project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

update

tags/v0
zhaohe 10 months ago
parent
9b61495c30
commit
82182a8dd9
17 changed files with 357 additions and 279 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. BIN
      app.db
  2. 4
      src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
  3. 6
      src/main/java/a8k/service/app/devicectrl/calibration/HbotTipPosCalibration.java
  4. 6
      src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
  5. 167
      src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
  6. 22
      src/main/java/a8k/service/app/devicectrl/calibration/TubePreProcesPosCalibration.java
  7. 10
      src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
  8. 11
      src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
  9. 52
      src/main/java/a8k/service/app/devicectrl/exdriver/MotorMoveZeroExDriver.java
  10. 6
      src/main/java/a8k/service/app/devicectrl/param/HbotFixedPosParamMgr.java
  11. 132
      src/main/java/a8k/service/app/devicectrl/param/TubeFeedingModuleParamMgr.java
  12. 2
      src/main/java/a8k/service/app/devicectrl/param/TubePreProcesPosParamMgr.java
  13. 12
      src/main/java/a8k/service/db/utils/PosParameterReader.java
  14. 19
      src/main/java/a8k/type/TubeFeedingModuleParam.java
  15. 17
      src/main/java/a8k/type/TubeFeedingModulePos.java
  16. 12
      src/main/java/a8k/type/TubeFeedingModuleSetting.java

BIN
app.db
View File

4
src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
View File

@ -14,10 +14,10 @@ public enum ExtApiTabConfig {
AppReactionResultMgrService("应用数据.反应结果管理", true), //OK
MiniServoReferencePointSetting("校准.舵机参考点设置", true),
Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
TubeFeedingModulePosCalibration("校准.试管入料校准", true),
TubePreProcesPosCalibration("校准.试管预处理校准", true),
ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
HbotTipPosCalibration("校准.Tip耗材位置校准", true),
HbotLittleBottleConsumableCalibration("校准.小瓶耗材位置校准", true),
HbotLargeBottleBSPosCalibration("校准.大瓶BS耗材位置校准", true),

6
src/main/java/a8k/service/app/devicectrl/calibration/HbotTipPosCalibration.java
View File

@ -10,7 +10,7 @@ import a8k.service.app.devicectrl.driver.HbotDriver;
import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
import a8k.service.app.devicectrl.param.HbotConsumableParamMgr;
import a8k.service.app.devicectrl.param.HbotFixPosParamMgr;
import a8k.service.app.devicectrl.param.HbotFixedPosParamMgr;
import a8k.type.*;
import a8k.type.cfg.Pos2d;
import a8k.type.cfg.Pos3d;
@ -45,7 +45,7 @@ public class HbotTipPosCalibration {
@Resource
HbotConsumableParamMgr hbotConsumableParamMgr;
@Resource
HbotFixPosParamMgr hbotFixPosParamMgr;
HbotFixedPosParamMgr hbotFixedPosParamMgr;
Boolean stopFlag = false;
@ -204,7 +204,7 @@ public class HbotTipPosCalibration {
public void calibrateDropTipPos() throws AppException {
enableModule();
pipetteCtrlDriver.zMotorMeasureDistance();
hbotFixPosParamMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
hbotFixedPosParamMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
disableModule();
}

6
src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
View File

@ -45,9 +45,9 @@ public class ReactionPlatesTransmitControlerCalibration {
@Resource
HbotCtrlService hbotCtrlService;
HbotCtrlService hbotCtrlService;
@Resource
HbotFixPosParamMgr hbotFixPosParamMgr;
HbotFixedPosParamMgr hbotFixedPosParamMgr;
@Resource
MotorEnableExDriver motorEnableExDriver;
@ -129,7 +129,7 @@ public class ReactionPlatesTransmitControlerCalibration {
enableModule();
pipetteCtrlDriver.zMotorMeasureDistance();
var pos = new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult());
hbotFixPosParamMgr.setDropLiquidPos(pos);
hbotFixedPosParamMgr.setDropLiquidPos(pos);
disableModule();
return pos;
}

