project_boditech_vidas_a8000_v3
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update

tags/v0
zhaohe 1 year ago
parent
de1deee053
commit
7d83a39996
8 changed files with 159 additions and 259 deletions
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  1. 2
      src/main/java/a8k/a8k_can_protocol/MId.java
  2. 6
      src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
  3. 9
      src/main/java/a8k/service/ctrl_service/DeviceShutdownCtrlService.java
  4. 137
      src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java
  5. 220
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  6. 6
      src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java
  7. 22
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
  8. BIN
      zhaohe_app.db

2
src/main/java/a8k/a8k_can_protocol/MId.java
View File

@ -14,7 +14,7 @@ public enum MId {
ShakeModClampingM(31, "试管固定夹爪电机"),//
ShakeModGripperZM(32, "摇匀升降电机"),//
ShakeModShakeM(33, "试管摇匀电机"),//
ShakeModGripperYM(34, "摇匀前后移动舵机"),//
ShakeModGripperYSV(34, "摇匀前后移动舵机"),//
ShakeModGripperSV(35, "摇匀试管帽夹爪舵机"),//
ShakeModTubeScanerClampingSV(36, "试管架扫码夹紧舵机"),//
ShakeModTubeScanerRotateSV(37, "试管架旋转舵机"),//

6
src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
View File

@ -1,7 +1,6 @@
package a8k.service.ctrl_service;
import a8k.a8k_can_protocol.A8kEcode;
import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.IOId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException;
@ -12,7 +11,6 @@ import a8k.service.hardware.CommonHardwareOpeartion;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
import org.springframework.stereotype.Controller;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.ResponseBody;
@ -169,8 +167,8 @@ public class DeviceInitializationCtrlService {
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, actionOvertime);
canBus.miniServoMoveTo(MId.ShakeModGripperSV, 1800);
canBus.waitForMod(MId.ShakeModGripperSV, actionOvertime);
canBus.miniServoMoveTo(MId.ShakeModGripperYM, 200);
canBus.waitForMod(MId.ShakeModGripperYM, actionOvertime);
canBus.miniServoMoveTo(MId.ShakeModGripperYSV, 200);
canBus.waitForMod(MId.ShakeModGripperYSV, actionOvertime);
canBus.stepMotorEasyMoveToZero(MId.ShakeModClampingM);
canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);

9
src/main/java/a8k/service/ctrl_service/DeviceShutdownCtrlService.java
View File

@ -0,0 +1,9 @@
package a8k.service.ctrl_service;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
public class DeviceShutdownCtrlService {
public static final Logger logger = LoggerFactory.getLogger(DeviceInitializationCtrlService.class);
}

