Merge branch 'master' of http://192.168.1.3:3000/project_boditech_vidas_a8000_v3/a8k_app

src/main/java/a8k/a8k_can_protocol/IOId.java

@@ -0,0 +1,37 @@
+package a8k.a8k_can_protocol;
+
+public enum IOId {
+	TubeHeightDetecter(ModuleType.kboard, 60, 0), //高低试管检测IO
+	TubeHolderTransferChannelTubeDetecterOuter(ModuleType.kboard, 60, 1),//试管架转移通道有无检测 外
+	TubeHolderTransferChannelTubeDetecterInter(ModuleType.kboard, 60, 2),//试管架转移通道有无检测 内
+	SampleExitTubeHolderlDetecter(ModuleType.kboard, 60, 3),//试管出料位置 试管架有无检测
+	TubeExistDetecter(ModuleType.kboard, 60, 4),//试管有无光电
+	SampleEnterTubeHolderlDetecter(ModuleType.kboard, 60, 5),//试管架入料位置 试管架有无检测
+
+	WasteBucketOverflowedDetector(ModuleType.kboard, 40, 2),//废料桶满溢检测
+	WasteBucketOverflowedDetectorPowerCtrl(ModuleType.kboard, 40, 0),//废料桶光栅电源
+
+	PlateBoxCoverClosureDetector(ModuleType.kboard, 20, 0),//板夹仓舱盖闭合检测
+	PlateBoxPlateStuckDetector(ModuleType.kboard, 20, 1),//板夹仓卡板检测
+
+	//转盘逻辑相关光电
+	//钩板电机，零点光电，终点光电
+	PlaterHookerMotorZeroPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorTestCardPullModule,0),
+	PlaterHookerMotorEndPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorTestCardPullModule,1),
+	//推板电机，零点光电，终点光电
+	PlaterPusherMotorZeroPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorCardWarehousePushModule,0),
+	PlaterPusherMotorEndPointDetector(ModuleType.ktmc_step_motor,ModuleId.MotorCardWarehousePushModule,1),
+	;
+
+
+	final public ModuleType mtype;
+	final public int        mid;
+	final public int        ioIndex;
+
+	IOId(ModuleType mtype, int mid, int ioIndex) {
+		this.mtype   = mtype;
+		this.mid     = mid;
+		this.ioIndex = ioIndex;
+	}
+
+}

src/main/java/a8k/a8k_can_protocol/ModuleId.java

@@ -7,6 +7,7 @@ public class ModuleId {
 	public static final int MotorCardWarehouseMoveBoardModule = 20;//板夹仓模块
 	public static final int MotorCardWarehouseMoveModule      = 21;//板夹仓移动电机
 	public static final int MotorCardWarehousePushModule      = 22;//板夹仓推杆电机
+	public static final int CardWarehouseScanerModule         = 23;//板夹仓扫码模组
 
 	public static final int ShakeModuleBoard              = 30;//摇匀模组板
 	public static final int MotorTubeScanClampModule      = 31;//试管固定夹爪电机
@@ -55,6 +56,7 @@ public class ModuleId {
 			case MotorCardWarehouseMoveBoardModule -> "MotorCardWarehouseMoveBoardModule";
 			case MotorCardWarehouseMoveModule -> "MotorCardWarehouseMoveModule";
 			case MotorCardWarehousePushModule -> "MotorCardWarehousePushModule";
+			case CardWarehouseScanerModule -> "CardWarehouseScanerModule";
 
 			case ShakeModuleBoard -> "ShakeModuleBoard";
 			case MotorTubeScanClampModule -> "MotorTubeScanClampModule";

