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a8k_app
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update

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zhaohe 3 months ago
parent
55d7911d88
commit
91c975009e
22 changed files with 564 additions and 52 deletions
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  1. 1
      src/main/java/a8k/app/constant/FilePathConstant.java
  2. 254
      src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java
  3. 17
      src/main/java/a8k/app/hardware/type/pipette_module/PipetteConfig.java
  4. 1
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/ContainerInfoIndex.java
  5. 2
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/LiquidInfoIndex.java
  6. 1
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/PMBasicConfigIndex.java
  7. 2
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/PMVConfigIndex.java
  8. 1
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/PlatformInfoIndex.java
  9. 17
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/ZMBasicConfigIndex.java
  10. 11
      src/main/java/a8k/app/hardware/type/pipette_module/cfg/ZMVConfigIndex.java
  11. 17
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteContainerInfo.java
  12. 87
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteLiquidInfo.java
  13. 10
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipettePMVCfg.java
  14. 30
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipettePlatInfo.java
  15. 21
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteZMBCfg.java
  16. 13
      src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteZMVCfg.java
  17. 6
      src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/PlatInfoCpyIdx.java
  18. 11
      src/main/java/a8k/app/service/data/FileMgrService.java
  19. 1
      src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java
  20. 50
      src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunCfgSync.java
  21. 20
      src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunZMVelConfigSettingPage.java
  22. 13
      src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunZMotorCtrlPage.java

1
src/main/java/a8k/app/constant/FilePathConstant.java
View File

@ -3,4 +3,5 @@ package a8k.app.constant;
public class FilePathConstant { public class FilePathConstant {
public static final String FILE_OPT_REPORT_PATH = "runenv/files/optReport"; //存储OPT报告 public static final String FILE_OPT_REPORT_PATH = "runenv/files/optReport"; //存储OPT报告
public static final String FILE_DB_EXPORT_PATH = "runenv/files/db"; //存储数据库导出文件 public static final String FILE_DB_EXPORT_PATH = "runenv/files/db"; //存储数据库导出文件
public static final String FILE_TMP_STORAGE_PATH = "runenv/files/tmp/"; //存储数据库导出文件
} }

