1

src/main/java/a8k/service/db/entity/MotorTubeRackMoveCtrlServiceParameter.java

@@ -5,7 +5,7 @@ import com.iflytop.uf.UfActiveRecordField;
 
 public class MotorTubeRackMoveCtrlServiceParameter {
 	@UfActiveRecordField
-	Integer moveToZeroOvertime;// 回零超时时间
+	public Integer moveToZeroOvertime;// 回零超时时间
 
 	@UfActiveRecordField
 	public Integer actionOvertime;// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间。

src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

@@ -0,0 +1,253 @@
+package a8k.service.hardware;
+import a8k.a8k_can_protocol.CmdId;
+import a8k.a8k_can_protocol.Errorcode;
+import a8k.a8k_can_protocol.ModuleId;
+import a8k.a8k_can_protocol.RegIndex;
+import a8k.appbean.HardwareException;
+import a8k.base_hardware.A8kCanBusService;
+import a8k.service.db.dao.A8kTubeInfoDao;
+import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao;
+import jakarta.annotation.Resource;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+@Component
+public class MotorTubeRackMoveCtrlService {
+	/**
+	 *
+	 *	主要用来控制试管架的平移动作控制
+	 *
+	 * 	通用编写注意事项:
+	 * 		1.坐标从数据库中拿一些关键点的坐标进行运算
+	 *		2.直接调用A8kCanBusService的方法。
+	 *		3.利用光电，和编码器检查设备是否运行到位
+	 *
+	 *	当前模块编写注意事项
+	 *		1. 电机移动前先将试管扫码夹紧复位
+	 *		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;
+	@Resource
+	MotorTubeRackMoveCtrlServiceParameterDao serviceParameterDao;
+
+
+
+	//
+	// 电机基础控制
+	//
+
+	public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, 30*1000);
+	}
+
+
+	public void moveToZero() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var beforePosResponse = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_read_pos, new Integer[]{0});
+		var beforePos = beforePosResponse.getContentI32(0);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
+		var afterPosResponse = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_read_pos, new Integer[]{0});
+		var afterPos = afterPosResponse.getContentI32(0);
+		var distance = beforePos - afterPos;
+
+		var response = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kmodule_get_reg, new Integer[]{RegIndex.kreg_step_motor_dpos});
+		var dval = response.getContentI32(0);
+		if ( Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal ) {
+			throw new HardwareException(ModuleId.MotorTubeRackMoveModule, Errorcode.kstep_motor_lost_step);
+		}
+
+		//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。
+		//1.记录运行前电机所在位置
+		//2.使用move_to_zero移动到零点
+		//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。
+
+	}
+
+
+	//
+	// 试管架移动
+	//
+
+	/**
+	 * 移动试管架到入口位置
+	 */
+	public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
+	}
+
+	/**
+	 * 移动试管架到出口位置
+	 */
+	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
+	}
+
+	/**
+	 * 移动试管架到试管架扫码位置
+	 */
+	public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
+	}
+
+	/**
+	 * 移动试管架到试管架扫码并扫码
+	 */
+	public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
+		this.moveTubeRackToScanPos();
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
+		Thread.sleep(500);
+		var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		var contentBytes = response.getCmdContent();
+		return new String(contentBytes);
+	}
+
+	//
+	// 试管移动
+	//
+
+
+	/**
+	 * 移动试管到扫码位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var scanPos = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
+	}
+
+	/**
+	 * 移动试管到扫码位置，并扫码
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		this.moveTubeToScanPos(tubeType, tubeIndex);
+
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
+		Thread.sleep(500);
+		var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		var contentBytes = response.getCmdContent();
+		return new String(contentBytes);
+	}
+
+	/**
+	 * 移动试管到试管高低判断位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
+	}
+
+	/**
+	 * 移动试管到试管预处理的位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var pos = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
+	}
+
+	//
+	// 状态检测
+	//
+
+	/**
+	 * 移动试管到试管有无判断位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var pos = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
+	}
+
+	public boolean isTubeRackInEnterPos() throws HardwareException {
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
+		return response.getContentI32(0) == 1;
+	}
+
+	public boolean isTubeRackInExitPos() throws HardwareException {
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
+		return response.getContentI32(0) == 1;
+	}
+
+	/**
+	 * 获取移动通道的光电状态
+	 * @param photoelectricIndex 0:里光电，1:外光电
+	 * @return true, 光电触发 false,光电没有触发
+	 */
+	public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException {
+		var index = 0 == photoelectricIndex ? 2 : 1;
+		var response = this.a8kCanBusService.callcmd(ModuleId.FeederBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
+		return response.getContentI32(0) == 1;
+	}
+
+	//
+	//	其他辅助组件
+	//
+
+
+	/**
+	 * 扫描夹紧机构夹紧
+	 */
+	public void scanClampModuleCompress() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(
+				ModuleId.ServoTubeRackTubePushModule,
+				CmdId.kmini_servo_move_to,
+				new Integer[]{params.scanCodeClampPos},
+				params.actionOvertime
+		);
+	}
+
+	/**
+	 * 扫描夹紧机构复位
+	 */
+	public void scanClampModuleReset() throws HardwareException, InterruptedException {
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(
+				ModuleId.ServoTubeRackTubePushModule,
+				CmdId.kmini_servo_move_to,
+				new Integer[]{params.scanCodeReleasePos},
+				params.actionOvertime
+		);
+	}
+
+
+}