update

src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java

@@ -162,11 +162,13 @@ public class ExtApiPageGroupCfgMgr {
 
 		pushMenu(
 				new Menu("测量", List.of(
-						new Menu(HbotPosMeasurePage.class, "HBOT测量"),
+						new Menu(HbotPosMeasurePage.class, "HBOT测量(电控)"),
+						new Menu(HbotFreedomPosMeasurePage.class, "HBO测量(自由模式)"),
 						new Menu(FeedingModMeasurePage.class, "入料模组"),
 						new Menu(ShakeModStepMotorMeasurePage.class, "摇匀模组"),
 						new Menu(PlatesBoxMeasurePage.class, "板夹仓"),
 						new Menu(IncubatorMeasurePage.class, "孵育盘"),
+
 						new Menu(OptModMeasurePage.class, "光学模组")
 				)));
 

src/main/java/a8k/extui/page/measurement/HbotFreedomPosMeasurePage.java

@@ -0,0 +1,68 @@
+package a8k.extui.page.measurement;
+
+import a8k.app.a8ktype.device.Pos2d;
+import a8k.app.a8ktype.device.Pos3d;
+import a8k.app.a8ktype.exception.AppException;
+import a8k.app.hardware.driver.HbotDriver;
+import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.service.lowerctrl.HbotMoveCtrlService;
+import a8k.extui.mgr.ExtApiPageMgr;
+import a8k.extui.type.ExtApiStatu;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Component
+public class HbotFreedomPosMeasurePage {
+	@Resource
+	ExtApiPageMgr extApiPageMgr;
+
+	@Resource
+	HbotDriver hbotDriver;
+
+	@Resource
+	HbotMoveCtrlService hbotMoveCtrlService;
+
+	@Resource
+	PipetteCtrlDriver pipetteCtrlDriver;
+
+
+
+
+	public List<String> measurePosHistory = new ArrayList<>();
+
+	@ExtApiStatu(group = "测量位置历史记录")
+	public List<String> getMeasurePosHistory() {
+		return measurePosHistory;
+	}
+
+	public void measurementCurrentPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		Pos3d pos = new Pos3d();
+		pos.z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pos.x = hbotDriver.readPos().x;
+		pos.y = hbotDriver.readPos().y;
+		pipetteCtrlDriver.zMotorEnable(0);
+		measurePosHistory.add(String.format("x: %3d, y: %3d, z: %3d", pos.x, pos.y, pos.z));
+//		return pos;
+	}
+
+	public void zmoveBy(Integer dpos) throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveByBlock(dpos);
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+	@PostConstruct
+	public void init() {
+		var page = extApiPageMgr.newPage(this);
+		page.addFunction("测量当前位置", this::measurementCurrentPos);
+		page.newGroup("Z轴控制");
+		page.addFunction("Z轴相对移动", this::zmoveBy);
+		extApiPageMgr.addPage(page);
+	}
+}

src/main/java/a8k/extui/page/measurement/HbotPosMeasurePage.java

@@ -5,6 +5,7 @@ import a8k.app.a8ktype.device.Pos3d;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.hardware.driver.HbotDriver;
 import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.hardware.driver.type.PipetteRegIndex;
 import a8k.app.service.lowerctrl.HbotMoveCtrlService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtApiStatu;
@@ -26,16 +27,26 @@ public class HbotPosMeasurePage {
 	@Resource
 	PipetteCtrlDriver pipetteCtrlDriver;
 
-	@ExtApiStatu(name = "Hbot当前坐标")
-	public Object readPos() throws AppException {
-		return hbotDriver.readPos();
+	@ExtApiStatu(group = "Hbot当前坐标")
+	public Pos3d readPos() throws AppException {
+		Pos3d pos = new Pos3d();
+		pos.x = hbotDriver.readPos().x;
+		pos.y = hbotDriver.readPos().y;
+		pos.z = pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
+		return pos;
 	}
 
