update

src/main/java/a8k/hardware/type/a8kcanprotocol/CmdId.java

@@ -137,11 +137,13 @@ public enum CmdId {
 	pipette_zmotor_read_dev_status_cache(0x741A, "pipette_zmotor_read_dev_status_cache"),
 	pipette_lld_is_detect_liquid(0x741B, "kpipette_lld_is_detect_liquid"),
 	pipette_lld_test(0x741C, "pipette_lld_test"),
-	pipette_set_startz(0x741D, "移动枪设置移动开始高度"),
-	pipette_set_endz(0x741E, "移动枪设置移动最大高度"),
+	pipette_set_lld_startz(0x741D, "移动枪设置移动开始高度"),
+	pipette_set_lld_endz(0x741E, "移动枪设置移动最大高度"),
 	pipette_set_lld_type(0x741F, "移动枪设置液面探测类型"),
 	pipette_set_lld_c_threshold(0x7420, "移动枪设置液面探测电容阈值"),
 	pipette_set_lld_p_threshold(0x7421, "移动枪设置液面探测压力阈值"),
+	kpipette_set_llf_startz(0x7422, "移动枪设置液面跟随开始限制高度"),
+	kpipette_set_llf_endz(0x7423, "移动枪设置液面跟随结束限制高度"),
 	;
 
 

src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java

@@ -53,33 +53,40 @@ public class PipetteCtrlDriver {
 		public static final int zMotorReadMeasureDistanceResult = 8;
 		public static final int initDeviceBlock                 = 9;
 		public static final int putTipBlock                     = 11;
-		public static final int setStartZ                            = 12;
-		public static final int setEndZ                              = 12;
-		public static final int setLldType                           = 13;
-		public static final int setLldCThreshold                     = 14;
-		public static final int setLldPThreshold                     = 15;
-		public static final int lldPrepareBlock                      = 16;
-		public static final int lldBlock                             = 17;
-		public static final int lldCalibrationBlock                  = 18;
-		public static final int lldIsDetectLiquid                    = 19;
-		public static final int getSensorSampleData                  = 20;
-		public static final int readCapacitance                      = 21;
-		public static final int aspiratePrepareBlock                 = 22;
-		public static final int aspirateSetLlfVelocity               = 23;
-		public static final int aspirateSetOperationVerifPThre       = 24;
-		public static final int aspirateSetOperationVerifEigenTime   = 25;
-		public static final int aspirateSetOperationVerifTolerance   = 26;
-		public static final int aspirateBlock                        = 27;
-		public static final int aspirateAndVerifyBlock               = 27;
-		public static final int shakeUpBlock                         = 28;
-		public static final int aspirateInferPressureBlock           = 29;
-		public static final int aspirateInferEigenTimeBlock          = 30;
-		public static final int getAspirateInferPressureResult       = 31;
-		public static final int getAspirateInferEigenTimeResultBlock = 32;
-		public static final int zAixsZeroPointIsTrigger              = 33;
-		public static final int setReg                               = 34;
-		public static final int getReg                               = 35;
-		public static final int getAllRegs                           = 36;
+
+		public static final int setLLDStartZ        = 20;
+		public static final int setLLDEndZ          = 21;
+		public static final int setLldType          = 22;
+		public static final int setLldCThreshold    = 23;
+		public static final int setLldPThreshold    = 24;
+		public static final int lldPrepareBlock     = 25;
+		public static final int lldBlock            = 26;
+		public static final int lldCalibrationBlock = 27;
+		public static final int lldIsDetectLiquid   = 28;
+		public static final int getSensorSampleData = 29;
+		public static final int readCapacitance     = 30;
+
+		public static final int aspiratePrepareBlock                 = 30;
+		public static final int aspirateSetLlfVelocity               = 31;
+		public static final int setLlfStartZ                         = 32;
+		public static final int setLlfEndZ                           = 33;
+		public static final int aspirateSetOperationVerifPThre       = 34;
+		public static final int aspirateSetOperationVerifEigenTime   = 35;
+		public static final int aspirateSetOperationVerifTolerance   = 36;
+		public static final int aspirateBlock                        = 37;
+		public static final int aspirateAndVerifyBlock               = 38;
+		public static final int shakeUpBlock                         = 39;
+		public static final int aspirateInferPressureBlock           = 40;
+		public static final int aspirateInferEigenTimeBlock          = 41;
+		public static final int getAspirateInferPressureResult       = 42;
+		public static final int getAspirateInferEigenTimeResultBlock = 43;
+
+
+		public static final int zAixsZeroPointIsTrigger = 50;
+
+		public static final int setReg     = 100;
+		public static final int getReg     = 101;
+		public static final int getAllRegs = 102;
 	}
 