167
src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
View File

@ -7,12 +7,16 @@ import a8k.hardware.A8kCanBusService;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
import a8k.service.app.devicectrl.exdriver.TubeTransportExDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
import a8k.service.app.devicectrl.param.TubeFeedingModuleParamMgr;
import a8k.service.db.type.Parameter;
import a8k.type.TubeFeedingModulePos;
import a8k.type.TubeFeedingModuleSetting;
import a8k.type.TubeHolderScanResult;
import a8k.type.ecode.AppCodeError;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;
import org.springframework.stereotype.Component;
@ -32,31 +36,34 @@ public class TubeFeedingModulePosCalibration {
@Resource
TubeTubeFeedingCtrlService tubeTubeFeedingCtrlService;
@Resource
TubeTransportExDriver tubeTransportExDriver;
TubeTransportExDriver tubeTransportExDriver;
@Resource
MiniServoDriver miniServoDriver;
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
MotorEnableExDriver motorEnableExDriver;
@Resource
MotorEnableExDriver motorEnableExDriver;
MotorMoveZeroExDriver motorMoveZeroExDriver;
private Integer readFeedingModXMPos() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
}
@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
public List<Parameter> getParams() throws AppException {
return tubeScanPosMgr.getParams();
@ExtApiFn(name = "获取相关设定值", group = "基础", order = 1)
public List<Parameter> getSettings() throws AppException {
return tubeScanPosMgr.getSettings();
}
@ExtApiFn(name = "获取相关坐标", group = "基础", order = 1)
public List<Parameter> getPoss() throws AppException {
return tubeScanPosMgr.getPoss();
}
// 测试工具
@ExtApiFn(name = "归零", group = "测试工具", order = 11)
public void deviceReset() throws AppException {
enableModule();
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
motorMoveZeroExDriver.tubeFeeddingModuleMoveToZero();
//预处理归零
motorEnableExDriver.preProcessRelatedModuleEnable(true);
motorMoveZeroExDriver.preProcessModuleMoveToZero();
motorEnableExDriver.preProcessRelatedModuleEnable(false);
}
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
@ -70,65 +77,75 @@ public class TubeFeedingModulePosCalibration {
motorEnableExDriver.preProcessRelatedModuleEnable(false);
}
//
// 辅助方法
//
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<入料位置>", group = "标定试管架位置", order = 21)
// public void setTubeHolderEnterXPos() throws AppException {
// tubeScanPosMgr.setTubeHolderEnterXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<出料位置>", group = "标定试管架位置", order = 22)
// public void setTubeHolderExitXPos() throws AppException {
// tubeScanPosMgr.setTubeHolderExitXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<试管架扫描位置>", group = "标定试管架位置", order = 23)
// public void setTubeHolderScanXPos() throws AppException {
// tubeScanPosMgr.setTubeHolderScanXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<0号试管扫描位置>", group = "标定<试管>位置", order = 24)
// public void setTube0ScanXPos() throws AppException {
// tubeScanPosMgr.setTube0ScanXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<0试管高度判断位置>", group = "标定<试管>位置", order = 25)
// public void setTube0AltitJudgXPos() throws AppException {
// tubeScanPosMgr.setTube0AltitJudgXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "<平移电机>设置当前位置为<0试管存在判断位置>", group = "标定<试管>位置", order = 26)
// public void setTube0ExistJudgXPos() throws AppException {
// tubeScanPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
// }
//
// @ExtApiFn(name = "夹紧试管架", group = "校验", order = 31)
// public void scanClampModClamp() throws AppException {
// tubeTransportControler.scanClampModClamp();
// }
//
// @ExtApiFn(name = "释放试管架", group = "校验", order = 32)
// public void scanClampModRelease() throws AppException {
// tubeTransportControler.scanClampModRelease();
// }
//
// @ExtApiFn(name = "扫描试管架", group = "校验", order = 33)
// public TubeHolderScanResult scanAll() throws AppException {
// return tubeTubeFeedingModule.scanTubeHodler();
// }
//
// @ExtApiFn(name = "移动试管X到处理位", group = "校验", order = 33)
// public void moveTubeXToPreProcessPos(Integer xtube) throws AppException {
// tubeTubeFeedingModule.moveTubeToPreProcessPos(xtube);
// }
//
// @ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)
// public void setTubeScanServoTorque(Integer torque) throws AppException {
// tubeScanPosMgr.setTubeScanServoTorque(torque);
// }
private Integer readFeedingModXMPos() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
}
//
// 设置
//
@ExtApiFn(name = "设置试管扫描旋转舵机扭矩(0->1000)", group = "设置", order = 200)
public void setTubeScanServoTorque(Integer val) throws AppException {
tubeScanPosMgr.setParam(TubeFeedingModuleSetting.TubeScanServoTorque, val);
}
Integer tube01pos;
Integer tube10pos;
@ExtApiFn(name = "标记当前位置为-试管1号位", group = "辅助设置试管间距", order = 201)
public Integer labelPosAsTube01Pos() throws AppException {
tube01pos = readFeedingModXMPos();
disableModule();
return tube01pos;
}
@ExtApiFn(name = "标记当前位置为-试管10号位", group = "辅助设置试管间距", order = 202)
public Integer labelPosAsTube10Pos() throws AppException {
tube10pos = readFeedingModXMPos();
disableModule();
return tube10pos;
}
@ExtApiFn(name = "计算并设置设置试管间距", group = "辅助设置试管间距", order = 203)
public Double setTubeSpacing() throws AppException {
if (tube01pos == null || tube10pos == null) {
throw new AppException(new AppCodeError("未标记试管1号位和10号位"));
}
Double spacing = (tube10pos - tube01pos) / 9.0;
tubeScanPosMgr.setParam(TubeFeedingModuleSetting.TubeSpacing, spacing);
return spacing;
}
//
// 标定坐标
//
@ExtApiFn(name = "标定位置", group = "标定", order = 300)
public void calibratePos(TubeFeedingModulePos posType) throws AppException {
tubeScanPosMgr.setParam(posType, readFeedingModXMPos());
disableModule();
}
//
// 校验
//
@ExtApiFn(name = "扫描试管架", group = "校验", order = 400)
public TubeHolderScanResult calibrateScanTubeHolder() throws AppException {
return tubeTubeFeedingCtrlService.scanTubeHodler();
}
@ExtApiFn(name = "移动试管到预处理位置", group = "校验", order = 401)
public void calibrateMoveTubeToPreProcessPos(Integer tubeIndex0To9) throws AppException {
tubeTubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex0To9);
}
}