137
src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java
View File

@ -6,15 +6,19 @@ import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppEcode;
import a8k.base_hardware.A8kCanBusService;
import jakarta.annotation.Resource;
import org.springframework.stereotype.Component;
import org.springframework.stereotype.Controller;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.ResponseBody;
@Component
@Controller
public class CommonHardwareOpeartion {
@Resource
A8kCanBusService canBus;
@PostMapping("/api/CommonHardwareOpeartion/enableAllMotorNoExcep")
@ResponseBody
public AppEcode enableAllMotorNoExcep() {
try {
enableAllMotor();
@ -24,6 +28,8 @@ public class CommonHardwareOpeartion {
return new AppEcode(A8kEcode.Success);
}
@PostMapping("/api/CommonHardwareOpeartion/disableAllMotorNoExcep")
@ResponseBody
public AppEcode disableAllMotorNoExcep() {
try {
enableAllMotor();
@ -33,71 +39,90 @@ public class CommonHardwareOpeartion {
return new AppEcode(A8kEcode.Success);
}
public void enableAllMotor() throws HardwareException {
public void enableAllMotor(Boolean enable) throws HardwareException {
//进出料初始化
canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
canBus.stepMotorEnable(MId.FeedingModInfeedM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.FeedingModXM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.FeedingModOutfeedM, enable ? 1 : 0);
//摇匀模组初始化
canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
canBus.stepMotorEnable(MId.ShakeModGripperZM, 1);
canBus.stepMotorEnable(MId.ShakeModShakeM, 1);
canBus.miniServoEnable(MId.ShakeModGripperYM, 1);
canBus.miniServoEnable(MId.ShakeModGripperSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 1);
canBus.stepMotorEnable(MId.ShakeModClampingM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.ShakeModGripperZM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.ShakeModShakeM, enable ? 1 : 0);
canBus.miniServoEnable(MId.ShakeModGripperYSV, enable ? 1 : 0);
canBus.miniServoEnable(MId.ShakeModGripperSV, enable ? 1 : 0);
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, enable ? 1 : 0);
canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, enable ? 1 : 0);
//板夹仓初始化
canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 1);
canBus.stepMotorEnable(MId.PlatesBoxYM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, enable ? 1 : 0);
//光学模组初始化
canBus.stepMotorEnable(MId.OptModPullM, 1);
canBus.stepMotorEnable(MId.OptModScannerM, 1);
canBus.stepMotorEnable(MId.OptModPullM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.OptModScannerM, enable ? 1 : 0);
//HBot初始化
canBus.hbotEnable(MId.HbotM, 1);
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.hbotEnable(MId.HbotM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.PipetteModZM, enable ? 1 : 0);
//转盘归零
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 1);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, enable ? 1 : 0);
}
@PostMapping("/api/CommonHardwareOpeartion/enableAllMotor")
@ResponseBody
public void enableAllMotor() throws HardwareException {
enableAllMotor(true);
}
@PostMapping("/api/CommonHardwareOpeartion/disableAllMotor")
@ResponseBody
public void disableAllMotor() throws HardwareException {
enableAllMotor(false);
}
@PostMapping("/api/CommonHardwareOpeartion/forceStopAndDisableAllMOtor")
@ResponseBody
public void forceStopAndDisableAllMOtor() {
forceStopAllMOtor();
forceDisableAllMOtor();
}
public void forceDisableAllMOtor() {
//Disable all motor
//进出料初始化
canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);
canBus.stepMotorEnable(MId.FeedingModXM, 0);
canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);
try {canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.FeedingModXM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);} catch (HardwareException ignored) {}
//摇匀模组初始化
canBus.stepMotorEnable(MId.ShakeModClampingM, 0);
canBus.stepMotorEnable(MId.ShakeModGripperZM, 0);
canBus.stepMotorEnable(MId.ShakeModShakeM, 0);
canBus.miniServoEnable(MId.ShakeModGripperYM, 0);
canBus.miniServoEnable(MId.ShakeModGripperSV, 0);
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);
canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 0);
try {canBus.stepMotorEnable(MId.ShakeModClampingM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.ShakeModGripperZM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.ShakeModShakeM, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModGripperYSV, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModGripperSV, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 0);} catch (HardwareException ignored) {}
//板夹仓初始化
canBus.stepMotorEnable(MId.PlatesBoxYM, 0);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);
try {canBus.stepMotorEnable(MId.PlatesBoxYM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);} catch (HardwareException ignored) {}
//光学模组初始化
canBus.stepMotorEnable(MId.OptModPullM, 0);
canBus.stepMotorEnable(MId.OptModScannerM, 0);
try {canBus.stepMotorEnable(MId.OptModPullM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {}
//HBot初始化
canBus.hbotEnable(MId.HbotM, 0);
canBus.stepMotorEnable(MId.PipetteModZM, 0);
try {canBus.hbotEnable(MId.HbotM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {}
//转盘归零
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);
try {canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);} catch (HardwareException ignored) {}
}
public void forceStopAndDisableAllMOtor() {
public void forceStopAllMOtor() {
//StopAllMotor
//进出料初始化
try {canBus.moduleStop(MId.FeedingModInfeedM);} catch (HardwareException ignored) {}
@ -107,7 +132,7 @@ public class CommonHardwareOpeartion {
try {canBus.moduleStop(MId.ShakeModClampingM);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModGripperZM);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModShakeM);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModGripperYM);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModGripperYSV);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModGripperSV);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);} catch (HardwareException ignored) {}
try {canBus.moduleStop(MId.ShakeModTubeScanerRotateSV);} catch (HardwareException ignored) {}
@ -122,38 +147,6 @@ public class CommonHardwareOpeartion {
try {canBus.moduleStop(MId.PipetteModZM);} catch (HardwareException ignored) {}
//转盘归零
try {canBus.moduleStop(MId.IncubatorRotateCtrlM);} catch (HardwareException ignored) {}
//Disable all motor
//进出料初始化
try {canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.FeedingModXM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);} catch (HardwareException ignored) {}
//摇匀模组初始化
try {canBus.stepMotorEnable(MId.ShakeModClampingM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.ShakeModGripperZM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.ShakeModShakeM, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModGripperYM, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModGripperSV, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);} catch (HardwareException ignored) {}
try {canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 0);} catch (HardwareException ignored) {}
//板夹仓初始化
try {canBus.stepMotorEnable(MId.PlatesBoxYM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);} catch (HardwareException ignored) {}
//光学模组初始化
try {canBus.stepMotorEnable(MId.OptModPullM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {}
//HBot初始化
try {canBus.hbotEnable(MId.HbotM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {}
//转盘归零
try {canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);} catch (HardwareException ignored) {}
}
}

