From 87c7830ba4e565c0e664160d9c3b0bddf780cd01 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 17 Apr 2025 14:54:49 +0800 Subject: [PATCH] update --- .../action/AC20ProcessCompletedPlate.java | 15 +++--- .../mainflowctrl/base/PublicAreaResource.java | 56 ---------------------- .../db/zapp_sub_module_reg_initial_value.csv | 47 +++++++++--------- 3 files changed, 28 insertions(+), 90 deletions(-) delete mode 100644 src/main/java/a8k/app/service/mainctrl/mainflowctrl/base/PublicAreaResource.java diff --git a/src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java b/src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java index fbf595e..237a39c 100644 --- a/src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java +++ b/src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java @@ -21,6 +21,7 @@ import org.springframework.stereotype.Component; import java.util.ArrayList; import java.util.List; + /** * 孵育完成的反应板处理 * 条件: @@ -63,28 +64,24 @@ public class AC20ProcessCompletedPlate extends A8kActionTask { && optScanModuleStateMgrService.isEmpty(); } - IncubationSubTank toBeProcesstank; @Override public List doAction() { - IncubationSubTank tank = getToBeProcessedTank(); - if (tank == null) { - return new ArrayList<>(); + IncubationSubTank toBeProcesstank = getToBeProcessedTank(); + if (toBeProcesstank == null) { + return ZList.of(); } - try { - doEjectPlate(tank); + doEjectPlate(toBeProcesstank); } catch (AppException e) { logger.error("处理已孵育完的反应板失败", e); return ZList.of(e.getError()); } - toBeProcesstank = tank; - // 修改状态 ProjectTaskContext cxt = projectContextMgrService.findCxt(toBeProcesstank.getSampleId(), toBeProcesstank.projId); optScanModuleStateMgrService.changeOptScanModuleStateToPlateIsReady(ProjInfoUtils.buildProjBrefInfo(cxt), cxt.getSampleInfo()); optScanModuleStateMgrService.syncProjInfo(cxt.getProjBuildinInfo(), cxt.getProjExtInfoCard()); incubationPlateStateMgrService.resetIncubatorPos(toBeProcesstank.getPos()); - return new ArrayList<>(); + return ZList.of(); } // diff --git a/src/main/java/a8k/app/service/mainctrl/mainflowctrl/base/PublicAreaResource.java b/src/main/java/a8k/app/service/mainctrl/mainflowctrl/base/PublicAreaResource.java deleted file mode 100644 index 6ee5a67..0000000 --- a/src/main/java/a8k/app/service/mainctrl/mainflowctrl/base/PublicAreaResource.java +++ /dev/null @@ -1,56 +0,0 @@ -package a8k.app.service.mainctrl.mainflowctrl.base; - -import lombok.extern.slf4j.Slf4j; - -import java.util.List; - -@Slf4j -public class PublicAreaResource implements AutoCloseable { - // HbotArea, //HBOT - // TubeSampleProcessAndTubeChannelArea, //样本取样位,试管通道 - // PlateBoxArea, //板夹仓 - // IncubationPlateArea, //孵育盘 - // OptScanArea, - - static public PublicAreaResource HbotArea = new PublicAreaResource("HbotArea"); - static public PublicAreaResource TubeSampleProcessAndTubeChannelArea = new PublicAreaResource("TubeSampleProcessAndTubeChannelArea"); - static public PublicAreaResource PlateBoxArea = new PublicAreaResource("PlateBoxArea"); - static public PublicAreaResource IncubationPlateArea = new PublicAreaResource("IncubationPlateArea"); - static public PublicAreaResource OptScanArea = new PublicAreaResource("OptScanArea"); - static public List _values = List.of(HbotArea, TubeSampleProcessAndTubeChannelArea, PlateBoxArea, IncubationPlateArea, OptScanArea); - - ; //光学扫描区 - - public String name; - public Boolean rent = false; - public String rentedBy; - - static public