x

.clang-format

@@ -0,0 +1,9 @@
+# Defines the Chromium style for automatic reformatting.
+# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 300
+AlignConsecutiveMacros: true
+AlignConsecutiveDeclarations: true
+AlignConsecutiveAssignments:  true
+AlignOperands:               true

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "a8000_protocol"]
+	path = a8000_protocol
+	url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8000_protocol.git

a8000_protocol

@@ -0,0 +1 @@
+Subproject commit 5081899a39cbbfca1beb5da571b1df2f0ce46789

src/main/java/a8k/service/db/dao/ModulerParameterDao.java

@@ -0,0 +1,17 @@
+package a8k.service.db.dao;
+
+import a8k.service.db.entity.ModuleParameter;
+
+import com.iflytop.uf.UfActiveRecord;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@Component
+public class ModulerParameterDao {
+	ModuleParameter getMotorParameter(int mid) {
+		var param = UfActiveRecord.findOne(ModuleParameter.class, Map.of("mid", mid));
+		assert param != null;
+		return param;
+	}
+}

src/main/java/a8k/service/db/dao/MotorParameterDao.java

@@ -1,6 +1,6 @@
 package a8k.service.db.dao;
 
-import a8k.service.db.entity.MotorParameter;
+import a8k.service.db.entity.ModuleParameter;
 
 import com.iflytop.uf.UfActiveRecord;
 import org.springframework.stereotype.Component;
@@ -9,8 +9,8 @@ import java.util.Map;
 
 @Component
 public class MotorParameterDao {
-	public MotorParameter getMotorParameter(int mid) {
-		var param = UfActiveRecord.findOne(MotorParameter.class, Map.of("mid", mid));
+	public ModuleParameter getMotorParameter(int mid) {
+		var param = UfActiveRecord.findOne(ModuleParameter.class, Map.of("mid", mid));
 		assert param != null;
 		return param;
 	}

src/main/java/a8k/service/db/entity/A8kTubeInfo.java

@@ -16,16 +16,20 @@ public class A8kTubeInfo extends UfActiveRecord {
 	public Integer tubeNum; //试管数量
 	@UfActiveRecordField
 	public Double  tubeSpacing; //试管之间的间隔 单位mm
+
+	/**
+	 * 摇匀模组使用
+	 */
 	@UfActiveRecordField
-	public Double  tubeHight;//float mm 取试管帽高度（试管帽的下编研）
-	@UfActiveRecordField
-	public Double  tubeHightWithCap;//float mm 取试管帽高度（试管帽的下编研）
-	@UfActiveRecordField
-	public String  tubeCapHight;//试管帽高度
+	public Double takeTubeCapPos;//float mm 取试管帽高度
+
+	/**
+	 * Z轴使用
+	 */
 	@UfActiveRecordField
-	public Double  sampleHeight;//float mm 取样高度
+	public Double sampleBeginPos;//float mm 取样高度
 	@UfActiveRecordField
-	public Double  sampleBottom;//float mm 取样低位
+	public Double sampleEndPos;//float mm 取样低位
 
 	public static String getTableName() {
 		return "A8kTubeInfo" + "Table";

src/main/java/a8k/service/db/entity/MotorParameter.java → src/main/java/a8k/service/db/entity/ModuleParameter.java

@@ -3,7 +3,7 @@ package a8k.service.db.entity;
 import com.iflytop.uf.UfActiveRecord;
 import com.iflytop.uf.UfActiveRecordField;
 
-public class MotorParameter extends UfActiveRecord {
+public class ModuleParameter extends UfActiveRecord {
 	@UfActiveRecordField
 	Integer mid; //模块ID
 
@@ -17,13 +17,17 @@ public class MotorParameter extends UfActiveRecord {
 	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。
+
+	@UfActiveRecordField
 	Integer defaultVelocity; //默认速度
 
 	@UfActiveRecordField
 	Integer backToZeroVelocity; //回零速度
 
 	@UfActiveRecordField
-	Integer loseStepWarningJudgeDistance; //丢步异常警告距离
+	public Integer loseStepWarningJudgeDistance; //丢步异常警告距离
+
 	public static String getTableName() {
 		return "MotorParameter" + "Table";
 	}

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

@@ -1,5 +1,4 @@
 package a8k.service.hardware;
-
 import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.Errorcode;
 import a8k.a8k_can_protocol.ModuleId;
@@ -9,6 +8,7 @@ import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kDirectCtrlPosDao;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.MotorParameterDao;
+import a8k.service.db.entity.A8kDirectCtrlPos;
 import jakarta.annotation.Resource;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -51,6 +51,7 @@ public class MotorTubeRackMoveCtrlService {
 	@Resource
 	private A8kCanBusService a8kCanBusService;
 
+
 	//
 	// 电机基础控制
 	//
@@ -61,20 +62,29 @@ public class MotorTubeRackMoveCtrlService {
 
 
 	public void moveToZero() throws HardwareException, InterruptedException {
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{0}, 30*1000);
-
 		var motorParams = this.motorParameterDao.getMotorParameter(ModuleId.MotorTubeRackMoveModule);
+
+		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[]{}, motorParams.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 ( dval > MotorTubeRackMoveCtrlService.MOVE_TO_ZERO_MAX_DPOS ) {
+		if ( Math.abs(dval - distance) > motorParams.loseStepWarningJudgeDistance ) {
 			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。
+
 	}
 
 
@@ -130,6 +140,12 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeIndex
 	 */
 	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) {
+		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
+		var startPosInfo = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeScanPos);
+		var scanPos = startPosInfo.posX + tubeIndex * tubeInfo.tubeSpacing;
+
+		var motorParams = this.motorParameterDao.getMotorParameter(ModuleId.MotorTubeRackMoveModule);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, motorParams.actionOvertime);
 	}
 
 	/**