project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

update

tags/v0
zhaohe 10 months ago
parent
075df4f0ad
commit
a1895216c5
19 changed files with 799 additions and 909 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/main/java/a8k/service/app/appctrl/DeviceInitCtrlService.java
  2. 7
      src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java
  3. 2
      src/main/java/a8k/service/app/devicedriver/basectrl/CodeScaner.java
  4. 208
      src/main/java/a8k/service/app/devicedriver/basectrl/HbotBaseMoveControlService.java
  5. 4
      src/main/java/a8k/service/app/devicedriver/basectrl/HbotModule.java
  6. 4
      src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
  7. 2
      src/main/java/a8k/service/app/devicedriver/basectrl/type/HbotRegIndex.java
  8. 2
      src/main/java/a8k/service/app/devicedriver/basectrl/type/PipetteRegIndex.java
  9. 4
      src/main/java/a8k/service/app/devicedriver/calibration/Hbot2DCodeScanPosCalibration.java
  10. 2
      src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java
  11. 19
      src/main/java/a8k/service/app/devicedriver/ctrl/ConsumablesScanCtrl.java
  12. 314
      src/main/java/a8k/service/app/devicedriver/ctrl/HbotControlService.java
  13. 2
      src/main/java/a8k/service/app/devicedriver/ctrl/PipetteGunCtrlService.java
  14. 6
      src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java

2
src/main/java/a8k/service/app/appctrl/DeviceInitCtrlService.java
View File

@ -9,7 +9,7 @@ import a8k.service.debug.AppDebugHelperService;
import a8k.type.checkpoint.CheckResult;
import a8k.type.checkpoint.Checkpoint;
import a8k.service.app.appstate.GStateService;
import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
import a8k.service.app.devicedriver.basectrl.HbotModule;
import a8k.type.exception.AppException;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;

7
src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java
View File

@ -3,8 +3,6 @@ package a8k.service.app.appctrl.mainflowctrl.action;
import a8k.OS;
import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
import a8k.service.app.appdata.AppProjInfoMgrService;
import a8k.service.app.appstate.type.state.IncubationSubTankState;
import a8k.service.app.appstate.type.state.ProjProcessState;
import a8k.service.debug.AppDebugHelperService;
import a8k.utils.AppExceptionBuilder;
import a8k.service.bases.AppEventBusService;
@ -13,8 +11,7 @@ import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
import a8k.service.app.appstate.*;
import a8k.service.app.appstate.resource.A8kPublicResourceType;
import a8k.service.app.appstate.type.Tube;
import a8k.service.app.appstate.type.state.TubeState;
import a8k.service.app.devicedriver.ctrl.HbotControlService;
import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
@ -63,7 +60,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
@Resource
SamplesPreProcesCtrl samplesPreProcesCtrl;
@Resource
HbotControlService hbotControlService;
HbotBaseMoveControlService hbotBaseMoveControlService;
@Resource
IncubationPlateStateMgrService incubationPlateStateMgrService;
@Resource

2
src/main/java/a8k/service/app/devicedriver/ctrl/CodeScaner.java → src/main/java/a8k/service/app/devicedriver/basectrl/CodeScaner.java
View File

@ -1,4 +1,4 @@
package a8k.service.app.devicedriver.ctrl;
package a8k.service.app.devicedriver.basectrl;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.MId;

208
src/main/java/a8k/service/app/devicedriver/basectrl/HbotBaseMoveControlService.java
View File