List values() { - return _values; - } - - synchronized @Override public void close() { - log.info("{} release {}", rentedBy, name); - rent = false; - rentedBy = null; - } - - synchronized public void setRent(String rentedBy) { - log.info("{} rent {}", rentedBy, name); - this.rentedBy = rentedBy; - this.rent = true; - } - - synchronized public Boolean isRent() { - return rent; - } - - // - private PublicAreaResource(String name) { - this.name = name; - } - - public String toString() { - return String.format("|%s(%s),by:%s|", name, rent, rentedBy); - } -} diff --git a/src/main/resources/db/zapp_sub_module_reg_initial_value.csv b/src/main/resources/db/zapp_sub_module_reg_initial_value.csv index 35b0cdb..0a2ff89 100644 --- a/src/main/resources/db/zapp_sub_module_reg_initial_value.csv +++ b/src/main/resources/db/zapp_sub_module_reg_initial_value.csv @@ -1,6 +1,6 @@ id,mid,regIndex,regInitVal 1,HbotM,kreg_xyrobot_robot_type,0 -2,HbotM,kreg_xyrobot_one_circle_pulse,7200 +2,HbotM,kreg_xyrobot_one_circle_pulse,72000 3,HbotM,kreg_xyrobot_one_circle_pulse_denominator,10 4,HbotM,kreg_xyrobot_ihold,10 5,HbotM,kreg_xyrobot_irun,31 @@ -18,15 +18,15 @@ id,mid,regIndex,regInitVal 17,HbotM,kreg_xyrobot_enable_enc,1 18,HbotM,kreg_xyrobot_x_shaft,0 19,HbotM,kreg_xyrobot_y_shaft,1 -20,HbotM,kreg_xyrobot_min_x,-100 -21,HbotM,kreg_xyrobot_min_y,-100 -22,HbotM,kreg_xyrobot_max_x,5714 -23,HbotM,kreg_xyrobot_max_y,4158 +20,HbotM,kreg_xyrobot_min_x,-2000 +21,HbotM,kreg_xyrobot_min_y,-2000 +22,HbotM,kreg_xyrobot_max_x,58140 +23,HbotM,kreg_xyrobot_max_y,42580 24,HbotM,kreg_xyrobot_run_to_zero_speed,60 25,HbotM,kreg_xyrobot_look_zero_edge_speed,10 26,HbotM,kreg_xyrobot_shift_x,0 27,HbotM,kreg_xyrobot_shift_y,0 -28,HbotM,kreg_xyrobot_pos_devi_tolerance,5 +28,HbotM,kreg_xyrobot_pos_devi_tolerance,50 29,HbotM,kreg_xyrobot_io_trigger_append_distance,10 30,HbotM,kreg_xyrobot_default_velocity,800 31,PlatesBoxYM,kreg_step_motor_shaft,1 @@ -164,12 +164,12 @@ id,mid,regIndex,regInitVal 163,ShakeModShakeM,kreg_step_motor_dzero_pos,0 164,ShakeModShakeM,kret_step_motor_pos_devi_tolerance,5 165,ShakeModShakeM,kret_step_motor_io_trigger_append_distance,10 -166,ShakeModGripperYSV,kreg_mini_servo_pos,114 +166,ShakeModGripperYSV,kreg_mini_servo_pos,115 167,ShakeModGripperYSV,kreg_mini_servo_limit_velocity,10000 168,ShakeModGripperYSV,kreg_mini_servo_limit_torque,500 169,ShakeModGripperYSV,kreg_mini_servo_protective_torque,800 170,ShakeModGripperYSV,kreg_mini_servo_target_pos_tolerance,15 -171,ShakeModGripperSV,kreg_mini_servo_pos,1503 +171,ShakeModGripperSV,kreg_mini_servo_pos,1589 172,ShakeModGripperSV,kreg_mini_servo_limit_velocity,10000 173,ShakeModGripperSV,kreg_mini_servo_limit_torque,500 174,ShakeModGripperSV,kreg_mini_servo_protective_torque,800 @@ -179,19 +179,19 @@ id,mid,regIndex,regInitVal 178,ShakeModTubeScanerClampingSV,kreg_mini_servo_limit_torque,300 179,ShakeModTubeScanerClampingSV,kreg_mini_servo_protective_torque,800 180,ShakeModTubeScanerClampingSV,kreg_mini_servo_target_pos_tolerance,15 -181,ShakeModTubeScanerRotateSV,kreg_mini_servo_pos,2540 +181,ShakeModTubeScanerRotateSV,kreg_mini_servo_pos,2669 182,ShakeModTubeScanerRotateSV,kreg_mini_servo_limit_velocity,10000 183,ShakeModTubeScanerRotateSV,kreg_mini_servo_limit_torque,300 184,ShakeModTubeScanerRotateSV,kreg_mini_servo_protective_torque,800 185,ShakeModTubeScanerRotateSV,kreg_mini_servo_target_pos_tolerance,15 -186,ShakeModLiftingSV,kreg_mini_servo_pos,639 +186,ShakeModLiftingSV,kreg_mini_servo_pos,650 187,ShakeModLiftingSV,kreg_mini_servo_limit_velocity,800 188,ShakeModLiftingSV,kreg_mini_servo_limit_torque,100 189,ShakeModLiftingSV,kreg_mini_servo_protective_torque,800 190,ShakeModLiftingSV,kreg_mini_servo_target_pos_tolerance,30 191,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_target,250 192,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_nowoutput,0 -193,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,259 +193,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,240 194,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_kp,6000 195,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_ki,100 196,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_kd,0 @@ -202,7 +202,7 @@ id,mid,regIndex,regInitVal 201,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_compute_interval,9000 202,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_target,250 203,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_nowoutput,0 -204,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,256 +204,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,240 205,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_kp,6000 206,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_ki,100 207,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_kd,0 @@ -319,30 +319,24 @@ id,mid,regIndex,regInitVal 318,IncubatorRotateCtrlM,kreg_step_motor_dzero_pos,0 319,IncubatorRotateCtrlM,kret_step_motor_pos_devi_tolerance,30 320,IncubatorRotateCtrlM,kret_step_motor_io_trigger_append_distance,10 -321,PipetteMod,kreg_pipette_pos_nl,0 -322,PipetteMod,kreg_pipette_capactitance_val,4 -323,PipetteMod,kreg_pipette_tip_state,0 -324,PipetteMod,kreg_pipette_zm_pos,0 -325,PipetteMod,kreg_pipette_zm_is_enable,0 -326,PipetteMod,kreg_pipette_zm_dpos,0 327,PipetteMod,kreg_pipette_zm_shaft,0 328,PipetteMod,kreg_pipette_zm_one_circle_pulse,20 329,PipetteMod,kreg_pipette_zm_one_circle_pulse_denominator,1 -330,PipetteMod,kreg_pipette_zm_default_velocity,1500 +330,PipetteMod,kreg_pipette_zm_default_velocity,2000 331,PipetteMod,kreg_pipette_zm_ihold,8 -332,PipetteMod,kreg_pipette_zm_irun,8 +332,PipetteMod,kreg_pipette_zm_irun,20 333,PipetteMod,kreg_pipette_zm_iholddelay,10 334,PipetteMod,kreg_pipette_zm_iglobalscaler,0 -335,PipetteMod,kreg_pipette_zm_run_to_zero_speed,1500 +335,PipetteMod,kreg_pipette_zm_run_to_zero_speed,800 336,PipetteMod,kreg_pipette_zm_look_zero_edge_speed,100 337,PipetteMod,kreg_pipette_zm_max_d,0 338,PipetteMod,kreg_pipette_zm_min_d,0 339,PipetteMod,kreg_pipette_zm_vstart,100 -340,PipetteMod,kreg_pipette_zm_a1,50 -341,PipetteMod,kreg_pipette_zm_amax,300 +340,PipetteMod,kreg_pipette_zm_a1,100 +341,PipetteMod,kreg_pipette_zm_amax,1200 342,PipetteMod,kreg_pipette_zm_v1,300 343,PipetteMod,kreg_pipette_zm_dmax,300 -344,PipetteMod,kreg_pipette_zm_d1,50 +344,PipetteMod,kreg_pipette_zm_d1,100 345,PipetteMod,kreg_pipette_zm_vstop,100 346,PipetteMod,kreg_pipette_zm_tzerowait,0 347,PipetteMod,kreg_pipette_zm_enc_resolution,0 @@ -416,4 +410,7 @@ id,mid,regIndex,regInitVal 415,OptMod,kreg_a8k_opt_scan_dmax,1000 416,OptMod,kreg_a8k_opt_scan_d1,300 417,OptMod,kreg_a8k_opt_scan_vstop,400 -418,OptMod,kreg_a8k_opt_scan_tzerowait,0 \ No newline at end of file +418,OptMod,kreg_a8k_opt_scan_tzerowait,0 +419,PipetteMod,kreg_pipette_zm_pos_devi_tolerance,0 +420,PipetteMod,kreg_pipette_zm_io_trigger_append_distance,0 +421,PipetteMod,kreg_pipette_zm_mres,2 \ No newline at end of file