22
src/main/java/a8k/service/app/devicectrl/calibration/TubePreProcesPosCalibration.java
View File

@ -9,6 +9,7 @@ import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
import a8k.service.app.devicectrl.param.TubePreProcesPosParamMgr;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;
@ -31,19 +32,14 @@ public class TubePreProcesPosCalibration {
TubePreProcesCtrlService controler;
@Resource
MotorEnableExDriver motorEnableExDriver;
@Resource
MotorMoveZeroExDriver motorMoveZeroExDriver;
//基础工具
@ExtApiFn(name = "归零", group = "测试工具", order = 1)
public void deviceReset() throws AppException {
enableModule();
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, overtime);
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime);
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModClampingM, posMgr.getShakeClampMotorReleasePos(), overtime);
motorMoveZeroExDriver.preProcessModuleMoveToZero();
}
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
@ -57,25 +53,17 @@ public class TubePreProcesPosCalibration {
motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
}
// @ExtApiFn(name = "读取夹爪当前位置", group = "测试工具", order = 4)
// public Integer readGripperPos() throws AppException {
// return miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
// }
@ExtApiFn(name = "读取所有设定值", group = "测试工具", order = 5)
public TubePreProcesPosParamMgr getPoss() {
return posMgr;
}
// @ExtApiFn()
// GripperRedundancySpacingForTubeCap
@ExtApiFn(name = "设置夹爪试管盖冗余间距", group = "其他设置", order = 6)
@ExtApiFn(name = "设置夹爪试管盖冗余间距", group = "设置", order = 6)
public void setGripperRedundancySpacingForTubeCap(Integer value) {
posMgr.setGripperRedundancySpacingForTubeCap(value);
}
//
// 夹爪标定,校准,校验
//

10
src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
View File

@ -5,7 +5,7 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
import a8k.service.app.devicectrl.param.HbotConsumableParamMgr;
import a8k.service.app.devicectrl.param.HbotFixPosParamMgr;
import a8k.service.app.devicectrl.param.HbotFixedPosParamMgr;
import a8k.service.app.devicectrl.param.HbotSamplePosParamMgr;
import a8k.type.ConsumableGroup;
import a8k.type.HbotSamplePos;
@ -22,9 +22,9 @@ public class HbotCtrlService {
static Logger logger = LoggerFactory.getLogger(HbotCtrlService.class);
@Resource
HbotFixPosParamMgr hbotFixPosParamMgr;
HbotFixedPosParamMgr hbotFixedPosParamMgr;
@Resource
HbotSamplePosParamMgr hbotSamplePosParamMgr;
HbotSamplePosParamMgr hbotSamplePosParamMgr;
@Resource
HbotConsumableParamMgr hbotConsumableParamMgr;
@ -73,12 +73,12 @@ public class HbotCtrlService {
}
public void dropTip() throws AppException {
hbotBaseMoveExDriver.hbotMoveTo(hbotFixPosParamMgr.getDropTipPos());
hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropTipPos());
pipetteCtrlDriver.putTipBlock();
}
public void moveToDropLiquidPos() throws AppException {
hbotBaseMoveExDriver.hbotMoveTo(hbotFixPosParamMgr.getDropLiquidPos());
hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropLiquidPos());
}
/**