220
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -26,119 +26,38 @@ public class MotorTubeRackMoveCtrlService {
* 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
A8kTubeInfoDao tubeInfoDao;
@Resource
private A8kCanBusService a8kCanBusService;
private A8kCanBusService canBus;
@Resource
MotorTubeRackMoveCtrlServiceParameterDao paramDao;
@Resource
MotorTubeRackMoveCtrlServiceParameterDao serviceParameterDao;
private CommonHardwareOpeartion comHardwareOpear;
public void setEnable(Boolean enable) throws HardwareException {
this.a8kCanBusService.callcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
MId.FeedingModInfeedM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
MId.FeedingModOutfeedM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
MId.ShakeModTubeScanerRotateSV.toInt(),
CmdId.mini_servo_enable.toInt(),
enable ? 1 : 0
);
comHardwareOpear.enableAllMotor(enable);
}
public void stop() throws HardwareException {
this.a8kCanBusService.callcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
MId.FeedingModInfeedM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
MId.FeedingModOutfeedM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
MId.ShakeModTubeScanerRotateSV.toInt(),
CmdId.mini_servo_stop.toInt(),
1
);
comHardwareOpear.forceStopAllMOtor();
}
//
// 电机基础控制
//
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getScanCodeReleasePos(),
params.getMoveToZeroOvertime()
);
}
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var beforePosResponse = this.a8kCanBusService.callcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_read_pos.toInt());
var beforePos = beforePosResponse.getContentI32(0);
this.a8kCanBusService.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
var afterPosResponse = this.a8kCanBusService.callcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_read_pos.toInt());
var afterPos = afterPosResponse.getContentI32(0);
var distance = beforePos - afterPos;
var dval = a8kCanBusService.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getMoveToZeroOvertime());
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal() ) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getMoveToZeroOvertime());
}
public void moveToZero() throws HardwareException, InterruptedException {
//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。
@ -147,6 +66,21 @@ public class MotorTubeRackMoveCtrlService {
//3.读取电机运行完成后所在的位置
//4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。
var params = this.paramDao;
var beforePos = canBus.stepMotorReadPos(MId.FeedingModXM);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getMoveToZeroOvertime());
var afterPos = canBus.stepMotorReadPos(MId.FeedingModXM);
var distance = beforePos - afterPos;
var dval = canBus.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
}
}
@ -158,39 +92,24 @@ public class MotorTubeRackMoveCtrlService {
* 移动试管架到入口位置
*/
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackEnterPos(),
params.getActionOvertime()
);
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackEnterPos(), params.getActionOvertime());
}
/**
* 移动试管架到出口位置
*/
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackExitPos(),
params.getActionOvertime()
);
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackExitPos(), params.getActionOvertime());
}
/**
* 移动试管架到试管架扫码位置
*/
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackScanCodePos(),
params.getActionOvertime()
);
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackScanCodePos(), params.getActionOvertime());
}
/**
@ -198,10 +117,10 @@ public class MotorTubeRackMoveCtrlService {
*/
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
this.moveTubeRackToScanPos();
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000);
var response = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -217,14 +136,9 @@ public class MotorTubeRackMoveCtrlService {
* @param tubeIndex
*/
public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var params = this.paramDao;
var scanPos = params.getTubeScanPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
scanPos,
params.getActionOvertime()
);
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), scanPos, params.getActionOvertime());
}
/**
@ -234,18 +148,18 @@ public class MotorTubeRackMoveCtrlService {
*/
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
this.moveTubeToScanPos(tubeType, tubeIndex);
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(),CmdId.mini_servo_rotate_with_torque.toInt(), 200);
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), 200);
for (int i = 0; i < 10; i++) {
var resIsReady = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_result_is_ready.toInt());
var resIsReady = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_result_is_ready.toInt());
if (1 == resIsReady.getContentI32(0)) {
break;
}
UfCommon.delay(500);
}
this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_stop.toInt(), 1);
var response = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_stop.toInt(), 1);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -256,14 +170,9 @@ public class MotorTubeRackMoveCtrlService {
* @param tubeIndex
*/
public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var params = this.paramDao;
var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
detectPos,
params.getActionOvertime()
);
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), detectPos, params.getActionOvertime());
}
/**
@ -272,14 +181,9 @@ public class MotorTubeRackMoveCtrlService {
* @param tubeIndex
*/
public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var params = this.paramDao;
var pos = params.getTubePreProcessPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
pos,
params.getActionOvertime()
);
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), pos, params.getActionOvertime());
}
//
@ -292,17 +196,17 @@ public class MotorTubeRackMoveCtrlService {
* @param tubeIndex
*/
public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var params = this.paramDao;
var pos = params.getTubeExistJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
}
public boolean isTubeRackInEnterPos() throws HardwareException {
return this.a8kCanBusService.getIOState(IOId.InfeedPPS);
return this.canBus.getIOState(IOId.InfeedPPS);
}
public boolean isTubeRackInExitPos() throws HardwareException {
return this.a8kCanBusService.getIOState(IOId.OutfeedPPS);
return this.canBus.getIOState(IOId.OutfeedPPS);
}
/**
@ -312,7 +216,7 @@ public class MotorTubeRackMoveCtrlService {
*/
public boolean getMoveChannelPhotoelectricState(Integer photoelectricIndex) throws HardwareException {
var io = 0 == photoelectricIndex ? IOId.THChOuterPPS : IOId.THChInterPPS;
return this.a8kCanBusService.getIOState(io);
return this.canBus.getIOState(io);
}
//
@ -324,26 +228,16 @@ public class MotorTubeRackMoveCtrlService {
* 扫描夹紧机构夹紧
*/
public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
new Integer[]{params.getScanCodeClampPos()},
params.getActionOvertime()
);
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeClampPos()}, params.getActionOvertime());
}
/**
* 扫描夹紧机构复位
*/
public void scanClampModuleReset() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
new Integer[]{params.getScanCodeReleasePos()},
params.getActionOvertime()
);
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeReleasePos()}, params.getActionOvertime());
}