 	@PostConstruct
@@ -148,16 +155,16 @@ public class PipetteCtrlDriver {
 		pipetteInitDeviceBlock();
 	}
 
-	@ExtApiFn(name = "设置LLDAndLLF起始位置", order = FnOrder.setStartZ)
+	@ExtApiFn(name = "设置LLD起始位置", order = FnOrder.setLLDStartZ)
 	public void setStartZ(Integer startZ) throws AppException {
 		log.info("setStartZ:{}", startZ);
-		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_startz.toInt(), startZ);
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_startz.toInt(), startZ);
 	}
 
-	@ExtApiFn(name = "设置LLDAndLLF结束位置", order = FnOrder.setEndZ)
+	@ExtApiFn(name = "设置LLD结束位置", order = FnOrder.setLLDEndZ)
 	public void setEndZ(Integer endZ) throws AppException {
 		log.info("setEndZ:{}", endZ);
-		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_endz.toInt(), endZ);
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_endz.toInt(), endZ);
 	}
 
 	@ExtApiFn(name = "设置LLD类型", order = FnOrder.setLldType)
@@ -247,6 +254,18 @@ public class PipetteCtrlDriver {
 	public void aspirateSetLlfVelocity(Integer llf_zm_rpm) throws AppException {
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_set_llf_velocity.toInt(), llf_zm_rpm);
 	}
+	//	kpipette_set_llf_startz
+	//kpipette_set_llf_endz
+
+	@ExtApiFn(name = "设置LLF起始位置", order = FnOrder.setLlfStartZ)
+	public void setLlfStartZ(Integer startZ) throws AppException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.kpipette_set_llf_startz.toInt(), startZ);
+	}
+
+	@ExtApiFn(name = "设置LLF结束位置", order = FnOrder.setLlfEndZ)
+	public void setLlfEndZ(Integer endZ) throws AppException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.kpipette_set_llf_endz.toInt(), endZ);
+	}
 
 	@ExtApiFn(name = "设置操作验证压力阈值", order = FnOrder.aspirateSetOperationVerifPThre)
 	public void aspirateSetOperationVerifPThre(Integer p_thre) throws AppException {

src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java

@@ -111,8 +111,8 @@ public class PipetteGunLLDParamCalibration {
 	}
 
 
-	@ExtApiFn(name = "设置参数", group = "设置", order = 200)
-	public void setDefaultCThread(PipetteGunLLDThresholdParam param, Integer val) throws AppException {
+	@ExtApiFn(name = "设置阈值", group = "设置", order = 200)
+	public void setThreshold(PipetteGunLLDThresholdParam param, Integer val) throws AppException {
 		pipetteGunLLDParamMgr.setParam(param, val);
 	}
 

src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLFParamCalibration.java

@@ -4,6 +4,8 @@ package a8k.service.app.devicectrl.param.calibration;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
 import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLFParamMgr;
 import a8k.service.app.devicectrl.param.type.PipetteGunLLFParam;
 import a8k.type.exception.AppException;
@@ -17,15 +19,95 @@ public class PipetteGunLLFParamCalibration {
 	@Resource
 	PipetteGunLLFParamMgr pipetteGunLLFParamMgr;
 
-	@ExtApiFn(name = "获取相关参数", group = "基础", order = 1)
+	@Resource
+	PipetteCtrlDriver pipetteCtrlDriver;
+
+	@Resource
+	MotorEnableExDriver motorEnableExDriver;
+
+
+	@ExtApiFn(name = "移液枪初始化(Tip会掉落)", group = "基础", order = 2)
+	public void pipetteInitDeviceBlock() throws AppException {
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "基础", order = 3)
+	public void enableModule() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "基础", order = 4)
+	public void disableModule() throws AppException {
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+	@ExtApiFn(name = "获取相关参数", group = "基础", order = 5)
 	public Object getParams() throws AppException {
 		return pipetteGunLLFParamMgr.getParams();
 	}
 