11
src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
View File

@ -242,11 +242,10 @@ public class TubePreProcesCtrlService {
public void putbakTubeCapAndPutbakTubeToTubeHolder() throws AppException {
//移动Y轴到方式管的位置
YSVMoveToShakePos();
// 盖盖子
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModGripperZM,//
tubePreProcesPosParamMgr.getZMotorShakeTubePos() + tubePreProcesPosParamMgr.getGripperRedundancySpacingForTubeCap(),
actionOvertime);
// 盖盖子
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModGripperZM,//
tubePreProcesPosParamMgr.getZMotorShakeTubePos() + tubePreProcesPosParamMgr.getGripperRedundancySpacingForTubeCap(),
actionOvertime);
//释放试管
clampingMReleaseTube();
@ -256,7 +255,7 @@ public class TubePreProcesCtrlService {
YSVMoveToTakeTubePos();
//移动到放试管的位置
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModGripperZM,//
tubePreProcesPosParamMgr.getZMotorTakeHTubePos() ,
tubePreProcesPosParamMgr.getZMotorTakeHTubePos(),
actionOvertime);
//打开夹爪
gripperSVOpen();

52
src/main/java/a8k/service/app/devicectrl/exdriver/MotorMoveZeroExDriver.java
View File

@ -0,0 +1,52 @@
package a8k.service.app.devicectrl.exdriver;
import a8k.hardware.A8kCanBusService;
import a8k.service.app.devicectrl.driver.HbotDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
import a8k.service.app.devicectrl.param.TubePreProcesPosParamMgr;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;
import org.springframework.stereotype.Component;
@Component
public class MotorMoveZeroExDriver {
@Resource
A8kCanBusService canBus;
@Resource
HbotDriver hbotDriver;
@Resource
PipetteCtrlDriver pipetteCtrlDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
MiniServoDriver miniServoDriver;
@Resource
TubePreProcesPosParamMgr tubePreProcesPosParamMgr;
/**
* 入料模块归零
* @throws AppException e
*/
public void tubeFeeddingModuleMoveToZero() throws AppException {
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
}
/**
* 预处理模块归零
* @throws AppException e
*/
public void preProcessModuleMoveToZero() throws AppException {
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 5000);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 5000);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, 5000);
// move to default pos
}
}

6
src/main/java/a8k/service/app/devicectrl/param/HbotFixPosParamMgr.java → src/main/java/a8k/service/app/devicectrl/param/HbotFixedPosParamMgr.java
View File

@ -20,9 +20,9 @@ import java.util.List;
*/
@Component
@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPos)
@ExtApiParamsTab(service = HbotFixPosParamMgr.class)
public class HbotFixPosParamMgr {
static final Logger logger = LoggerFactory.getLogger(HbotFixPosParamMgr.class);
@ExtApiParamsTab(service = HbotFixedPosParamMgr.class)
public class HbotFixedPosParamMgr {
static final Logger logger = LoggerFactory.getLogger(HbotFixedPosParamMgr.class);
enum Pos {
DropTipPos("丢TIP位置"),

132
src/main/java/a8k/service/app/devicectrl/param/TubeFeedingModuleParamMgr.java
View File