src/main/java/a8k/a8k_can_protocol/ModuleType.java

@@ -0,0 +1,27 @@
+package a8k.a8k_can_protocol;
+
+public enum ModuleType {
+	khbot_module(1),  // hbot模块
+	ktemperature_ctrl_module(3),  // 温度控制
+	kfan_ctrl_module(5),  // 风扇控制
+	kcode_scaner(6),  // 扫码器
+	kpipette_ctrl_module(7),  // 移液体枪控制
+	ka8000_optical_module(8),  // a8000光学模组
+	ktmc_step_motor(10),  // 步进电机
+	kmini_servo_motor_module(11),  // 舵机
+	kboard(12),  // 板子
+	ka8000_idcard_reader(13),  // id卡读卡器
+	ka8000_plate_code_scaner(14);  // 反应板条扫码器
+
+	final private int val;
+
+	ModuleType(int val) {
+		this.val = val;
+	}
+
+	public int getVal() {
+		return val;
+	}
+
+
+}

src/main/java/a8k/appbean/AppErrorCode.java

@@ -0,0 +1,27 @@
+package a8k.appbean;
+
+public enum AppErrorCode {
+	Success("Success", 0), //成功
+	TubeNotHasHat("TubeNotHasHat", 1); //试管没有帽子
+
+	final private String name;
+	final private int    errorIndex;
+
+	public int mid;
+
+	private AppErrorCode(String name, int errorIndex) {
+		this.name       = name;
+		this.errorIndex = errorIndex;
+	}
+
+
+
+	public String toString() {
+		return name;
+	}
+
+	public int getErrorIndex() {
+		return errorIndex;
+	}
+
+}

src/main/java/a8k/base_hardware/A8kCanBusService.java

@@ -3,6 +3,7 @@ package a8k.base_hardware;
 import a8k.a8k_can_protocol.A8kPacket;
 import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.Errorcode;
+import a8k.a8k_can_protocol.IOId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.appevent.A8kHardwareReport;
 import a8k.service.AppEventBusService;
@@ -142,12 +143,67 @@ public class A8kCanBusService {
 	}
 
 	//TODO
+	public boolean getIOState(IOId ioid) throws HardwareException {
+		return false;
+	}
+
+	//TODO
+	public void setIOState(IOId ioid, boolean val) throws HardwareException {
+	}
+
+
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException {
+		return null;
+	}
+
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException {
+		return null;
+	}
+
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException {
+		return null;
+	}
+
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) throws HardwareException {
+		return null;
+	}
+
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) throws HardwareException {
+		return null;
+	}
+
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer acitionOvertime) throws HardwareException, InterruptedException {
+	}
+
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer acitionOvertime) throws HardwareException, InterruptedException {
+	}
+
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) throws HardwareException, InterruptedException {
+	}
+
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) throws HardwareException, InterruptedException {
+	}
+
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException {
+	}
+
+
 	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer[] params) throws HardwareException {
 		var packet = this.packParamsToPacket(moduleId, cmdId, params);
 		return this.sendCmd(packet, A8kPacket.CMD_OVERTIME);
 	}
 
-	//TODO
+
 	public A8kPacket sendCmdAutoResend(A8kPacket pack, int overtime) throws HardwareException {
 		//调用sendCmd,
 		// 如果捕获到超时异常，则重发，最多重发三次
@@ -164,7 +220,7 @@ public class A8kCanBusService {
 		return null;
 	}
 
-	//TODO
+
 	public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {
 		var packet = this.packParamsToPacket(moduleId, cmdId, params);
 		this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
@@ -175,7 +231,7 @@ public class A8kCanBusService {
 
 		long startedAt = System.currentTimeMillis();
 		do {
-			var pack    = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{});
+			var pack   = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{});
 			var status = pack.getContentI32(0);
 			if (0 == status) {
 				break;

src/main/java/a8k/service/A8kDebugTaskExecutorService.java

@@ -0,0 +1,43 @@
+package a8k.service;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+@Component
+public class A8kDebugTaskExecutorService {
+	public static final Logger logger = LoggerFactory.getLogger(A8kDebugTaskExecutorService.class);
+
+	Thread task;
+
+	synchronized void  exec(Runnable runnable) {
+		if (task != null) {
+			task.interrupt();
+			try {
+				task.join();
+			} catch (InterruptedException ignored) {
+				return;
+			}
+		}
+
+		task = new Thread(runnable);
+		task.start();
+	}
+
+	synchronized void stop() {
+		try {
+			task.join();
+			task = null;
+		} catch (InterruptedException e) {
+			logger.error(e.getMessage());
+		}
+	}
+
+	synchronized boolean isRunning() {
+		if (task == null) {
+			return false;
+		}
+		return task.isAlive();
+	}
+
+}