6
src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java
View File

@ -163,5 +163,11 @@ public class ReactionPlatesTransmitCtrlService {
*/
}
void emptyTurntable() {
/*
清空转盘
*/
}
}

22
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -48,7 +48,7 @@ public class SamplesPreProcessModuleCtrlService {
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -93,7 +93,7 @@ public class SamplesPreProcessModuleCtrlService {
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.mini_servo_enable.toInt(),
enable ? 1 : 0
);
@ -122,7 +122,7 @@ public class SamplesPreProcessModuleCtrlService {
public A8kEcode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime()
@ -175,7 +175,7 @@ public class SamplesPreProcessModuleCtrlService {
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
@ -203,7 +203,7 @@ public class SamplesPreProcessModuleCtrlService {
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -227,7 +227,7 @@ public class SamplesPreProcessModuleCtrlService {
public A8kEcode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
@ -267,7 +267,7 @@ public class SamplesPreProcessModuleCtrlService {
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -281,7 +281,7 @@ public class SamplesPreProcessModuleCtrlService {
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
@ -321,7 +321,7 @@ public class SamplesPreProcessModuleCtrlService {
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -385,7 +385,7 @@ public class SamplesPreProcessModuleCtrlService {
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -424,7 +424,7 @@ public class SamplesPreProcessModuleCtrlService {
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
MId.ShakeModGripperYM.toInt(),
MId.ShakeModGripperYSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()

BIN
zhaohe_app.db
View File

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