@ -0,0 +1,208 @@
package a8k.service.app.devicedriver.basectrl;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicedriver.basectrl.type.PipetteRegIndex;
import a8k.type.exception.AppException;
import a8k.type.cfg.*;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.hardware.type.a8kcanprotocol.IOId;
import a8k.hardware.type.a8kcanprotocol.MId;
import a8k.hardware.type.regindex.RegIndex;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
/**
* Hbot控制服务
*/
@Component
@ExtApiTab(cfg = ExtApiTabConfig.HbotControlService)
public class HbotBaseMoveControlService {
static Logger logger = LoggerFactory.getLogger(HbotBaseMoveControlService.class);
@Resource
A8kCanBusService canBus;
@Resource
PipetteCtrlModule pipetteCtrlModule;
@Resource
HbotModule hbotModule;
Integer ao = 20000;
public void hbotMoveTo(Pos3d targetPos) throws AppException {
logger.info("hbotCheckAndMoveTo:{}", targetPos);
// 检查盖板是否关闭
if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
}
boolean zEnable = true;
boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
//检查Z轴是否使能，如果没有使能，使能并移动到零点
if (pipetteCtrlModule.getReg(PipetteRegIndex.kreg_pipette_zm_is_enable) == 0) {
pipetteCtrlModule.zMotorEnable(1);
pipetteCtrlModule.zMotorMoveZeroBlock();
zEnable = false;
}
//检查Z轴是否在零点
if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
}
if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
throw new AppException(A8kEcode.CODEERROR_ZM_NOT_AT_ZERO_POS_WHEN_HBOT_TRY_MOVE);
}
// HBot移动
hbotModule.enable(1);
hbotModule.moveToBlock(targetPos.x - 20, targetPos.y - 20, ao);
hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
// Z轴移动
if (targetPos.z != 0) {
pipetteCtrlModule.zMotorEnable(1);
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
pipetteCtrlModule.zMotorMoveToBlock(targetPos.z);
}
pipetteCtrlModule.zMotorEnable(zEnable ? 1 : 0);
hbotModule.enable(hbotEnable ? 1 : 0);
}
public void hbotMoveTo(Pos2d tpos) throws AppException {
hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
}
// public String scan2dCode(Integer waittime) throws AppException {
// try {
// canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
// String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
// canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
// return result;
// } catch (AppException e) {
// return "";
// }
// }
//
//
// public void zMoveTo(Integer z) throws AppException {
// if (z == 0) {
// pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
// } else {
// pipetteCtrlModule.zMotorMoveToBlock(z);
// }
// }
//
// private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
// hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
// }
// private void modGroupMoveToZero() throws AppException {
// if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
// throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
// }
//
// pipetteCtrlModule.zMotorEnable(1);
// hbotModule.enable(1);
//
// hbotModule.moveToZeroBlock(timep.getHbotRuntoZeroActionOvertime());
//
// // 丢弃tip
// Pos3d dropPos = pp.getTipDropPos();
// hbotMoveTo(dropPos);
// // TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
//
// // 快速归零
// modGroupMoveToZeroQuick();
// }
// private void modGroupMoveToZeroQuick() throws AppException {
// hbotCheckAndMoveTo(new Pos2d(0, 0));
// }
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 单步测试
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// @ExtApiFn(name = "丢Tip", group = "单步测试")
// public void dropTip() throws AppException {
// Pos3d pos = pp.getTipDropPos();
// hbotMoveTo(pos.x, pos.y);
// zMoveTo(pos.z);
// pipetteCtrlModule.putTipBlock();
// zMoveTo(0);
// }
//
// @ExtApiFn(name = "取Tip", group = "单步测试")
// public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
// logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
//
// if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
// throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
// }
//
// TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
// Pos2d pos = tipPos.getTipPos(tipGroup.ordinal(), index);
// hbotMoveTo(pos.x, pos.y);
//
// //TODO: 补偿，group大于1时，z轴需要补偿0.2mm
// Integer zCompensate = 0;
// if (tipGroup.ordinal() > 1) {
// zCompensate = 2;
// }
//
// pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(tipGroup.ordinal()) + zCompensate);
// pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
//
// Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
// if (!isGetTip) {
// logger.error("takeTip fail");
// }
// return isGetTip;
// }
// @ExtApiFn(name = "HBot移动到", group = "单步测试")
// public void hbotMoveTo(Integer x, Integer y) throws AppException {
// hbotCheckAndMoveTo(new Pos2d(x, y));
// }
// @ExtApiFn(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
// public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole)
// throws AppException {
// BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
// if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
// throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
// }
// Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
// hbotCheckAndMoveTo(pos);
// }
//
// @ExtApiFn(name = "HBot移动到探测物质X孔", group = "单步测试")
// public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole)
// throws AppException {
// BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
// if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
// throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
// }
// Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
// hbotCheckAndMoveTo(pos);
// }
//
// @ExtApiFn(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试")
// public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws AppException {
// LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo();
// Pos2d pos = posInfo.cgetBottlePos(ch.off);
// hbotCheckAndMoveTo(pos);
// }
//
// @ExtApiFn(name = "HBot移动到急诊位", group = "单步测试")
// public void hbotMoveToEmergencyPos() throws AppException {
// hbotMoveTo(pp.getEmergencyPos());
// }
}

4
src/main/java/a8k/service/app/devicedriver/ctrl/basic/HbotModule.java → src/main/java/a8k/service/app/devicedriver/basectrl/HbotModule.java
View File