src/main/java/a8k/service/A8kStateMgrService.java

@@ -0,0 +1,9 @@
+package a8k.service;
+
+import org.springframework.stereotype.Component;
+
+@Component
+public class A8kStateMgrService {
+
+
+}

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

@@ -1,9 +1,15 @@
 package a8k.service.db.entity;
 
-import com.iflytop.uf.UfActiveRecord;
 import com.iflytop.uf.UfActiveRecordField;
 
 public class SamplesPreProcessModuleParameter {
+
+	@UfActiveRecordField
+	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。
+
 	/**
 	 * 升降电机相关位置
 	 */
@@ -14,6 +20,12 @@ public class SamplesPreProcessModuleParameter {
 	public Integer shortBlood_TakeCapPos;//矮全血试管取帽位置
 
 	@UfActiveRecordField
+	public Integer highBlood_capJudgePos;//高试管帽子判断位置
+
+	@UfActiveRecordField
+	public Integer shortBlood_capJudgePos;//矮全血试管帽子判断位置
+
+	@UfActiveRecordField
 	public Integer elevating_MotorPosOffset;//升降电机位置偏移
 
 	/**
@@ -32,13 +44,17 @@ public class SamplesPreProcessModuleParameter {
 	 * 取帽舵机
 	 */
 	@UfActiveRecordField
-	public Integer takeCapServo_standbyPos; //取帽舵机，待机位置
+	public Integer gripperServo_standbyPos; //抓手舵机，待机位置
+
+	@UfActiveRecordField
+	public Integer gripperServo_takeCapTorque; //抓手舵机，取帽扭矩
 
 	@UfActiveRecordField
-	public Integer takeCapServo_takeCapTorque; //取帽舵机，取帽扭矩
+	public Integer gripperServo_takeTubePos; // 抓手舵机，取试管位置
 
 	@UfActiveRecordField
-	public Integer takeCapServo_takeTubePos; // 取帽舵机，取试管位置
+	public Integer gripperServo_hatDeterminesPosThres; //判断是否有帽子的位置阈值
+
 
 	/**
 	 * 摇匀电机
@@ -56,6 +72,9 @@ public class SamplesPreProcessModuleParameter {
 	@UfActiveRecordField
 	public Integer tubeClampMotor_ClampPos;
 
+	@UfActiveRecordField
+	public Integer aerosolFanLevel; //气溶胶风扇工作功率
+
 	public static String getTableName() {
 		return "SamplesPreProcessModuleParameter" + "Table";
 	}