@ -3,7 +3,8 @@ package a8k.service.app.devicectrl.param;
import a8k.service.db.LowerDeviceParameterDBService;
import a8k.service.db.type.Parameter;
import a8k.service.db.utils.PosParameterReader;
import a8k.type.TubeFeedingModuleParam;
import a8k.type.TubeFeedingModuleSetting;
import a8k.type.TubeFeedingModulePos;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
@ -26,102 +27,105 @@ public class TubeFeedingModuleParamMgr {
@PostConstruct
void initialize() {
posReader = lowerDeviceParameterDBService.getReader(this.getClass());
for (TubeFeedingModuleParam tubeFeedingModuleParam : TubeFeedingModuleParam.values()) {
posReader.setParamChName(tubeFeedingModuleParam, tubeFeedingModuleParam.chName);
for (TubeFeedingModulePos pos : TubeFeedingModulePos.values()) {
posReader.setParamChName(pos, pos.chName);
}
for (TubeFeedingModuleSetting param : TubeFeedingModuleSetting.values()) {
posReader.setParamChName(param, param.chName);
}
}
// if (!nowParaVersion.equals(paraVersion)) {
// logger.info("init param");
// posReader.setParam(POS.TubeHolderEnterXPos, -46);
// posReader.setParam(POS.TubeHolderExitXPos, 3975);
// posReader.setParam(POS.TubeHolderScanXPos, 2202);
// posReader.setParam(POS.Tube0ScanXPos, 505);
// posReader.setParam(POS.Tube0AltitJudgXPos, 505);
// posReader.setParam(POS.Tube0ExistJudgXPos, 300);
// posReader.setParam(POS.Tube0PreProcessXPos, 1225);
// posReader.setParam(POS.TubeScanServoTorque, 500);
// }
public List<Parameter> getSettings() {
return posReader.getParams(TubeFeedingModuleSetting.values());
}
public List<Parameter> getPoss() {
return posReader.getParams(TubeFeedingModulePos.values());
}
public List<Parameter> getParams() {
return posReader.getParams();
public void setParam(TubeFeedingModulePos param, Object obj) {
posReader.setParam(param, obj);
}
public void setParam(TubeFeedingModuleParam param, Object obj) {
public void setParam(TubeFeedingModuleSetting param, Object obj) {
posReader.setParam(param, obj);
}
/**
* 获取管子预处理位置
* @param tubeIndex 管子序号
* @return 坐标
*/
public Integer getTubePreProcessPos(Integer tubeIndex) {
Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0PreProcessXPos, Integer.class);
Integer spacing = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
return startPos + spacing * tubeIndex;
Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0PreProcessPos, Integer.class);
Double spacing = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
return (int)(startPos + spacing * tubeIndex);
}
/**
* 获取试管扫描位置
* @param tubeIndex 管子序号
* @return 坐标
*/
public Integer getTubeScanPos(Integer tubeIndex) {
Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0ScanXPos, Integer.class);
Integer spacing = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
return startPos + spacing * tubeIndex;
Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0ScanPos, Integer.class);
Double spacing = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
return (int)(startPos + spacing * tubeIndex);
}
/**
* 获取试管高度判断位置
* @param tubeIndex 管子序号
* @return 坐标
*/
public Integer getTubeAltitJudgPos(Integer tubeIndex) {
Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0AltitJudgXPos, Integer.class);
Integer spacing = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
return startPos + spacing * tubeIndex;
Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0AltitJudgPos, Integer.class);
Double spacing = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
return (int)(startPos + spacing * tubeIndex);
}
/**
* 获取试管存在判断位置
* @param tubeIndex 管子序号
* @return 坐标
*/
public Integer getTubeExistJudgPos(Integer tubeIndex) {
Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0ExistJudgXPos, Integer.class);
Integer spacing = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
return startPos + spacing * tubeIndex;
Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0ExistJudgPos, Integer.class);
Double spacing = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
return (int)(startPos + spacing * tubeIndex);
}
/**
* 获取试管架进入位置
* @return X轴坐标
*/
public Integer getTubeHolderEnterXPos() {
return posReader.getPos(TubeFeedingModuleParam.TubeHolderEnterXPos, Integer.class);
return posReader.getPos(TubeFeedingModulePos.TubeHolderEnterXPos, Integer.class);
}
/**
* 获取试管架出口位置
* @return X轴坐标
*/
public Integer getTubeHolderExitXPos() {
return posReader.getPos(TubeFeedingModuleParam.TubeHolderExitXPos, Integer.class);
return posReader.getPos(TubeFeedingModulePos.TubeHolderExitXPos, Integer.class);
}
/**
* 获取试管架扫描位置
* @return X轴坐标
*/
public Integer getTubeHolderScanXPos() {
return posReader.getPos(TubeFeedingModuleParam.TubeHolderScanXPos, Integer.class);
return posReader.getPos(TubeFeedingModulePos.TubeHolderScanXPos, Integer.class);
}
/**
* 获取试管架扫描位置
* @return X轴坐标
*/
public Integer getTubeScanServoTorque() {
return posReader.getPos(TubeFeedingModuleParam.TubeScanServoTorque, Integer.class);
return posReader.getPos(TubeFeedingModuleSetting.TubeScanServoTorque, Integer.class);
}
// public void setTube0PreProcessXPos(Integer value) {posReader.setParam(TubeFeedingModuleParam.Tube0PreProcessXPos, value);}
//
// public void setTubeHolderEnterXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.TubeHolderEnterXPos, value);
// }
//
// public void setTubeHolderExitXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.TubeHolderExitXPos, value);
// }
//
// public void setTubeHolderScanXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.TubeHolderScanXPos, value);
// }
//
// public void setTube0ScanXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.Tube0ScanXPos, value);
// }
//
// public void setTube0AltitJudgXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.Tube0AltitJudgXPos, value);
// }
//
// public void setTube0ExistJudgXPos(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.Tube0ExistJudgXPos, value);
// }
//
// public void setTubeScanServoTorque(Integer value) {
// posReader.setParam(TubeFeedingModuleParam.TubeScanServoTorque, value);
// }
}

