+
+	public void getSensorSampleData(int index, int[] motor_pos, int[] cval, int[] pval) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_get_sensor_sample_data.toInt(), index);
+	}
+
+	public void getSensorSampleDataNum(int[] num) throws HardwareException, InterruptedException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_get_sensor_sample_data_num.toInt());
+	}
+}