254
src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java
View File

@ -4,12 +4,13 @@ import a8k.app.constant.ActionOvertimeConstant;
import a8k.app.hardware.channel.A8kCanBusService; import a8k.app.hardware.channel.A8kCanBusService;
import a8k.app.hardware.type.*; import a8k.app.hardware.type.*;
import a8k.app.hardware.type.pipette_module.AspirationParamId; import a8k.app.hardware.type.pipette_module.AspirationParamId;
import a8k.app.hardware.type.pipette_module.PipetteConfig;
import a8k.app.hardware.type.pipette_module.PipetteStateIndex; import a8k.app.hardware.type.pipette_module.PipetteStateIndex;
import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
import a8k.app.hardware.type.pipette_module.cpyidx.PMVCpyIdx;
import a8k.app.hardware.type.pipette_module.cpyidx.ZMVCpyIdx;
import a8k.app.hardware.type.pipette_module.cfgbean.*;
import a8k.app.hardware.type.pipette_module.cpyidx.*;
import a8k.app.hardware.type.pipette_module.cfg.*; import a8k.app.hardware.type.pipette_module.cfg.*;
import a8k.app.type.exception.AppException; import a8k.app.type.exception.AppException;
import com.fasterxml.jackson.databind.JsonNode;
import lombok.RequiredArgsConstructor; import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
@ -38,7 +39,6 @@ public class PipetteCtrlDriverV2 {
return String.format("0x%08X", code); return String.format("0x%08X", code);
} }
public void setZMBCfg(ZMBasicConfigIndex index, Integer val) throws AppException { public void setZMBCfg(ZMBasicConfigIndex index, Integer val) throws AppException {
callcmd(MId.PipetteMod, CmdId.pipette_set_zmbcfg, index.toInteger(), val); callcmd(MId.PipetteMod, CmdId.pipette_set_zmbcfg, index.toInteger(), val);
} }
@ -57,6 +57,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 设置平台信息 * 设置平台信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 平台信息索引 * @param index 平台信息索引
* @param val 值 * @param val 值
@ -68,6 +69,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 获取平台信息 * 获取平台信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 索引 * @param index 索引
* @return 值 * @return 值
@ -79,6 +81,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 设置容器信息 * 设置容器信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 容器信息索引 * @param index 容器信息索引
* @param val 值 * @param val 值
@ -90,6 +93,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 获取容器信息 * 获取容器信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 索引 * @param index 索引
* @return 值 * @return 值
@ -101,6 +105,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 设置泵机速度 * 设置泵机速度
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 泵机信息索引 * @param index 泵机信息索引
* @param val 值 * @param val 值
@ -112,6 +117,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 获取泵机速度 * 获取泵机速度
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 索引 * @param index 索引
* @return 值 * @return 值
@ -123,6 +129,7 @@ public class PipetteCtrlDriverV2 {
/** /**
* 设置容器信息 * 设置容器信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 容器信息索引 * @param index 容器信息索引
* @param val 值 * @param val 值
@ -132,8 +139,13 @@ public class PipetteCtrlDriverV2 {
callcmd(MId.PipetteMod, CmdId.pipette_set_container_info, cpyid, index.toInteger(), val); callcmd(MId.PipetteMod, CmdId.pipette_set_container_info, cpyid, index.toInteger(), val);
} }
public void setContainerInfo(ContainerCpyId cpyid, ContainerInfoIndex index, Integer val) throws AppException {
setContainerInfo(cpyid.toInteger(), index, val);
}
/** /**
* 获取容器信息 * 获取容器信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 索引 * @param index 索引
* @return 值 * @return 值
@ -143,8 +155,13 @@ public class PipetteCtrlDriverV2 {
return callcmd(MId.PipetteMod, CmdId.pipette_get_container_info, cpyid, index.toInteger()).getContentI32(0); return callcmd(MId.PipetteMod, CmdId.pipette_get_container_info, cpyid, index.toInteger()).getContentI32(0);
} }
public Integer getContainerInfo(ContainerCpyId cpyid, ContainerInfoIndex index) throws AppException {
return getContainerInfo(cpyid.toInteger(), index);
}
/** /**
* 设置液体信息 * 设置液体信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 液体信息索引 * @param index 液体信息索引
* @param val 值 * @param val 值
@ -154,8 +171,13 @@ public class PipetteCtrlDriverV2 {
callcmd(MId.PipetteMod, CmdId.pipette_set_liquid_info, cpyid, index.toInteger(), val); callcmd(MId.PipetteMod, CmdId.pipette_set_liquid_info, cpyid, index.toInteger(), val);
} }
public void setLiquidInfo(LiquidConfigCpyIdx cpyid, LiquidInfoIndex index, Integer val) throws AppException {
setLiquidInfo(cpyid.toInteger(), index, val);
}
/** /**
* 获取液体信息 * 获取液体信息
*
* @param cpyid 第几份 * @param cpyid 第几份
* @param index 索引 * @param index 索引
* @return 值 * @return 值
@ -165,6 +187,9 @@ public class PipetteCtrlDriverV2 {
return callcmd(MId.PipetteMod, CmdId.pipette_get_liquid_info, cpyid, index.toInteger()).getContentI32(0); return callcmd(MId.PipetteMod, CmdId.pipette_get_liquid_info, cpyid, index.toInteger()).getContentI32(0);
} }
public Integer getLiquidInfo(LiquidConfigCpyIdx cpyid, LiquidInfoIndex index) throws AppException {
return getLiquidInfo(cpyid.toInteger(), index);
}
public Integer getPlatInfoMaxCpyId() throws AppException { public Integer getPlatInfoMaxCpyId() throws AppException {
return callcmd(MId.PipetteMod, CmdId.pipette_get_platinfo_max_cpyid).getContentI32(0); return callcmd(MId.PipetteMod, CmdId.pipette_get_platinfo_max_cpyid).getContentI32(0);
@ -291,7 +316,6 @@ public class PipetteCtrlDriverV2 {
return callcmd(MId.PipetteMod, CmdId.pipette_read_state, index.toInteger()).getContentI32(0); return callcmd(MId.PipetteMod, CmdId.pipette_read_state, index.toInteger()).getContentI32(0);
} }
public Integer readTipState() throws AppException { public Integer readTipState() throws AppException {
return callcmd(MId.PipetteMod, CmdId.pipette_read_tip_state).getContentI32(0); return callcmd(MId.PipetteMod, CmdId.pipette_read_tip_state).getContentI32(0);
} }
@ -315,4 +339,224 @@ public class PipetteCtrlDriverV2 {
canBus.waitForMod(MId.PipetteMod, actionOvertimeConstant.get(MId.PipetteMod, action)); canBus.waitForMod(MId.PipetteMod, actionOvertimeConstant.get(MId.PipetteMod, action));