@ -1,9 +1,9 @@
package a8k.service.app.devicedriver.ctrl.basic;
package a8k.service.app.devicedriver.basectrl;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.CmdId;
import a8k.hardware.type.a8kcanprotocol.MId;
import a8k.service.app.devicedriver.ctrl.type.HbotRegIndex;
import a8k.service.app.devicedriver.basectrl.type.HbotRegIndex;
import a8k.type.cfg.Pos2d;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;

4
src/main/java/a8k/service/app/devicedriver/ctrl/basic/PipetteCtrlModule.java → src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
View File

@ -1,4 +1,4 @@
package a8k.service.app.devicedriver.ctrl.basic;
package a8k.service.app.devicedriver.basectrl;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiTab;
@ -7,7 +7,7 @@ import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.LldType;
import a8k.hardware.type.a8kcanprotocol.CmdId;
import a8k.hardware.type.a8kcanprotocol.MId;
import a8k.service.app.devicedriver.ctrl.type.PipetteRegIndex;
import a8k.service.app.devicedriver.basectrl.type.PipetteRegIndex;
import a8k.hardware.type.regindex.RegIndex;
import a8k.type.exception.AppException;
import com.fasterxml.jackson.databind.ObjectMapper;

2
src/main/java/a8k/service/app/devicedriver/ctrl/type/HbotRegIndex.java → src/main/java/a8k/service/app/devicedriver/basectrl/type/HbotRegIndex.java
View File

@ -1,4 +1,4 @@
package a8k.service.app.devicedriver.ctrl.type;
package a8k.service.app.devicedriver.basectrl.type;
import a8k.hardware.type.regindex.RegIndex;

2
src/main/java/a8k/service/app/devicedriver/ctrl/type/PipetteRegIndex.java → src/main/java/a8k/service/app/devicedriver/basectrl/type/PipetteRegIndex.java
View File

@ -1,4 +1,4 @@
package a8k.service.app.devicedriver.ctrl.type;
package a8k.service.app.devicedriver.basectrl.type;
public enum PipetteRegIndex {
kreg_module_version(0), // 模块版本

4
src/main/java/a8k/service/app/devicedriver/calibration/Hbot2DCodeScanPosCalibration.java
View File

@ -5,8 +5,8 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.hardware.A8kCanBusService;
import a8k.service.app.devicedriver.ctrl.basic.PipetteCtrlModule;
import a8k.service.app.devicedriver.ctrl.CodeScaner;
import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
import a8k.service.app.devicedriver.basectrl.CodeScaner;
import a8k.service.app.devicedriver.param.Hbot2DCodeScanPos;
import a8k.type.exception.AppException;
import com.fasterxml.jackson.databind.ObjectMapper;

2
src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java
View File

@ -1,7 +1,7 @@
package a8k.service.app.devicedriver.commonctrl;
import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
import a8k.service.app.devicedriver.basectrl.HbotModule;
import a8k.type.exception.AppException;
import a8k.type.appret.AppRet;
import a8k.extapi_controler.utils.ExtApiTab;

19
src/main/java/a8k/service/app/devicedriver/ctrl/ConsumablesScanCtrl.java
View File

@ -1,5 +1,7 @@
package a8k.service.app.devicedriver.ctrl;
import a8k.service.app.devicedriver.basectrl.CodeScaner;
import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
import a8k.service.bases.ActionReactorService;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
@ -21,43 +23,42 @@ public class ConsumablesScanCtrl {
@Resource
ActionReactorService ar;
@Resource
GStateService stateMgrService;
@Resource
Hbot2DCodeScanPos hbotScanPos;
@Resource
HbotControlService hbot;
CodeScaner codeScaner;
@Resource
HbotBaseMoveControlService hbot;
private void hbotMoveTo(Pos2d tpos) throws AppException {
hbot.hbotMoveTo(tpos);
}
private String scan2dCode(Integer waittime) throws AppException {
return hbot.scan2dCode(waittime);
private String scan2dCode() throws AppException {
return codeScaner.pipetteModCodeScannerScanCode();
}
private String scanPB(int ch) throws AppException {
Pos2d pos = hbotScanPos.getPBScanPosX(ch);
hbotMoveTo(pos);
return scan2dCode(100);
return scan2dCode();
}
private String scanLittBS(int ch) throws AppException {
Pos2d pos = hbotScanPos.getLittBSX(ch);
hbotMoveTo(pos);
return scan2dCode(100);
return scan2dCode();
}
private String scanLarBS(int ch) throws AppException {
Pos2d pos = hbotScanPos.getLarBSX(ch);
hbotMoveTo(pos);
return scan2dCode(100);
return scan2dCode();
}