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

@@ -0,0 +1,154 @@
+package a8k.service.hardware;
+
+import a8k.appbean.AppErrorCode;
+import org.springframework.stereotype.Component;
+
+@Component
+public class ReactionPlatesTransmitCtrlService {
+
+
+	/*
+		职责说明
+			1.仓位变化
+			2.推出反应板
+			3.反应板推出异常检测
+			4.反应板推出二次校准服务
+	 */
+
+	/* =======================================================================================
+											基础操作
+	   =======================================================================================*/
+
+	void moduleReset() {
+		/*
+		  	复位要求
+			1. 反应板夹仓推杆零点光电处于触发状态
+			2. 板夹钩爪零点光电处于触发状态 或 终点光电处于触发状态
+			3. 板夹卡板光电没有处于触发状态
+		 */
+
+
+
+	}
+
+
+	/* =======================================================================================
+											板夹仓操作
+	   =======================================================================================*/
+	void pushReactionPlate(int plateBoxChannelNum, int turntablePosIndex) {
+		/*
+			1. 控制转盘移动到第turntablePosIndex个位置
+			2. 控制板夹仓平移到第boxChannelNum个仓位
+			3. 推出板
+				3.1 板推出后检查推板电机终点电机是否触发，如果没有触发，则说明卡板，上报硬件异常
+			4. 板夹推杆回到零点，并执行一次归零动作。
+			5. 板夹仓平移电机，移动零点，并执行一次归零动作，归零后向后相对移动1mm，保证零点触发。
+
+			推板 使用模块 CardWarehouseScanerModule
+			 	指令:    kplate_code_scaner_push_card_and_scan(参数为扫码结束位置，相当于指令moveTo参数)
+			 	相关寄存器:
+			 			kreg_plate_code_scaner_scan_start_pos 		   (每次扫码前需要设置该参数)
+			 			kreg_plate_code_scaner_code_judgment_threshold (扫码前设置，该数值为1，0码判定阈值)
+			 			kreg_plate_code_scaner_item			  (扫码完成读取)
+						kreg_plate_code_scaner_lot 			  (扫码完成读取)
+						kreg_plate_code_scaner_code_legal 	 （扫码完成读取）
+
+		 */
+
+	}
+
+	/**
+	 *	读取 推板时的扫码结果LotId
+	 */
+	int plateScanerReadlateLot() {
+		return 0;
+	}
+
+	/**
+	 *	读取 推板时的扫码结果ItermId
+	 */
+	int plateScanerReadPlateIterm() {
+		return 0;
+	}
+
+	/**
+	 *	读取 推板时的扫码结果合法性
+	 */
+	boolean plateScanerReadPlateIsLegal() {
+		return false;
+	}
+
+
+	Integer[] plateScanerReadRawData() {
+		/*
+		 	先不实现，
+		 	后续实现效果，
+		 		网页端执行完推板后，点击读取，网页端弹出一个页面，
+		 			页面上有一条曲线
+		 			有曲线的最大值和最小值
+		 			且参考下面代码打上参考线
+        				for (int i = 0; i < 15; i++) {
+          					plot2d->addRefLine(i * 12 + 6 );
+        				}
+		 */
+		return null;
+	}
+
+	/* =======================================================================================
+											光学模组部分操作
+	   =======================================================================================*/
+
+	void pullReactionPlate(int turntablePosIndex) {
+		/*
+			1.检查当前钩爪出口光电是否触发，如果没有触发，直接报 电机位置异常
+			2.移动转盘
+			3.移动光学模组到丢板的位置
+			4.移动光学模组到待机位置
+			5.钩爪勾取反应板到指定位置
+			6.钩爪动作完成时，检查钩爪零点光电是否触发，如果没有触发报电机阻转异常
+		 */
+
+	}
+
+
+
+	/* =======================================================================================
+											转盘操作
+	   =======================================================================================*/
+
+
+	/**
+	 * 移动转盘到入口位置
+	 * @param turntablePos 第几个仓位
+	 */
+	void moveTurntableToEnterPos(int turntablePos) {
+		/*
+			注意事项:
+				1.移动前检查，出转盘钩爪电机光电是否触发（两个光电必须触发一个才能执行动作），否则直接抛出 电机位置异常错误
+				2.移动前检测，入转盘钩爪零点光电是否触发。
+				3.移动前检查，入转盘卡板光电是否触发。
+		 */
+	}
+
+	/**
+	 * 移动转盘到出口位置
+	 * @param turntablePos 第几个仓位
+	 */
+	void moveTurntableToExitPos(int turntablePos) {
+		/*
+			同moveTurntableToEnterPos
+		 */
+	}
+
+	/**
+	 * 移动转盘到点滴位置
+	 * @param turntablePos 第几个仓位
+	 */
+	void moveTurntableToDropLiquidPos(int turntablePos) {
+		/*
+			同moveTurntableToEnterPos
+		 */
+	}
+
+
+}

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

@@ -1,49 +1,77 @@
 package a8k.service.hardware;
 
+import a8k.appbean.AppErrorCode;
 import a8k.appbean.SampleTubeState;
+import org.springframework.stereotype.Component;
 