} }
//
// Config
//
public void applyPlatInfo(Integer cpyIdx, PipettePlatInfo val) throws AppException {
setPlatInfo(cpyIdx, PlatformInfoIndex.workRefPos, val.workRefPos);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingPos, val.tipPickingPos);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingSearchRange, val.tipPickingSearchRange);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingAppendDistance, val.tipPickingAppendDistance);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipDepositPos, val.tipDepositPos);
setPlatInfo(cpyIdx, PlatformInfoIndex.transformPos, val.transformPos);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipType, val.tipType);
setPlatInfo(cpyIdx, PlatformInfoIndex.tipLength, val.tipLength);
}
public PipettePlatInfo getPlatInfo(Integer cpyIdx) throws AppException {
PipettePlatInfo val = new PipettePlatInfo();
val.workRefPos = getPlatInfo(cpyIdx, PlatformInfoIndex.workRefPos);
val.tipPickingPos = getPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingPos);
val.tipPickingSearchRange = getPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingSearchRange);
val.tipPickingAppendDistance = getPlatInfo(cpyIdx, PlatformInfoIndex.tipPickingAppendDistance);
val.tipDepositPos = getPlatInfo(cpyIdx, PlatformInfoIndex.tipDepositPos);
val.transformPos = getPlatInfo(cpyIdx, PlatformInfoIndex.transformPos);
val.tipType = getPlatInfo(cpyIdx, PlatformInfoIndex.tipType);
val.tipLength = getPlatInfo(cpyIdx, PlatformInfoIndex.tipLength);
val.mark = getPlatInfo(cpyIdx, PlatformInfoIndex.mark);
return val;
}
public void applyContainerInfo(ContainerCpyId cpyIdx, PipetteContainerInfo val) throws AppException {
setContainerInfo(cpyIdx, ContainerInfoIndex.containerType, val.containerType);
setContainerInfo(cpyIdx, ContainerInfoIndex.containerNeckPos, val.containerNeckPos);
setContainerInfo(cpyIdx, ContainerInfoIndex.containerDepth, val.containerDepth);
setContainerInfo(cpyIdx, ContainerInfoIndex.containerRound, val.containerRound);
setContainerInfo(cpyIdx, ContainerInfoIndex.containerBottomSectionHeight, val.containerBottomSectionHeight);
setContainerInfo(cpyIdx, ContainerInfoIndex.immersionDepth, val.immersionDepth);
setContainerInfo(cpyIdx, ContainerInfoIndex.leavingHeight, val.leavingHeight);
setContainerInfo(cpyIdx, ContainerInfoIndex.jetHeight, val.jetHeight);
setContainerInfo(cpyIdx, ContainerInfoIndex.lldStartSearchDepth, val.lldStartSearchDepth);
setContainerInfo(cpyIdx, ContainerInfoIndex.fixAspirationDepth, val.fixAspirationDepth);
setContainerInfo(cpyIdx, ContainerInfoIndex.llfVConvertCoefficient, val.llfVconvertConeff);
setContainerInfo(cpyIdx, ContainerInfoIndex.pierceDepth, val.pierceDepth);
}
public PipetteContainerInfo getContainerInfo(ContainerCpyId cpyIdx) throws AppException {
PipetteContainerInfo val = new PipetteContainerInfo();
val.containerType = getContainerInfo(cpyIdx, ContainerInfoIndex.containerType);
val.containerNeckPos = getContainerInfo(cpyIdx, ContainerInfoIndex.containerNeckPos);
val.containerDepth = getContainerInfo(cpyIdx, ContainerInfoIndex.containerDepth);
val.containerRound = getContainerInfo(cpyIdx, ContainerInfoIndex.containerRound);
val.containerBottomSectionHeight = getContainerInfo(cpyIdx, ContainerInfoIndex.containerBottomSectionHeight);
val.immersionDepth = getContainerInfo(cpyIdx, ContainerInfoIndex.immersionDepth);
val.leavingHeight = getContainerInfo(cpyIdx, ContainerInfoIndex.leavingHeight);
val.jetHeight = getContainerInfo(cpyIdx, ContainerInfoIndex.jetHeight);
val.lldStartSearchDepth = getContainerInfo(cpyIdx, ContainerInfoIndex.lldStartSearchDepth);
val.fixAspirationDepth = getContainerInfo(cpyIdx, ContainerInfoIndex.fixAspirationDepth);
val.llfVconvertConeff = getContainerInfo(cpyIdx, ContainerInfoIndex.llfVConvertCoefficient);
val.pierceDepth = getContainerInfo(cpyIdx, ContainerInfoIndex.pierceDepth);
val.mark = getContainerInfo(cpyIdx, ContainerInfoIndex.mark);
return val;
}
public void applyLiquidInfo(LiquidConfigCpyIdx cpyIdx, PipetteLiquidInfo val) throws AppException {
setLiquidInfo(cpyIdx, LiquidInfoIndex.plldPmVCpyId, val.plldPmVCpyId);
setLiquidInfo(cpyIdx, LiquidInfoIndex.plldThreshold, val.plldThreshold);
setLiquidInfo(cpyIdx, LiquidInfoIndex.plldZmVel, val.plldZmVel);
setLiquidInfo(cpyIdx, LiquidInfoIndex.emptyTipPmVCpyId, val.emptyTipPmVCpyId);
setLiquidInfo(cpyIdx, LiquidInfoIndex.blowoutAirVolume, val.blowoutAirVolume);
setLiquidInfo(cpyIdx, LiquidInfoIndex.blowoutAirPmVCpyId, val.blowoutAirPmVCpyId);
setLiquidInfo(cpyIdx, LiquidInfoIndex.overAspiratedVolume, val.overAspiratedVolume);
setLiquidInfo(cpyIdx, LiquidInfoIndex.overAspiratedPmVCpyId, val.overAspiratedPmVCpyId);
setLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationPmVCpyIdLow, val.aspirationPmVCpyIdLow);
setLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationPmVCpyIdHigh, val.aspirationPmVCpyIdHigh);
setLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationVolumeBreakVal, val.aspirationVolumeBreakVal);
setLiquidInfo(cpyIdx, LiquidInfoIndex.volumeCalibrationCoefficientB, val.volumeCalibrationCoefficientB);
setLiquidInfo(cpyIdx, LiquidInfoIndex.volumeCalibrationCoefficientK, val.volumeCalibrationCoefficientK);
setLiquidInfo(cpyIdx, LiquidInfoIndex.settlingTime, val.settlingTime);
setLiquidInfo(cpyIdx, LiquidInfoIndex.transportVolume, val.transportVolume);
setLiquidInfo(cpyIdx, LiquidInfoIndex.transportVolumePmVCpyId, val.transportVolumePmVCpyId);
setLiquidInfo(cpyIdx, LiquidInfoIndex.mixPmVCpyId, val.mixPmVCpyId);
}
public PipetteLiquidInfo getLiquidInfo(LiquidConfigCpyIdx cpyIdx) throws AppException {
PipetteLiquidInfo val = new PipetteLiquidInfo();
val.plldPmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.plldPmVCpyId);
val.plldThreshold = getLiquidInfo(cpyIdx, LiquidInfoIndex.plldThreshold);
val.plldZmVel = getLiquidInfo(cpyIdx, LiquidInfoIndex.plldZmVel);
val.emptyTipPmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.emptyTipPmVCpyId);
val.blowoutAirVolume = getLiquidInfo(cpyIdx, LiquidInfoIndex.blowoutAirVolume);