-	public void moveTo(Integer x, Integer y, Integer z) throws AppException {
-		hbotDriver.enable(1);
-		pipetteCtrlDriver.zMotorEnable(1);
-		pipetteCtrlDriver.zMotorMoveZeroBlock();
-		hbotMoveCtrlService.hbotMoveTo(x, y, z);
+	Integer moveByDistance       = 100;
+	Integer zMotorMoveByDistance = 10;
+
+	@ExtApiStatu(group = "HBOT相对移动距离")
+	public Integer getMoveByDistance() {
+		return moveByDistance;
+	}
+
+	@ExtApiStatu(group = "Z轴相对移动距离")
+	public Integer getZMotorMoveByDistance() {
+		return zMotorMoveByDistance;
 	}
 
 	public void moveBy(Integer dx, Integer dy) throws AppException {
@@ -47,6 +58,52 @@ public class HbotPosMeasurePage {
 		hbotDriver.moveToBlock(pos.x, pos.y);
 	}
 
+	void zMotorMoveBy(Integer dz) throws AppException {
+		pipetteCtrlDriver.zMotorMoveByBlock(dz);
+	}
+
+
+	synchronized public void setMoveByDistance(Integer distance) {
+		moveByDistance = distance;
+	}
+
+	synchronized public void setzMotorMoveByDistance(Integer distance) {
+		zMotorMoveByDistance = distance;
+	}
+
+
+	synchronized public void enableMeasurment() throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		hbotDriver.moveToZeroBlock();
+	}
+
+	public void moveUp() throws AppException {
+		moveBy(0, -moveByDistance);
+	}
+
+	public void moveDown() throws AppException {
+		moveBy(0, moveByDistance);
+	}
+
+	public void moveLeft() throws AppException {
+		moveBy(-moveByDistance, 0);
+	}
+
+	public void moveRight() throws AppException {
+		moveBy(moveByDistance, 0);
+	}
+
+	public void zmoveUp() throws AppException {
+		zMotorMoveBy(-zMotorMoveByDistance);
+	}
+
+	public void zmoveDown() throws AppException {
+		zMotorMoveBy(zMotorMoveByDistance);
+	}
+
+
 	public Pos3d measurementCurrentPos() throws AppException {
 		pipetteCtrlDriver.zMotorMeasureDistance();
 		Pos3d pos = new Pos3d();
@@ -57,28 +114,25 @@ public class HbotPosMeasurePage {
 	}
 
 
-	public Integer readXPos() {
-		try {
-			return hbotDriver.readPos().x;
-		} catch (AppException e) {
-			return 0;
-		}
-	}
-
-	public Integer readYPos() {
-		try {
-			return hbotDriver.readPos().y;
-		} catch (AppException e) {
-			return 0;
-		}
-	}
-
 	@PostConstruct
 	public void init() {
 		var page = extApiPageMgr.newPage(this);
-		page.addFunction("移动到", this::moveTo).setParamVal("x", this::readXPos).setParamVal("y", this::readYPos);
-		page.addFunction("相对移动", this::moveBy).setParamVal("dx", 0).setParamVal("dy", 0);
-		page.addFunction("测量当前位置", this::measurementCurrentPos);
+
+		page.newGroup("基础");
+		page.addFunction("开始测量", this::enableMeasurment);
+
+		page.newGroup("Hbot");
+		page.addFunction("设置相对移动距离", this::setMoveByDistance).setParamVal("distance", () -> moveByDistance);
+		page.addFunction("上", this::moveUp);
+		page.addFunction("下", this::moveDown);
+		page.addFunction("左", this::moveLeft);
+		page.addFunction("右", this::moveRight);
+
+		page.newGroup("Z轴");
+		page.addFunction("设置Z轴相对移动距离", this::setzMotorMoveByDistance).setParamVal("distance", () -> zMotorMoveByDistance);
+		page.addFunction("上", this::zmoveUp);
+		page.addFunction("下", this::zmoveDown);
+
 		extApiPageMgr.addPage(page);
 	}
 }

