update

src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java

@@ -104,45 +104,54 @@ public class HbotConsumablePosCalibration {
 
 	TipGroup          tipGroup;
 	List<TipRefPoint> tipRefPosList;
-	Pos3d             tip000 = new Pos3d(0, 0, 0);
+	Pos3d             tip000;
 	Double            tipdx;
 	Double            tipdy;
 
-	//	TipRefPoint findTipRefPoint(TipRowNum row, TipColumnNum col) {
-	//		for (TipRefPoint tipRefPoint : tipRefPosList) {
-	//			if (tipRefPoint.row == row && tipRefPoint.col == col) {
-	//				return tipRefPoint;
-	//			}
-	//		}
-	//		return null;
-	//	}
 
 	@ExtApiFn(name = "开始标定Tip坐标", group = "标定TIP坐标", order = 20)
-	public void startCalibrateTipPos(TipGroup tipGroup) {
+	public void startCalibrateTipPos(TipGroup tipGroup) throws AppException {
 		this.tipGroup = tipGroup;
 		tipRefPosList = new java.util.ArrayList<>();
+		deviceReset();
+		disableModule();
+		tipdx  = 0.0;
+		tipdy  = 0.0;
+		tip000 = new Pos3d(0, 0, 0);
 	}
 
 
 	@ExtApiFn(name = "添加Tip参考点", group = "标定TIP坐标", order = 21)
-	public void addTipPosRefPoint(TipRowNum row, TipColumnNum columnNum) throws AppException {
+	public Object addTipPosRefPoint(TipRowNum row, TipColumnNum columnNum) throws AppException {
 		enableModule();
 		Pos2d xypos = hbotModule.readPos();
 		pipetteCtrlModule.zMotorMeasureDistance();
 		Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
 		pipetteCtrlModule.putTipBlock();
-		tipRefPosList.add(new TipRefPoint(row, columnNum, new Pos3d(xypos.x, xypos.y, z)));
+		TipRefPoint tipRefPoint = new TipRefPoint(row, columnNum, new Pos3d(xypos.x, xypos.y, z));
+		tipRefPosList.add(tipRefPoint);
 		disableModule();
+
+		Map<String, Object> ret = new java.util.HashMap<>();
+		ret.put("newPoint", tipRefPoint);
+		ret.put("computeResult", computeTipGroupPos());
+		return ret;
 	}
 
-	@ExtApiFn(name = "获取Tip参考点", group = "标定TIP坐标", order = 22)
-	public List<TipRefPoint> getTipRefPosList() {
-		return tipRefPosList;
+	@ExtApiFn(name = "删除上一个Tip参考点", group = "标定TIP坐标", order = 22)
+	public Object removeTipPosRefPoint() throws AppException {
+		if (!tipRefPosList.isEmpty()) {
+			tipRefPosList.remove(tipRefPosList.size() - 1);
+		}
+		Map<String, Object> ret = new java.util.HashMap<>();
+		ret.put("computeResult", computeTipGroupPos());
+		return ret;
 	}
 
+
 	@ExtApiFn(name = "计算Tip坐标", group = "标定TIP坐标", order = 23)
 	public ObjectNode computeTipGroupPos() throws AppException {
-		TipRefPoint tip_ref_01_01 = tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.eq(TipRowNum.ROW01, TipColumnNum.Colu01)).findFirst().orElse(null);
+		TipRefPoint tip_ref_01_01 = tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.eq(TipRowNum.ROW00, TipColumnNum.Colu00)).findFirst().orElse(null);
 
 		if (tip_ref_01_01 == null) {
 			throw new AppException(A8kEcode.CALIBRATION_TIP_REF_POINT_NOT_ENOUGH);
@@ -151,13 +160,13 @@ public class HbotConsumablePosCalibration {
 
 		//计算tip01_01_x,取所有第一列tip坐标x的平局值
 		Double tip01_01_x = ZSimplAlgo.computeAverage(
-				tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.col == TipColumnNum.Colu01).
+				tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.col == TipColumnNum.Colu00).
 						map(tipRefPoint -> Double.valueOf(tipRefPoint.pos.x)).toList()
 		);
 
 		//计算tip01_01_y,取所有第1行tip坐标y的平局值
 		Double tip01_01_y = ZSimplAlgo.computeAverage(
-				tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.row == TipRowNum.ROW01).
+				tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.row == TipRowNum.ROW00).
 						map(tipRefPoint -> Double.valueOf(tipRefPoint.pos.y)).toList()
 		);
 
@@ -167,12 +176,12 @@ public class HbotConsumablePosCalibration {
 		);
 		//计算dx,所有点到tip01_01的距离除以行数 之后的平均值
 		Double dx = ZSimplAlgo.computeAverage(
-				tipRefPosList.stream().filter(point -> !point.col.equals(TipColumnNum.Colu01)).
+				tipRefPosList.stream().filter(point -> !point.col.equals(TipColumnNum.Colu00)).
 						map(point -> Math.abs(point.pos.x - Double.valueOf(tip_ref_01_01.pos.x)) / point.col.ordinal()).toList()
 		);
 		//计算dy,所有点到tip01_01的距离除以列数 之后的平均值
 		Double dy = ZSimplAlgo.computeAverage(
-				tipRefPosList.stream().filter(point -> !point.row.equals(TipRowNum.ROW01)).
+				tipRefPosList.stream().filter(point -> !point.row.equals(TipRowNum.ROW00)).
 						map(point -> Math.abs(point.pos.y - Double.valueOf(tip_ref_01_01.pos.y)) / point.row.ordinal()).toList()
 		);
 
@@ -190,6 +199,7 @@ public class HbotConsumablePosCalibration {
 		return node;
 	}
 
+
 	@ExtApiFn(name = "保存计算结果", group = "标定TIP坐标", order = 24)
 	public void saveTipGroupPos() throws AppException {
 		hbotConsumablePosMgr.setTipGroupParam(tipGroup, tip000, tipdx, tipdy);

src/main/java/a8k/service/app/devicedriver/ctrl/HbotControler.java

@@ -60,9 +60,9 @@ public class HbotControler {
 
 		//取tip
 		pipetteCtrlModule.zMotorMoveToBlock(tipPos.z - 100);
-//		if (!pipetteCtrlModule.isHasTip()) {
-//			throw new AppException(A8kEcode.APPE_TAKE_TIP_FAIL);
-//		}
+		if (!pipetteCtrlModule.isHasTip()) {
+			throw new AppException(A8kEcode.APPE_TAKE_TIP_FAIL);
+		}
 
 		//丢tip
 		pipetteCtrlModule.putTipBlock();

src/main/java/a8k/type/TipColumnNum.java

@@ -1,6 +1,7 @@
 package a8k.type;
 
 public enum TipColumnNum {
+	Colu00,
 	Colu01,
 	Colu02,
 	Colu03,
@@ -12,5 +13,4 @@ public enum TipColumnNum {
 	Colu09,
 	Colu10,
 	Colu11,
-	Colu12,
 }

src/main/java/a8k/type/TipRowNum.java

@@ -1,6 +1,7 @@
 package a8k.type;
 
 public enum TipRowNum {
+	ROW00,
 	ROW01,
 	ROW02,
 	ROW03,
@@ -10,5 +11,4 @@ public enum TipRowNum {
 	ROW07,
 	ROW08,
 	ROW09,
-	ROW10,
 }