val.blowoutAirPmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.blowoutAirPmVCpyId);
val.overAspiratedVolume = getLiquidInfo(cpyIdx, LiquidInfoIndex.overAspiratedVolume);
val.overAspiratedPmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.overAspiratedPmVCpyId);
val.aspirationPmVCpyIdLow = getLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationPmVCpyIdLow);
val.aspirationPmVCpyIdHigh = getLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationPmVCpyIdHigh);
val.aspirationVolumeBreakVal = getLiquidInfo(cpyIdx, LiquidInfoIndex.aspirationVolumeBreakVal);
val.volumeCalibrationCoefficientB = getLiquidInfo(cpyIdx, LiquidInfoIndex.volumeCalibrationCoefficientB);
val.volumeCalibrationCoefficientK = getLiquidInfo(cpyIdx, LiquidInfoIndex.volumeCalibrationCoefficientK);
val.settlingTime = getLiquidInfo(cpyIdx, LiquidInfoIndex.settlingTime);
val.transportVolume = getLiquidInfo(cpyIdx, LiquidInfoIndex.transportVolume);
val.transportVolumePmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.transportVolumePmVCpyId);
val.mixPmVCpyId = getLiquidInfo(cpyIdx, LiquidInfoIndex.mixPmVCpyId);
val.mark = getLiquidInfo(cpyIdx, LiquidInfoIndex.mark);
return val;
}
public void setPMVCfg(PMVCpyIdx idx, PipettePMVCfg val) throws AppException {
setPMVCfg(idx, PMVConfigIndex.acc, val.acc);
setPMVCfg(idx, PMVConfigIndex.dec, val.dec);
setPMVCfg(idx, PMVConfigIndex.vStart, val.vStart);
setPMVCfg(idx, PMVConfigIndex.vStop, val.vStop);
setPMVCfg(idx, PMVConfigIndex.vMax, val.vMax);
}
public PipettePMVCfg getPMVCfg(PMVCpyIdx idx) throws AppException {
PipettePMVCfg val = new PipettePMVCfg();
val.acc = getPMVCfg(idx, PMVConfigIndex.acc);
val.dec = getPMVCfg(idx, PMVConfigIndex.dec);
val.vStart = getPMVCfg(idx, PMVConfigIndex.vStart);
val.vStop = getPMVCfg(idx, PMVConfigIndex.vStop);
val.vMax = getPMVCfg(idx, PMVConfigIndex.vMax);
val.mark = getPMVCfg(idx, PMVConfigIndex.mark);
return val;
}
public void setZMBCfg(PipetteZMBCfg val) throws AppException {
setZMBCfg(ZMBasicConfigIndex.shaft, val.shaft);
setZMBCfg(ZMBasicConfigIndex.oneCirclePulse, val.oneCirclePulse);
setZMBCfg(ZMBasicConfigIndex.oneCirclePulseDenominator, val.oneCirclePulseDenominator);
setZMBCfg(ZMBasicConfigIndex.ihold, val.ihold);
setZMBCfg(ZMBasicConfigIndex.irun, val.irun);
setZMBCfg(ZMBasicConfigIndex.iholddelay, val.iholddelay);
setZMBCfg(ZMBasicConfigIndex.iglobalscaler, val.iglobalscaler);
setZMBCfg(ZMBasicConfigIndex.mind, val.minD);
setZMBCfg(ZMBasicConfigIndex.maxd, val.maxD);
setZMBCfg(ZMBasicConfigIndex.tzerowait, val.tzerowait);
setZMBCfg(ZMBasicConfigIndex.encResolution, val.encResolution);
setZMBCfg(ZMBasicConfigIndex.enableEnc, val.enableEnc);
setZMBCfg(ZMBasicConfigIndex.dzero, val.dzero);
setZMBCfg(ZMBasicConfigIndex.ioTriggerAppendDistance, val.ioTriggerAppendDistance);
setZMBCfg(ZMBasicConfigIndex.posDeviTolerance, val.posDeviTolerance);
setZMBCfg(ZMBasicConfigIndex.mres, val.mres);
}
public PipetteZMBCfg getZMBCfg() throws AppException {
PipetteZMBCfg val = new PipetteZMBCfg();
val.shaft = getZMBCfg(ZMBasicConfigIndex.shaft);
val.oneCirclePulse = getZMBCfg(ZMBasicConfigIndex.oneCirclePulse);
val.oneCirclePulseDenominator = getZMBCfg(ZMBasicConfigIndex.oneCirclePulseDenominator);
val.ihold = getZMBCfg(ZMBasicConfigIndex.ihold);
val.irun = getZMBCfg(ZMBasicConfigIndex.irun);
val.iholddelay = getZMBCfg(ZMBasicConfigIndex.iholddelay);
val.iglobalscaler = getZMBCfg(ZMBasicConfigIndex.iglobalscaler);
val.minD = getZMBCfg(ZMBasicConfigIndex.mind);
val.maxD = getZMBCfg(ZMBasicConfigIndex.maxd);
val.tzerowait = getZMBCfg(ZMBasicConfigIndex.tzerowait);
val.encResolution = getZMBCfg(ZMBasicConfigIndex.encResolution);
val.enableEnc = getZMBCfg(ZMBasicConfigIndex.enableEnc);
val.dzero = getZMBCfg(ZMBasicConfigIndex.dzero);
val.ioTriggerAppendDistance = getZMBCfg(ZMBasicConfigIndex.ioTriggerAppendDistance);
val.posDeviTolerance = getZMBCfg(ZMBasicConfigIndex.posDeviTolerance);
val.mres = getZMBCfg(ZMBasicConfigIndex.mres);
val.mark = getZMBCfg(ZMBasicConfigIndex.mark);
return val;
}
public void setZMVCfg(ZMVCpyIdx idx, PipetteZMVCfg val) throws AppException {
setZMVCfg(idx, ZMVConfigIndex.vstart, val.vstart);
setZMVCfg(idx, ZMVConfigIndex.a1, val.a1);
setZMVCfg(idx, ZMVConfigIndex.amax, val.amax);
setZMVCfg(idx, ZMVConfigIndex.v1, val.v1);
setZMVCfg(idx, ZMVConfigIndex.dmax, val.dmax);
setZMVCfg(idx, ZMVConfigIndex.d1, val.d1);
setZMVCfg(idx, ZMVConfigIndex.vstop, val.vstop);
setZMVCfg(idx, ZMVConfigIndex.vmax, val.vmax);
}
public PipetteZMVCfg getZMVCfg(ZMVCpyIdx idx) throws AppException {
PipetteZMVCfg val = new PipetteZMVCfg();
val.vstart = getZMVCfg(idx, ZMVConfigIndex.vstart);
val.a1 = getZMVCfg(idx, ZMVConfigIndex.a1);
val.amax = getZMVCfg(idx, ZMVConfigIndex.amax);
val.v1 = getZMVCfg(idx, ZMVConfigIndex.v1);
val.dmax = getZMVCfg(idx, ZMVConfigIndex.dmax);
val.d1 = getZMVCfg(idx, ZMVConfigIndex.d1);
val.vstop = getZMVCfg(idx, ZMVConfigIndex.vstop);
val.vmax = getZMVCfg(idx, ZMVConfigIndex.vmax);
val.mark = getZMVCfg(idx, ZMVConfigIndex.mark);
return val;
}
public PipetteConfig getConfig() throws AppException {
PipetteConfig cfg = new PipetteConfig();
cfg.zmBCfgs = getZMBCfg();
for (int i = 0; i < PlatInfoCpyIdx.values().length; i++) {
cfg.platInfos.add(getPlatInfo(i));
}
for (int i = 0; i < ContainerCpyId.values().length; i++) {
if (ContainerCpyId.values()[i].equals(ContainerCpyId.NotSet))
continue;
cfg.containerInfos.add(getContainerInfo(ContainerCpyId.values()[i]));
}
for (int i = 0; i < LiquidConfigCpyIdx.values().length; i++) {
if (LiquidConfigCpyIdx.values()[i].equals(LiquidConfigCpyIdx.NotSet))
continue;
cfg.liquidInfos.add(getLiquidInfo(LiquidConfigCpyIdx.values()[i]));
}
for (int i = 0; i < ZMVCpyIdx.values().length; i++) {
if (ZMVCpyIdx.values()[i].equals(ZMVCpyIdx.NotSet))
continue;
cfg.zmVCfgs.add(getZMVCfg(ZMVCpyIdx.values()[i]));
}
for (int i = 0; i < PMVCpyIdx.values().length; i++) {
if (PMVCpyIdx.values()[i].equals(PMVCpyIdx.NotSet))
continue;
cfg.pmVCfgs.add(getPMVCfg(PMVCpyIdx.values()[i]));
}
return cfg;
}
} }