src/main/java/a8k/extui/page/measurement/HbotPosMeasurePageBak.java

@@ -1,96 +0,0 @@
-package a8k.extui.page.measurement;
-
-import a8k.app.a8ktype.device.Pos2d;
-import a8k.app.a8ktype.device.Pos3d;
-import a8k.app.a8ktype.exception.AppException;
-import a8k.app.hardware.driver.HbotDriver;
-import a8k.app.hardware.driver.PipetteCtrlDriver;
-import a8k.app.service.lowerctrl.HbotMoveCtrlService;
-import a8k.extui.mgr.ExtApiPageMgr;
-import a8k.extui.type.ExtApiStatu;
-import jakarta.annotation.PostConstruct;
-import jakarta.annotation.Resource;
-import org.springframework.stereotype.Component;
-
-@Component
-public class HbotPosMeasurePageBak {
-	@Resource
-	ExtApiPageMgr extApiPageMgr;
-
-	@Resource
-	HbotDriver hbotDriver;
-
-	@Resource
-	HbotMoveCtrlService hbotMoveCtrlService;
-
-	@Resource
-	PipetteCtrlDriver pipetteCtrlDriver;
-
-	@ExtApiStatu(name = "Hbot当前坐标")
-	public Object readPos() throws AppException {
-		return hbotDriver.readPos();
-	}
-
-	public void disableHbot() throws AppException {
-		hbotDriver.enable(0);
-		pipetteCtrlDriver.zMotorEnable(0);
-	}
-
-	public void enableHbot() throws AppException {
-		hbotDriver.enable(1);
-		pipetteCtrlDriver.zMotorEnable(1);
-	}
-
-	public void moveTo(Integer x, Integer y, Integer z) throws AppException {
-		hbotDriver.enable(1);
-		pipetteCtrlDriver.zMotorEnable(1);
-		pipetteCtrlDriver.zMotorMoveZeroBlock();
-		hbotMoveCtrlService.hbotMoveTo(x, y, z);
-	}
-
-	public void moveBy(Integer dx, Integer dy) throws AppException {
-		hbotDriver.enable(1);
-		pipetteCtrlDriver.zMotorEnable(1);
-		Pos2d pos = hbotDriver.readPos();
-		pos.x += dx;
-		pos.y += dy;
-		hbotDriver.moveToBlock(pos.x, pos.y);
-	}
-
-	public Pos3d measurementCurrentPos() throws AppException {
-		pipetteCtrlDriver.zMotorMeasureDistance();
-		Pos3d pos = new Pos3d();
-		pos.z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
-		pos.x = hbotDriver.readPos().x;
-		pos.y = hbotDriver.readPos().y;
-		return pos;
-	}
-
-
-	public Integer readXPos() {
-		try {
-			return hbotDriver.readPos().x;
-		} catch (AppException e) {
-			return 0;
-		}
-	}
-
-	public Integer readYPos() {
-		try {
-			return hbotDriver.readPos().y;
-		} catch (AppException e) {
-			return 0;
-		}
-	}
-
-	@PostConstruct
-	public void init() {
-		var page = extApiPageMgr.newPage(this);
-		page.addFunction("使能HBOT", this::enableHbot);
-		page.addFunction("失能HBOT", this::disableHbot);
-		page.addFunction("移动到", this::moveTo).setParamVal("x", this::readXPos).setParamVal("y", this::readYPos);
-		page.addFunction("相对移动", this::moveBy).setParamVal("dx", 0).setParamVal("dy", 0);
-		page.addFunction("测量当前位置", this::measurementCurrentPos);
-		extApiPageMgr.addPage(page);
-	}
-}

src/main/java/a8k/extui/type/ExtApiStatu.java

@@ -7,7 +7,7 @@ import java.lang.annotation.Target;
 @Retention(RetentionPolicy.RUNTIME)
 @Target({ElementType.METHOD})
 public @interface ExtApiStatu {
-	String name();
+	String name() default "";
 	String group() default "";
 	String minWidth() default "20%";
 	int order() default 0;