314
src/main/java/a8k/service/app/devicedriver/ctrl/HbotControlService.java
View File

@ -1,314 +0,0 @@
package a8k.service.app.devicedriver.ctrl;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicedriver.ctrl.basic.PipetteCtrlModule;
import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
import a8k.service.app.devicedriver.ctrl.type.PipetteRegIndex;
import a8k.service.app.devicedriver.param.PosParam;
import a8k.service.app.devicedriver.param.TimeParam;
import a8k.type.ConsumableGroup;
import a8k.type.exception.AppException;
import a8k.type.cfg.*;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.hardware.type.a8kcanprotocol.IOId;
import a8k.hardware.type.a8kcanprotocol.MId;
import a8k.hardware.type.regindex.RegIndex;
import a8k.type.type.TipGroup;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
/**
* Hbot控制服务
*/
@Component
@ExtApiTab(cfg = ExtApiTabConfig.HbotControlService)
public class HbotControlService {
static Logger logger = LoggerFactory.getLogger(HbotControlService.class);
@Resource
A8kCanBusService canBus;
@Resource
PipetteCtrlModule pipetteCtrlModule;
@Resource
HbotModule hbotModule;
@Resource
PosParam pp;
@Resource
TimeParam timep;
Integer ao = 20000;
public void hbotMoveTo(Pos3d targetPos) throws AppException {
logger.info("hbotCheckAndMoveTo:{}", targetPos);
// 检查盖板是否关闭
if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
}
boolean zEnable = true;
boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
//检查Z轴是否使能，如果没有使能，使能并移动到零点
if (pipetteCtrlModule.getReg(PipetteRegIndex.kreg_pipette_zm_is_enable) == 0) {
pipetteCtrlModule.zMotorEnable(1);
pipetteCtrlModule.zMotorMoveZeroBlock();
zEnable = false;
}
//检查Z轴是否在零点
if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
}
if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
throw new AppException(A8kEcode.CODEERROR_ZM_NOT_AT_ZERO_POS_WHEN_HBOT_TRY_MOVE);
}
// HBot移动
hbotModule.enable( 1);
hbotModule.moveToBlock( targetPos.x - 20, targetPos.y - 20, ao);
hbotModule.moveToBlock( targetPos.x, targetPos.y, ao);
hbotModule.moveToBlock( targetPos.x, targetPos.y, ao);
// Z轴移动
if (targetPos.z != 0) {
pipetteCtrlModule.zMotorEnable(1);
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
pipetteCtrlModule.zMotorMoveToBlock(targetPos.z);
}
pipetteCtrlModule.zMotorEnable(zEnable ? 1 : 0);
hbotModule.enable( hbotEnable ? 1 : 0);
}
public void hbotMoveTo(Pos2d tpos) throws AppException {
hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
}
public String scan2dCode(Integer waittime) throws AppException {
try {
canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
return result;
} catch (AppException e) {
return "";
}
}
//
// public Integer getGripperZeroYPos() {
// 之所以这样写，是因为是为了放置两个类之间的循环依赖
// assert appCxt != null;
// TODO
// return
// appCxt.getBean(SamplesPreProcessModuleCtrlService.class).getGripperZeroYPos();
// return 0;
// }
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 基础控制
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
public void zMoveTo(Integer z) throws AppException {
if (z == 0) {
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
} else {
pipetteCtrlModule.zMotorMoveToBlock(z);
}
}
private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
}
private void modGroupMoveToZero() throws AppException {
if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
}
pipetteCtrlModule.zMotorEnable(1);
hbotModule.enable( 1);
hbotModule.moveToZeroBlock( timep.getHbotRuntoZeroActionOvertime());
// 丢弃tip
Pos3d dropPos = pp.getTipDropPos();
hbotMoveTo(dropPos);
// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
// 快速归零
modGroupMoveToZeroQuick();
}
private void modGroupMoveToZeroQuick() throws AppException {
hbotCheckAndMoveTo(new Pos2d(0, 0));
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 单步测试
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@ExtApiFn(name = "丢Tip", group = "单步测试")
public void dropTip() throws AppException {
Pos3d pos = pp.getTipDropPos();
hbotMoveTo(pos.x, pos.y);
zMoveTo(pos.z);
pipetteCtrlModule.putTipBlock();
zMoveTo(0);
}
@ExtApiFn(name = "取Tip", group = "单步测试")
public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
}
TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
Pos2d pos = tipPos.getTipPos(tipGroup.ordinal(), index);
hbotMoveTo(pos.x, pos.y);
//TODO: 补偿，group大于1时，z轴需要补偿0.2mm
Integer zCompensate = 0;
if (tipGroup.ordinal() > 1) {