17
src/main/java/a8k/app/hardware/type/pipette_module/PipetteConfig.java
View File

@ -0,0 +1,17 @@
package a8k.app.hardware.type.pipette_module;
import a8k.app.hardware.type.pipette_module.cfgbean.*;
import java.util.ArrayList;
import java.util.List;
public class PipetteConfig {
public PipetteZMBCfg zmBCfgs;
public List<PipettePlatInfo> platInfos = new ArrayList<>();
public List<PipetteContainerInfo> containerInfos = new ArrayList<>();
public List<PipetteLiquidInfo> liquidInfos = new ArrayList<>();
public List<PipetteZMVCfg> zmVCfgs = new ArrayList<>();
public List<PipettePMVCfg> pmVCfgs = new ArrayList<>();
}

1
src/main/java/a8k/app/hardware/type/pipette_module/cfg/ContainerInfoIndex.java
View File

@ -13,6 +13,7 @@ public enum ContainerInfoIndex {
fixAspirationDepth, // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液 fixAspirationDepth, // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液
llfVConvertCoefficient, // 液面跟随转换系数 0.0001 llf_zm_vel = aspiration_pm_vel * llf_vconvert_coneff * 0.0001 llfVConvertCoefficient, // 液面跟随转换系数 0.0001 llf_zm_vel = aspiration_pm_vel * llf_vconvert_coneff * 0.0001
pierceDepth, // 穿刺深度(0.1mm)，用于刺破容器防尘膜 pierceDepth, // 穿刺深度(0.1mm)，用于刺破容器防尘膜
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

2
src/main/java/a8k/app/hardware/type/pipette_module/cfg/LiquidInfoIndex.java
View File

@ -60,7 +60,7 @@ public enum LiquidInfoIndex {
// // 混匀pm速率 // // 混匀pm速率
// // // //
mixPmVCpyId, // 混匀时泵机速率配置 mixPmVCpyId, // 混匀时泵机速率配置
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

1
src/main/java/a8k/app/hardware/type/pipette_module/cfg/PMBasicConfigIndex.java
View File

@ -2,6 +2,7 @@ package a8k.app.hardware.type.pipette_module.cfg;
public enum PMBasicConfigIndex { public enum PMBasicConfigIndex {
Pad, Pad,
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

2
src/main/java/a8k/app/hardware/type/pipette_module/cfg/PMVConfigIndex.java
View File

@ -6,7 +6,7 @@ public enum PMVConfigIndex {
vStart, // 启动速度 ul/s (0...319) vStart, // 启动速度 ul/s (0...319)
vStop, // 停止速度 ul/s (0...319) vStop, // 停止速度 ul/s (0...319)
vMax, // 最大速度 ul/s (0...2552) vMax, // 最大速度 ul/s (0...2552)
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

1
src/main/java/a8k/app/hardware/type/pipette_module/cfg/PlatformInfoIndex.java
View File

@ -24,6 +24,7 @@ public enum PlatformInfoIndex {
*/ */
tipType, tipType,
tipLength, // tip长度 tipLength, // tip长度
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

17
src/main/java/a8k/app/hardware/type/pipette_module/cfg/ZMBasicConfigIndex.java
View File

@ -7,19 +7,20 @@ public enum ZMBasicConfigIndex {
shaft, shaft,
oneCirclePulse, oneCirclePulse,
oneCirclePulseDenominator, oneCirclePulseDenominator,
iHold,
iRun,
iHoldDelay,
iGlobalscaler,
minD,
maxD,
tZeroWait,
ihold,
irun,
iholddelay,
iglobalscaler,
mind,
maxd,
tzerowait,
encResolution, encResolution,
enableEnc, enableEnc,
dZero,
dzero,
ioTriggerAppendDistance, ioTriggerAppendDistance,
posDeviTolerance, posDeviTolerance,
mres, mres,
mark,
; ;
; ;

11
src/main/java/a8k/app/hardware/type/pipette_module/cfg/ZMVConfigIndex.java
View File

@ -1,14 +1,15 @@
package a8k.app.hardware.type.pipette_module.cfg; package a8k.app.hardware.type.pipette_module.cfg;
public enum ZMVConfigIndex { public enum ZMVConfigIndex {
vStart,
vstart,
a1, a1,
aMax,
amax,
v1, v1,
dMax,
dmax,
d1, d1,
vStop,
vMax,
vstop,
vmax,
mark,
; ;
public Integer toInteger() { public Integer toInteger() {

17
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteContainerInfo.java
View File

