update

src/main/java/a8k/service/app/devicectrl/calibration/HbotSamplePosCalibration.java

@@ -7,6 +7,10 @@ import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.exdriver.TubePreProcesModuleExDriver;
 import a8k.service.app.devicectrl.param.HbotSamplePosParamMgr;
 import a8k.type.*;
 import a8k.type.cfg.Pos2d;
@@ -15,6 +19,7 @@ import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.aspectj.lang.annotation.Aspect;
 import org.slf4j.Logger;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 @ExtApiTab(cfg = ExtApiTabConfig.HbotSamplePosCalibration)
@@ -24,9 +29,13 @@ public class HbotSamplePosCalibration {
 	static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotSamplePosCalibration.class);
 
 	@Resource
-	PipetteCtrlDriver pipetteCtrlDriver;
+	PipetteCtrlDriver           pipetteCtrlDriver;
 	@Resource
-	HbotDriver        hbotDriver;
+	HbotDriver                  hbotDriver;
+	@Resource
+	MotorEnableExDriver         motorEnableExDriver;
+	@Resource
+	TubePreProcesModuleExDriver tubePreProcesModuleExDriver;
 
 
 	@Resource
@@ -35,6 +44,8 @@ public class HbotSamplePosCalibration {
 	HbotSamplePosParamMgr hbotSamplePosParamMgr;
 
 	Boolean stopFlag = false;
+	@Autowired
+	private StepMotorCtrlDriver stepMotorCtrlDriver;
 
 	Boolean checkStopFlag() {
 		if (stopFlag) {
@@ -75,8 +86,33 @@ public class HbotSamplePosCalibration {
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
 	public void disableModule() throws AppException {
-		pipetteCtrlDriver.zMotorEnable(0);
-		hbotDriver.enable(0);
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+
+	@ExtApiFn(name = "试管夹具复位", group = "辅助工具", order = 21)
+	public void tubeClampMoveZero() throws AppException {
+
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, 5000);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 5000);
+		tubePreProcesModuleExDriver.clampingMReleaseTube();
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 0);
+	}
+
+	@ExtApiFn(name = "释放试管", group = "辅助工具", order = 22)
+	public void releaseTubeClamp() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 20, 5000);
+//		tubePreProcesModuleExDriver.clampingMReleaseTube();
+	}
+
+	@ExtApiFn(name = "夹紧试管", group = "辅助工具", order = 23)
+	public void clampTubeClamp() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		tubePreProcesModuleExDriver.clampingMclampTube();
 	}
 
 

src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java

@@ -9,9 +9,11 @@ import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 @Component
+@Slf4j
 public class MotorEnableExDriver {
 
 
@@ -61,4 +63,36 @@ public class MotorEnableExDriver {
 	}
 
 
+	public void forceDisableAllMotor() {
+		//		StepMotorMId.values()
+		for (StepMotorMId stepMotorMId : StepMotorMId.values()) {
+			try {
+				stepMotorCtrlDriver.stepMotorEnable(stepMotorMId, 0);
+			} catch (AppException e) {
+				log.info("disableStepMotor: {} failed, {}", stepMotorMId, e.getMessage());
+			}
+		}
+
+		for (MiniServoMId miniServoMId : MiniServoMId.values()) {
+			try {
+				miniServoDriver.miniServoEnable(miniServoMId, 0);
+			} catch (AppException e) {
+				log.info("disableMiniServo: {} failed, {}", miniServoMId, e.getMessage());
+			}
+		}
+
+		try {
+			hbotDriver.enable(0);
+		} catch (AppException e) {
+			log.info("hbotDriver disable failed, {}",  e.getMessage());
+		}
+
+		try {
+			pipetteCtrlDriver.zMotorEnable(0);
+		} catch (AppException e) {
+			log.info("pipetteCtrlDriver: zMotorEnable failed, {}", e.getMessage());
+		}
+	}
+
+
 }