2
src/main/java/a8k/service/app/devicectrl/param/TubePreProcesPosParamMgr.java
View File

@ -24,7 +24,7 @@ public class TubePreProcesPosParamMgr {
ShakeClampMotorClampPos("试管夹紧位"),//
ShakeClampMotorReleasePos("摇匀臂"),//
GripperRedundancySpacingForTubeCap("夹爪试管帽冗余间距"),//
GripperRedundancySpacingForTubeCap("夹爪试管帽垂直冗余"),//
;
public final String chName;

12
src/main/java/a8k/service/db/utils/PosParameterReader.java
View File

@ -3,6 +3,7 @@ package a8k.service.db.utils;
import a8k.service.db.LowerDeviceParameterDBService;
import a8k.service.db.type.Parameter;
import java.util.ArrayList;
import java.util.List;
public class PosParameterReader {
@ -48,9 +49,16 @@ public class PosParameterReader {
}
public List<Parameter> getParams() {
return lowerDeviceParameterDBService.getParams(service.getSimpleName());
}
public List<Parameter> getParams(Enum<?>[] etable) {
List<Parameter> parameters = new ArrayList<>();
for (Enum<?> e : etable) {
Parameter parameter = lowerDeviceParameterDBService.getParam(service.getSimpleName(), e.name());
parameters.add(parameter);
}
return parameters;
}
}

19
src/main/java/a8k/type/TubeFeedingModuleParam.java
View File

@ -1,19 +0,0 @@
package a8k.type;
public enum TubeFeedingModuleParam {
TubeHolderEnterXPos("入料位置"), //
TubeHolderExitXPos("出料位置"), //
TubeHolderScanXPos("试管架扫描位置"), //
Tube0ScanXPos("01号试管扫描位置"), //
Tube0AltitJudgXPos("01试管高度判断位置"), //
Tube0ExistJudgXPos("01试管存在判断位置"), //
Tube0PreProcessXPos("01试管预处理位置"), //
TubeScanServoTorque("试管扫描伺服力矩"), //
TubeSpacing("试管间距"), //
;
public final String chName;
TubeFeedingModuleParam(String chName) {
this.chName = chName;
}
}

17
src/main/java/a8k/type/TubeFeedingModulePos.java
View File

@ -0,0 +1,17 @@
package a8k.type;
public enum TubeFeedingModulePos {
TubeHolderEnterXPos("入料位置"), //
TubeHolderExitXPos("出料位置"), //
TubeHolderScanXPos("试管架扫描位置"), //
Tube0ScanPos("01号试管扫描位置"), //
Tube0AltitJudgPos("01试管高度判断位置"), //
Tube0ExistJudgPos("01试管存在判断位置"), //
Tube0PreProcessPos("01试管预处理位置"), //
;
public final String chName;
TubeFeedingModulePos(String chName) {
this.chName = chName;
}
}

12
src/main/java/a8k/type/TubeFeedingModuleSetting.java
View File

@ -0,0 +1,12 @@
package a8k.type;
public enum TubeFeedingModuleSetting {
TubeScanServoTorque("试管扫描伺服力矩"), //
TubeSpacing("试管间距"), //
;
public final String chName;
TubeFeedingModuleSetting(String chName) {
this.chName = chName;
}
}
Write Preview
Loading…
Cancel
Save