@ -0,0 +1,17 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipetteContainerInfo {
public Integer containerType = 0; // 容器类型 0:平面 1:flat(平底) 2:conical(锥底) 3:round(圆底)
public Integer containerNeckPos = 0; // 容器,瓶口位置(相对位置0.1mm) !discard 废弃不再使用
public Integer containerDepth = 0; // 容器,深度(0.1mm)
public Integer containerRound = 0; // 容器,直径(0.1mm)
public Integer containerBottomSectionHeight = 0; // 容器,瓶底高度(0.1mm)
public Integer immersionDepth = 0; // 侵入液面高度，即液面以下的高度，精度0.1mm
public Integer leavingHeight = 0; // 离开液面高度，此位置ZEUS开始缓慢进入液面或离开液面，精度0.1mm
public Integer jetHeight = 0; // 喷射高度(0.1mm)
public Integer lldStartSearchDepth = 0; // lld开始搜索时位置冗余,精度0.1mm，abspos = container_neck_pos + lld_start_search_pos_redundancy
public Integer fixAspirationDepth = 0; // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液
public Integer llfVconvertConeff = 0; // 液面跟随转换系数 0.0001 llf_zm_vel = aspiration_pm_vel * llf_vconvert_coneff * 0.0001
public Integer pierceDepth = 0; // 穿刺深度(0.1mm)，用于刺破容器防尘膜
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

87
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteLiquidInfo.java
View File

@ -0,0 +1,87 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipetteLiquidInfo {
/**
* @brief
*
* LLD
* 移动到液面之上-->
* 清空TIP
* 吸入空气
* 移动到液面之下-->
* 吸入
* 等待一定时间
* 移动到液面之上(缓慢)
* 吸入一定量的空气
*/
//
// lld
//
public Integer plldPmVCpyId = 0; // 液面探测时泵机速率
public Integer plldThreshold = 0; // 液面探测阈值
public Integer plldZmVel = 0; // 液面探测时泵机速率
//
// 清空tip配置
//
public Integer emptyTipPmVCpyId = 0; // 清空tip速度
//
// 吸入空气
//
public Integer blowoutAirVolume = 0; // 清空空气量,在吸液前吸入的空气量. 精度0.1ul (保证清空tip头)
public Integer blowoutAirPmVCpyId = 0; // 吸入空气时泵机速率
//
// 润湿tip头配置
//
public Integer overAspiratedVolume = 0; // 过量吸液量，先吸入后迅速排出用来润湿tip头，这个用在移液量小于10微升的情况下。精度0.1ul
public Integer overAspiratedPmVCpyId = 0; // 过量吸液速度
//
// aspiration 吸液配置
//
public Integer aspirationPmVCpyIdLow = 0; // 小体积吸液速度
public Integer aspirationPmVCpyIdHigh = 0; // 大体积吸液速度
public Integer aspirationVolumeBreakVal = 0; // 小体积大体积分界点
public Integer volumeCalibrationCoefficientB = 0; // 0.0001
public Integer volumeCalibrationCoefficientK = 0; // 0.0001
//
// 保持时间
//
/**
* @brief settling_time(ms)
*
* Settling Time in 1 ms
* This parameter sets how long the tip
* remains in liquid after aspiration or
* dispense before moving out of the
* liquid. The tip geometry and liquid
* viscosity are considered when setting
* this parameter. If settling time is too
* short the liquid has not enough time to fill
* the tip and unwanted air is aspirated
* as soon as the tip is lifted out of the liquid.
*
* 保持时间
*
* 此参数用于吸液后在液面下保持的时间。这个参数的设定根据tip头的类型和液体的粘稠度有关。
* 如果此值设定的时间太短则液体不能完全充满tip头。
*
*/
public Integer settlingTime = 0; // (ms) 设置
//
// 转移时多吸入的量
//
public Integer transportVolume = 0; // 转移过程中多吸入的量，精度0.1ul (放滴落)
public Integer transportVolumePmVCpyId = 0; // 吸入过量空气时泵机速率
//
// 混匀pm速率
//
public Integer mixPmVCpyId = 0; // 混匀时泵机速率配置
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

10
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipettePMVCfg.java
View File

@ -0,0 +1,10 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipettePMVCfg {
public Integer acc = 0;
public Integer dec = 0;
public Integer vStart = 0;
public Integer vStop = 0;
public Integer vMax = 0;
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

30
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipettePlatInfo.java
View File

@ -0,0 +1,30 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipettePlatInfo {
/**
* @brief 工作参考平面
* 代码中并不使用这个位置，这个参数只是为了后续
* 如果平台高度发生变化时，可以通过调整dzero使得
* work_ref_plane数值不变。
*/
public Integer workRefPos = 0; //
public Integer tipPickingPos = 0; // 开始取tip位置(绝对位置0.1mm)
public Integer tipPickingSearchRange = 0; // 取tip的范围
public Integer tipPickingAppendDistance = 0; // 取tip时z轴的附加距离
public Integer tipDepositPos = 0; // 丢tip位置(绝对位置0.1mm)
public Integer transformPos = 0; // 移液枪安全移动的高度(绝对位置0.1mm)
/**
* @brief tip类型
*
* TS1000UL = 0, // 1000ul, max=1002.6ul
* TS200UL = 1, // 200ul, max=250ul
* TS50UL = 2, // 50ul, max=62ul
* TS20UL = 3, // 20ul, max=40ul
*/
public Integer tipType = 0;
public Integer tipLength = 0; // tip长度
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

21
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteZMBCfg.java
View File

@ -0,0 +1,21 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipetteZMBCfg {
public Integer shaft = 0; // Z轴电机运动方向调整
public Integer oneCirclePulse = 0; // 电子齿轮比-分子
public Integer oneCirclePulseDenominator = 0; // 电子齿轮比-分母
public Integer ihold = 0; //
public Integer irun = 0; //
public Integer iholddelay = 0; //
public Integer iglobalscaler = 0; //
public Integer minD = 0; //
public Integer maxD = 0; //
public Integer tzerowait = 0; //
public Integer encResolution = 0; //
public Integer enableEnc = 0; //
public Integer dzero = 0; //
public Integer ioTriggerAppendDistance = 0; //
public Integer posDeviTolerance = 0; //
public Integer mres = 0; //
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

13
src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteZMVCfg.java
View File