 
-	@ExtApiFn(name = "设置参数", group = "设置", order = 1)
-	public void setParam(PipetteGunLLFParam param, Integer val) throws AppException {
-		pipetteGunLLFParamMgr.setParam(param.chName, val);
+	Integer llfStartPos;
+	Integer llfEndPos;
+
+
+	Integer hasUl = 0;
+	Integer llfv  = 0;
+
+
+	@ExtApiFn(name = "设置llf开始位置", group = "测试", order = 100)
+	public void setStartTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		llfStartPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+	@ExtApiFn(name = "设置llf结束位置", group = "测试", order = 101)
+	public void setEndTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		llfEndPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+
+	@ExtApiFn(name = "吸液准备", group = "测试", order = 102)
+	public void aspiratePrepare() throws AppException {
+		enableModule();
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.aspiratePrepareBlock();
+	}
+
+
+	@ExtApiFn(name = "移动到吸液起始位", group = "测试", order = 103)
+	public void moveToAspirateStartPos() throws AppException {
+		pipetteCtrlDriver.zMotorMoveToBlock(llfStartPos);
+	}
+
+	@ExtApiFn(name = "吸液", group = "测试", order = 104)
+	public void aspirate(Integer llfv, Integer ul) throws AppException {
+		this.llfv = llfv;
+		pipetteCtrlDriver.setLlfStartZ(llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfEndPos);
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfv);
+		pipetteCtrlDriver.aspirateBlock(ul);
+		hasUl += ul;
+	}
+
+	@ExtApiFn(name = "分液", group = "测试", order = 105)
+	public void distribute() throws AppException {
+		pipetteCtrlDriver.setLlfStartZ(llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfEndPos);
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfv);
+		pipetteCtrlDriver.aspirateBlock(-hasUl);
+		hasUl = 0;
+	}
+
+	@ExtApiFn(name = "设置参数", group = "设置", order = 200)
+	public void setDefaultCThread(PipetteGunLLFParam param, Integer val) throws AppException {
+		pipetteGunLLFParamMgr.setParam(param, val);
 	}
 
 }

src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java

@@ -35,6 +35,9 @@ public class PipetteGunParamExMgr {
 	@Resource
 	HbotLargeBottleBSPosMgr hbotLargeBottleBSPosMgr;
 
+	@Resource
+	HbotConsumableParamMgr hbotConsumableParamMgr;
+
 	/**
 	 * 获取液面探测相关参数
 	 * @param type 操作类型
@@ -82,21 +85,30 @@ public class PipetteGunParamExMgr {
 	 */
 	public LLFParamPack getLLFParam(PipetteGunBindActionType type, ProjProcessContext cxt) {
 		LLFParamPack      paramPack = null;
-		A8kTubeHolderType thType    = cxt.tubeHolderType;
 		switch (type) {
-			case MIX_SAMPLE, SAMPLE -> { //取样
+			//			取样
+			case MIX_SAMPLE, SAMPLE -> { //
 				A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(cxt);
 				paramPack             = new LLFParamPack();
 				paramPack.llfVel      = pipetteGunLLFParamMgr.getSampleLLFVel(samplePos);
+				paramPack.llfStartPos = hbotSamplePosParamMgr.getSampleStartPos(samplePos).z;
+				paramPack.llfEndPos   = hbotSamplePosParamMgr.getSampleStartPos(samplePos).z;
+
 			}
-			case TAKE_LARGE_BUFFER_SOLUTION -> { //取大瓶缓冲液
+			//取大瓶缓冲液
+			case TAKE_LARGE_BUFFER_SOLUTION -> { //
 				paramPack             = new LLFParamPack();
 				paramPack.llfVel      = pipetteGunLLFParamMgr.getLargeBSBottleLlfVel();
+				paramPack.llfStartPos = hbotConsumableParamMgr.getLargeBufferSamplePos(cxt.consumable.getGroup()).z;
+				paramPack.llfEndPos   = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(cxt.consumable.getGroup()).z;
 			}
 
+			//混合反应液，分配大瓶缓冲液到探测物质中
 			case MIX_REACTION_LIQUOR, DISTRIBUTION_LARGE_BUFFER_SOLUTION_PROBE_SUBSTANCE -> {
 				paramPack             = new LLFParamPack();
 				paramPack.llfVel      = 0;
+				paramPack.llfStartPos = 0;
+				paramPack.llfEndPos   = 0;
 			}
 		}
 

src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/base/LLFParamPack.java

@@ -1,5 +1,7 @@
 package a8k.service.app.devicectrl.param.ext_param_mgr.base;
 
 public class LLFParamPack {
-	public Integer llfVel;
+	public Integer llfVel      = 0;
+	public Integer llfStartPos = 0;
+	public Integer llfEndPos   = 0;
 }

src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java

@@ -79,12 +79,16 @@ public class DeviceCtrlScripter {
 	void distribute(PipetteGunBindActionType actionType, ProjProcessContext ctx, Integer ul) throws AppException {
 		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
 		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
 		pipetteCtrlDriver.aspirateBlock(-ul);
 	}
 
 	void mix(PipetteGunBindActionType actionType, ProjProcessContext ctx, Integer ul, Integer times) throws AppException {
 		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
 		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
 		pipetteCtrlDriver.shakeUpBlock(ul, times);
 	}
 
@@ -92,6 +96,8 @@ public class DeviceCtrlScripter {
 	void aspirate(PipetteGunBindActionType actionType, ProjProcessContext ctx, Integer ul) throws AppException {
 		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
 		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
 		pipetteCtrlDriver.aspirateBlock(ul);
 	}