+@Component
 public class SamplesPreProcessModuleCtrlService {
 
+	/*
+	  样品预处理模块
+	  		主要负责样品预处理的相关操作
+
+	 */
+
+	/* =======================================================================================
+											基础方法
+	    =======================================================================================*/
+
 	/**
-	 * 样品预处理模块
-	 * 		主要负责样品预处理的相关操作
-	 *
-	 * 涉及到常量
-	 * 		1.试管的相关信息---试管高度
-	 * 	    2.试管的相关信息---试管含帽高度
-	 * 	    3.平移电机待机位置
-	 * 	    4.平移电机取试管位置
-	 * 	    5.平移电机试管处理位置
-	 *
-	 *
+	 * 按照一定顺序归零设备
 	 */
+	public void moveToZero() {
+		/*
+		  1. 假设没有试管在当前设备上的前提下归零设备
+		  2. 舵机虽然没有零位，但需要将其移动到待机位置
+		 */
+	}
+
+	/**
+	 * 使能模组
+	 * @param enable 是否使能模组
+	 */
+	public void enableModule(boolean enable) {
 
-	public void takeTube(String tubeType) {
-		//
-		// 取试管并将试管放在夹紧位置，同时升降电机和平移电机移动到待机位
-		// 试管放置的水平高度和其在试管架中的高度保持一直
-		//
 	}
 
+
+
+
+
+	 /* =======================================================================================
+											主要服务
+	    =======================================================================================*/
+
+
 	/**
-	 * 摇匀试管
-	 * @param tubeType
-	 * @param times
-	 * @param shakeDegree
+	 * 取试管帽,如果试管帽存在，
+	 * @param tubeType TubeType_HighBlood,TubeType_ShortBlood,TubeType_Mini,TubeType_MiniBlood,TubeType_BulletTube1P5,TubeType_BulletTube0P5
+	 * @param judgeCapExist 是否判断试管帽子存在与否
 	 */
-	public void ShakeTube(String tubeType, int times, int shakeDegree) {
-		//
-		//
-		//
+	public AppErrorCode takeTube(String tubeType,boolean judgeCapExist) {
+		/*
+		 	注意事项:
+		 		1. 取试管并将试管放在试管夹紧位置，同时升降电机和平移电机移动到待机位
+		 		2. 试管放置的水平高度和其在试管架中的高度保持一直
+		 		3. 取试管前，先通过试管夹紧功能判断一下试管帽是否存在（在试管没帽的边沿位置，抓手扭矩抓紧，如果等待一定时间后，抓手位置接近极限位置，则认为没有帽子，返回TubeNotHasHat错误）
+		 		4. 无论是否抓取成功，只要不向外抛出异常，方法结束时，该模块涉及到组件均需要返回待机位置。
+
+		 */
+
+		return AppErrorCode.Success;
 	}
 
 	/**
 	 * 取试管帽
 	 */
-	public void takeTubeCap() {
+	public AppErrorCode takeTubeCap() {
 		//
 		//
 		//
+		//
+
+		return AppErrorCode.Success;
 	}
 
 	/**
@@ -55,6 +83,21 @@ public class SamplesPreProcessModuleCtrlService {
 		//
 	}
 
+
+	 /* =======================================================================================
+											辅助操作
+	    =======================================================================================*/
+
+	/**
+	 * 摇匀试管
+	 * @param tubeType TubeType_HighBlood,TubeType_ShortBlood,TubeType_Mini,TubeType_MiniBlood,TubeType_BulletTube1P5,TubeType_BulletTube0P5
+	 * @param times 摇匀次数
+	 * @param shakeDegree 摇匀角度
+	 */
+	public void ShakeTube(String tubeType, int times, int shakeDegree) {
+
+	}
+
 	/**
 	 * 打开气溶胶风扇
 	 */
@@ -82,4 +125,6 @@ public class SamplesPreProcessModuleCtrlService {
 	public void moduleRuntimeReset() {
 
 	}
+
+
 }