zCompensate = 2;
}
pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(tipGroup.ordinal()) + zCompensate);
pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
if (!isGetTip) {
logger.error("takeTip fail");
}
return isGetTip;
}
@ExtApiFn(name = "HBot移动到", group = "单步测试")
public void hbotMoveTo(Integer x, Integer y) throws AppException {
hbotCheckAndMoveTo(new Pos2d(x, y));
}
@ExtApiFn(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole)
throws AppException {
BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
}
Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
hbotCheckAndMoveTo(pos);
}
@ExtApiFn(name = "HBot移动到探测物质X孔", group = "单步测试")
public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole)
throws AppException {
BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
}
Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
hbotCheckAndMoveTo(pos);
}
@ExtApiFn(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试")
public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws AppException {
LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo();
Pos2d pos = posInfo.cgetBottlePos(ch.off);
hbotCheckAndMoveTo(pos);
}
@ExtApiFn(name = "HBot移动到急诊位", group = "单步测试")
public void hbotMoveToEmergencyPos() throws AppException {
hbotMoveTo(pp.getEmergencyPos());
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 坐标获取工具
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@ExtApiFn(name = "Hbot使能", group = "坐标获取工具")
public void hBotEnable() throws AppException {
hbotModule.enable( 1);
}
@ExtApiFn(name = "Hbot失能", group = "坐标获取工具")
public void hBotDisable() throws AppException {
hbotModule.enable(0);
}
@ExtApiFn(name = "Z轴使能", group = "坐标获取工具")
public void zAxisEnable() throws AppException {
pipetteCtrlModule.zMotorEnable(1);
}
@ExtApiFn(name = "Z轴失能", group = "坐标获取工具")
public void zAxisDisable() throws AppException {
pipetteCtrlModule.zMotorEnable(0);
}
@ExtApiFn(name = "归零读取Z轴坐标", group = "坐标获取工具")
public Integer readZAxisPosByMoveToZero() throws AppException {
pipetteCtrlModule.zMotorMeasureDistance();
return pipetteCtrlModule.zMotorReadMeasureDistanceResult();
}
@ExtApiFn(name = "打开扫码器", group = "坐标获取工具")
public void openCodeScaner(Boolean power) throws AppException {
if (power) {
canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
} else {
canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
}
}
Pos2d hbotRefPos = new Pos2d(0, 0);
@ExtApiFn(name = "设置HBOT参考坐标", group = "坐标获取工具")
public void setHbotRefPos(Integer x, Integer y) throws AppException {
hbotRefPos.x = x;
hbotRefPos.y = y;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// hbot取样品
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
public Boolean getXPPS() throws AppException {
return hbotModule.readInIO(0);
}
public Boolean getYPPS() throws AppException {
return hbotModule.readInIO(1);
}
public Boolean getTipPPS() throws AppException {
return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
}
public String getPos() throws AppException {
Pos2d pos = hbotModule.readPos();
return pos.toString();
}
// public String getHbotRelaPos() throws AppException {
// Pos2d pos = hbotModule.hbotReadPos(MId.HbotM);
// pos.x -= hbotRefPos.x;
// pos.y -= hbotRefPos.y;
// return pos.toString();
// }
}

2
src/main/java/a8k/service/app/devicedriver/ctrl/PipetteGunCtrlService.java
View File

@ -10,8 +10,6 @@ import org.springframework.stereotype.Component;
* 移液枪功能
* 1.
*
*
*
*/
@Component

6
src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java
View File

@ -11,7 +11,7 @@ import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.service.app.devicedriver.ctrl.HbotControlService;
import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
import a8k.service.app.devicedriver.param.DebugParam;
import a8k.service.app.devicedriver.param.PosParam;
@ -45,7 +45,7 @@ public class TestScript {
ApplicationContext appCxt;
@Resource
HbotControlService hbotcs;
HbotBaseMoveControlService hbotcs;
@Resource
TimeParam timep;
@ -63,7 +63,7 @@ public class TestScript {
@Resource
SampleScanTransportHardwareControler sampleScanTransportHardwareControler;
EnginnerParamReader settingReader = new EnginnerParamReader(HbotControlService.class);
EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControlService.class);
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 测试

Write Preview
Loading…
Cancel
Save