@ -0,0 +1,13 @@
package a8k.app.hardware.type.pipette_module.cfgbean;
public class PipetteZMVCfg {
public Integer vstart = 0;
public Integer a1 = 0;
public Integer amax = 0;
public Integer v1 = 0;
public Integer dmax = 0;
public Integer d1 = 0;
public Integer vstop = 0;
public Integer vmax = 0;
public Integer mark = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
}

6
src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/PlatInfoCpyIdx.java
View File

@ -0,0 +1,6 @@
package a8k.app.hardware.type.pipette_module.cpyidx;
public enum PlatInfoCpyIdx {
Default,
TestTip,
}

11
src/main/java/a8k/app/service/data/FileMgrService.java
View File

@ -68,6 +68,17 @@ public class FileMgrService {
return StorageControler.getDoloadPath(filePath); return StorageControler.getDoloadPath(filePath);
} }
public String storageTmpFile(String name, String content) throws IOException {
File dir = new File(FilePathConstant.FILE_OPT_REPORT_PATH);
dir.mkdirs();
String filePath = String.format("%s/%s.json", FilePathConstant.FILE_TMP_STORAGE_PATH, name);
File file = new File(filePath);
FileWriter writer = new FileWriter(file.getAbsolutePath());
writer.write(content);
writer.close();
return StorageControler.getDoloadPath(filePath);
}
// //
// PRIVATE // PRIVATE
// //

1
src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java
View File

@ -125,6 +125,7 @@ public class ExtApiPageGroupCfgMgr {
new Menu(LowLevelBoardVersionPreviewPage.class, "子模块版本查看"), new Menu(LowLevelBoardVersionPreviewPage.class, "子模块版本查看"),
new Menu(HbotCtrlPage.class, "HBOT控制"), new Menu(HbotCtrlPage.class, "HBOT控制"),
new Menu("移液枪驱动", ZList.of( new Menu("移液枪驱动", ZList.of(
new Menu(PipetteGunCfgSync.class, "配置同步"),
new Menu(PipetteGunZMotorCtrlPage.class, "移液枪Z电机控制"), new Menu(PipetteGunZMotorCtrlPage.class, "移液枪Z电机控制"),
new Menu(PipetteGunZMVelConfigSettingPage.class, "移液枪Z电机VConfig配置"), new Menu(PipetteGunZMVelConfigSettingPage.class, "移液枪Z电机VConfig配置"),
new Menu(PipetteGunPlatformSettingPage.class, "设置平台参数"), new Menu(PipetteGunPlatformSettingPage.class, "设置平台参数"),

50
src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunCfgSync.java
View File

@ -0,0 +1,50 @@
package a8k.extui.page.driver.pipette_module;
import a8k.app.hardware.driver.PipetteCtrlDriverV2;
import a8k.app.hardware.type.pipette_module.PipetteConfig;
import a8k.app.hardware.type.pipette_module.cfg.ZMVConfigIndex;
import a8k.app.hardware.type.pipette_module.cpyidx.ZMVCpyIdx;
import a8k.app.service.data.FileMgrService;
import a8k.app.type.exception.AppException;
import a8k.app.utils.ZJsonHelper;
import a8k.extui.mgr.ExtApiPageMgr;
import a8k.extui.type.ret.ExtUIDownloadTasks;
import jakarta.annotation.PostConstruct;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.io.IOException;
@Component
@RequiredArgsConstructor
@Slf4j
public class PipetteGunCfgSync {
private final ExtApiPageMgr extApiPageMgr;
private final PipetteCtrlDriverV2 pipetteCtrlDriverV2;
private final FileMgrService fileMgrService;
public PipetteConfig readConfig() throws AppException {
return pipetteCtrlDriverV2.getConfig();
}
public ExtUIDownloadTasks downloadOptData(Integer id) throws IOException, AppException {
ExtUIDownloadTasks tasks = new ExtUIDownloadTasks();
var cfg = pipetteCtrlDriverV2.getConfig();
String url = fileMgrService.storageTmpFile("pipetteGunCfg", ZJsonHelper.objectToJson(cfg));
tasks.urls.add(url);
return tasks;
}
@PostConstruct
void init() {
var page = extApiPageMgr.newPage(this);
page.newGroup("基础操作");
page.addFunction("读取配置", this::readConfig);
page.addFunction("下载配置", this::downloadOptData);
extApiPageMgr.addPage(page);
}
}

20
src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunZMVelConfigSettingPage.java
View File

