update

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<AppError> 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();
 	}
 
 	//

src/main/java/a8k/app/service/mainctrl/mainflowctrl/base/PublicAreaResource.java

@@ -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<PublicAreaResource> _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<PublicAreaResource> 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);
-	}
-}

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
@@ -417,3 +411,6 @@ id,mid,regIndex,regInitVal
 416,OptMod,kreg_a8k_opt_scan_d1,300
 417,OptMod,kreg_a8k_opt_scan_vstop,400
 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