src/main/resources/db/zapp_a8k_pos_parameter.csv

@@ -28,10 +28,10 @@ id,service,key,valType,val,chName
 42,HbotSamplePosParamMgr,Bulltube0P5SampleEndPos,Pos3d,"{""x"":2331,""y"":3773,""z"":649}",<子弹头试管0.5mL>取样结束位置
 43,HbotSamplePosParamMgr,StoolTestTubeSamplePos,Pos3d,"{""x"":2331,""y"":3773,""z"":433}",<粪便试管>取样位置
 44,HbotSamplePosParamMgr,StoolTestTubeSampleEndPos,Pos3d,"{""x"":2331,""y"":3773,""z"":649}",<粪便试管>取样结束位置
-45,HbotLittleBSPosMgr,LittleBufferGroup0_000Pos,Pos2d,"{""x"":899,""y"":1101}",第1组小瓶缓冲液的第1个位置
+45,HbotLittleBSPosMgr,LittleBufferGroup0_000Pos,Pos2d,"{""x"":901,""y"":1105}",第1组小瓶缓冲液的第1个位置
 53,HbotLittleBSPosMgr,LittleBSPierceXYAppendDistance,Double,"{""value"":7.0}",小瓶缓冲液刺破XY附加距离
 54,HbotLittleBSPosMgr,LittleBSPierceZPos,Integer,"{""value"":528}",小瓶缓冲液刺破Z坐标
-55,HbotLittleBSPosMgr,LittleBSSampleZPos,Integer,"{""value"":593}",小瓶缓冲液取样Z坐标
+55,HbotLittleBSPosMgr,LittleBSSampleZPos,Integer,"{""value"":621}",小瓶缓冲液取样Z坐标
 56,HbotLargeBottleBSPosMgr,LargeBuffer_0Pos,Pos2d,"{""x"":4576,""y"":1364}",大瓶缓冲液的第1个位置
 57,HbotLargeBottleBSPosMgr,LargeBuffer_DX,Double,"{""value"":281.0}",大瓶缓冲液的X间距
 58,HbotLargeBottleBSPosMgr,LargeBuffer_DY,Double,"{""value"":274.0}",大瓶缓冲液的Y间距
@@ -49,9 +49,6 @@ id,service,key,valType,val,chName
 83,TurntablePosParamMgr,PullPos0,Integer,"{""value"":19700}",出板位置
 84,TurntablePosParamMgr,DropLiquidPos0,Integer,"{""value"":10600}",滴液位置
 85,TurntablePosParamMgr,PosSpacing,Integer,"{""value"":1800}",位置间隔
-86,PipetteGunLLDParamMgr,DEFAULT_C_THRESHOLD,Integer,"{""value"":15}",默认电容C阈值
-87,PipetteGunLLDParamMgr,DEFAULT_P_THRESHOLD,Integer,"{""value"":50}",默认压力阈值
-88,PipetteGunLLDParamMgr,DEFAULT_LLD_TYPE,LldType,"{""value"":""kplld""}",默认LLD类型
 89,PipetteGunLLFParamMgr,EMERGENCY_TUBE_LLF_VEL,Integer,"{""value"":25}",<急诊试管>液面跟随速度
 90,PipetteGunLLFParamMgr,BLOOD_TUBE_LLF_VEL,Integer,"{""value"":25}",<全血试管>液面跟随速度
 91,PipetteGunLLFParamMgr,MINI_TUBE_LLF_VEL,Integer,"{""value"":25}",<迷你试管>液面跟随速度
@@ -102,3 +99,5 @@ id,service,key,valType,val,chName
 139,HbotLittleBSPosMgr,ProbeSubstanceSampleZPos,Integer,"{""value"":475}",探测物质取样Z坐标
 140,HbotLargeBottleBSPosMgr,LargeBufferScanPos_DX,Double,"{""value"":280}",大瓶缓冲液的扫码位置dx
 141,HbotLargeBottleBSPosMgr,LargeBufferScanPos_DY,Double,"{""value"":580}",大瓶缓冲液的扫码位置dy
+142,RefPosMgr,HbotXYRefPoint,Pos2d,null,HBOT-XY参考点
+143,RefPosMgr,HbotZRefPlane,Integer,null,HBOT-Z参考平面