@ -26,15 +26,15 @@ public class PipetteGunZMVelConfigSettingPage {
public void setAccVConfig(Integer vStart, Integer a1, Integer aMax) throws AppException { public void setAccVConfig(Integer vStart, Integer a1, Integer aMax) throws AppException {
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vStart, vStart);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vstart, vStart);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.a1, a1); pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.a1, a1);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.aMax, aMax);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.amax, aMax);
} }
public void seDccVConfig(Integer vStop, Integer d1, Integer dMax) throws AppException { public void seDccVConfig(Integer vStop, Integer d1, Integer dMax) throws AppException {
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vStop, vStop);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vstop, vStop);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.d1, d1); pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.d1, d1);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.dMax, dMax);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.dmax, dMax);
} }
public void setV1(Integer v1) throws AppException { public void setV1(Integer v1) throws AppException {
@ -43,7 +43,7 @@ public class PipetteGunZMVelConfigSettingPage {
public void setVMax(Integer vMax) throws AppException { public void setVMax(Integer vMax) throws AppException {
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vMax, vMax);
pipetteCtrlDriverV2.setZMVCfg(cpyId, ZMVConfigIndex.vmax, vMax);
} }
public Integer getConfig(ZMVCpyIdx cpyId, ZMVConfigIndex index) { public Integer getConfig(ZMVCpyIdx cpyId, ZMVConfigIndex index) {
@ -62,15 +62,15 @@ public class PipetteGunZMVelConfigSettingPage {
page.addFunction("设置速度CpyId", this::setCpyIdCxtRefreshPage) page.addFunction("设置速度CpyId", this::setCpyIdCxtRefreshPage)
.setParamVal("cpyId", () -> cpyId); .setParamVal("cpyId", () -> cpyId);
page.addFunction("设置加速过程配置", this::setAccVConfig) page.addFunction("设置加速过程配置", this::setAccVConfig)
.setParamVal("vStart", () -> getConfig(cpyId, ZMVConfigIndex.vStart))
.setParamVal("vStart", () -> getConfig(cpyId, ZMVConfigIndex.vstart))
.setParamVal("a1", () -> getConfig(cpyId, ZMVConfigIndex.a1)) .setParamVal("a1", () -> getConfig(cpyId, ZMVConfigIndex.a1))
.setParamVal("aMax", () -> getConfig(cpyId, ZMVConfigIndex.aMax));
.setParamVal("aMax", () -> getConfig(cpyId, ZMVConfigIndex.amax));
page.addFunction("设置减速过程配置", this::seDccVConfig) page.addFunction("设置减速过程配置", this::seDccVConfig)
.setParamVal("vStop", () -> getConfig(cpyId, ZMVConfigIndex.vStop))
.setParamVal("vStop", () -> getConfig(cpyId, ZMVConfigIndex.vstop))
.setParamVal("d1", () -> getConfig(cpyId, ZMVConfigIndex.d1)) .setParamVal("d1", () -> getConfig(cpyId, ZMVConfigIndex.d1))
.setParamVal("dMax", () -> getConfig(cpyId, ZMVConfigIndex.dMax));
.setParamVal("dMax", () -> getConfig(cpyId, ZMVConfigIndex.dmax));
page.addFunction("设置V1", this::setV1).setParamVal("v1", () -> getConfig(cpyId, ZMVConfigIndex.v1)); page.addFunction("设置V1", this::setV1).setParamVal("v1", () -> getConfig(cpyId, ZMVConfigIndex.v1));
page.addFunction("设置VMax", this::setVMax).setParamVal("vMax", () -> getConfig(cpyId, ZMVConfigIndex.vMax));
page.addFunction("设置VMax", this::setVMax).setParamVal("vMax", () -> getConfig(cpyId, ZMVConfigIndex.vmax));
extApiPageMgr.addPage(page); extApiPageMgr.addPage(page);
} }

13
src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunZMotorCtrlPage.java
View File

@ -2,7 +2,6 @@ package a8k.extui.page.driver.pipette_module;
import a8k.app.hardware.driver.PipetteCtrlDriverV2; import a8k.app.hardware.driver.PipetteCtrlDriverV2;
import a8k.app.hardware.type.ModuleStatus; import a8k.app.hardware.type.ModuleStatus;
import a8k.app.hardware.type.pipette_module.PipetteStateIndex;
import a8k.app.hardware.type.pipette_module.cfg.ZMBasicConfigIndex; import a8k.app.hardware.type.pipette_module.cfg.ZMBasicConfigIndex;
import a8k.app.type.exception.AppException; import a8k.app.type.exception.AppException;
import a8k.app.utils.ZJsonNode; import a8k.app.utils.ZJsonNode;
@ -111,11 +110,11 @@ public class PipetteGunZMotorCtrlPage {
} }
public void setIRUN(Integer irun) throws AppException { public void setIRUN(Integer irun) throws AppException {
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.iRun, irun);
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.irun, irun);
} }
public void setIHOLD(Integer ihold) throws AppException { public void setIHOLD(Integer ihold) throws AppException {
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.iHold, ihold);
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.ihold, ihold);
} }
public void setOneCirclePulse(Integer pulse, Integer denominator) throws AppException { public void setOneCirclePulse(Integer pulse, Integer denominator) throws AppException {
@ -124,7 +123,7 @@ public class PipetteGunZMotorCtrlPage {
} }
public void setDZeroPos(Integer dZeroPos) throws AppException { public void setDZeroPos(Integer dZeroPos) throws AppException {
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.dZero, dZeroPos);
pipetteCtrlDriverV2.setZMBCfg(ZMBasicConfigIndex.dzero, dZeroPos);
} }
@ -162,12 +161,12 @@ public class PipetteGunZMotorCtrlPage {
page.newGroup("寄存器配置"); page.newGroup("寄存器配置");
page.addFunction("设备MRES", this::setMres).setParamVal("mres", () -> readReg(ZMBasicConfigIndex.mres)); page.addFunction("设备MRES", this::setMres).setParamVal("mres", () -> readReg(ZMBasicConfigIndex.mres));
page.addFunction("设置IRUN", this::setIRUN).setParamVal("irun", () -> readReg(ZMBasicConfigIndex.iRun));
page.addFunction("设置IHOLD", this::setIHOLD).setParamVal("ihold", () -> readReg(ZMBasicConfigIndex.iHold));
page.addFunction("设置IRUN", this::setIRUN).setParamVal("irun", () -> readReg(ZMBasicConfigIndex.irun));
page.addFunction("设置IHOLD", this::setIHOLD).setParamVal("ihold", () -> readReg(ZMBasicConfigIndex.ihold));
page.addFunction("设置一圈脉冲数", this::setOneCirclePulse) page.addFunction("设置一圈脉冲数", this::setOneCirclePulse)
.setParamVal("pulse", () -> readReg(ZMBasicConfigIndex.oneCirclePulse)) .setParamVal("pulse", () -> readReg(ZMBasicConfigIndex.oneCirclePulse))
.setParamVal("denominator", () -> readReg(ZMBasicConfigIndex.oneCirclePulseDenominator)); .setParamVal("denominator", () -> readReg(ZMBasicConfigIndex.oneCirclePulseDenominator));
page.addFunction("设置DZERO", this::setDZeroPos).setParamVal("dZeroPos", () -> readReg(ZMBasicConfigIndex.dZero));
page.addFunction("设置DZERO", this::setDZeroPos).setParamVal("dZeroPos", () -> readReg(ZMBasicConfigIndex.dzero));
page.addFunction("设置寄存器", this::setZMBCfg); page.addFunction("设置寄存器", this::setZMBCfg);
page.addFunction("读取所有寄存器", this::readAllRegs); page.addFunction("读取所有寄存器", this::readAllRegs);

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