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@ -15,7 +15,6 @@ import a8k.type.cfg.Pos3d; |
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import a8k.type.exception.AppException; |
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import a8k.utils.ZJsonHelper; |
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import a8k.utils.ZSimplAlgo; |
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import com.fasterxml.jackson.databind.JsonNode; |
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import com.fasterxml.jackson.databind.node.ObjectNode; |
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import jakarta.annotation.Resource; |
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import org.aspectj.lang.annotation.Aspect; |
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@ -61,8 +60,8 @@ public class HbotLittleBottleConsumableCalibration { |
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@ExtApiFn(name = "获取坐标", group = "基础", order = 1) |
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public Object getPoss(LittleBottleConsumableType type) throws AppException { |
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return hbotConsumablePosMgr.getLittleBottleConsumablePosInfo(type); |
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public Object getPoss() throws AppException { |
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return hbotConsumablePosMgr.getParams(); |
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} |
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@ -90,20 +89,18 @@ public class HbotLittleBottleConsumableCalibration { |
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LittleBottleConsumableType littleBottleConsumableType = LittleBottleConsumableType.BufferSolution; |
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List<LittleBottleConsumableRefPoint> littleBottleConsumableRefPoint = new java.util.ArrayList<>(); |
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LittleBottleConsumablePosInfo littleBottleConsumablePosInfo; |
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List<Integer> zpos = new java.util.ArrayList<>(); |
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@ExtApiFn(name = "开始标定小瓶坐标", group = "标定小瓶坐标", order = 30) |
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@ExtApiFn(name = "开始标定小瓶坐标", group = "标定小瓶XY坐标", order = 30) |
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public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException { |
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littleBottleConsumablePosInfo = null; |
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littleBottleConsumableRefPoint = new java.util.ArrayList<>(); |
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littleBottleConsumableType = type; |
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zpos.clear(); |
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moveToZero(); |
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disableModule(); |
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} |
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@ExtApiFn(name = "添加小瓶参考点", group = "标定小瓶坐标", order = 31) |
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@ExtApiFn(name = "添加小瓶参考点", group = "标定小瓶XY坐标", order = 31) |
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public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException { |
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enableModule(); |
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Pos2d xypos = hbotModule.readPos(); |
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@ -118,17 +115,8 @@ public class HbotLittleBottleConsumableCalibration { |
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return node; |
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} |
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@ExtApiFn(name = "添加Z轴坐标点", group = "标定小瓶坐标", order = 32) |
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public Object addLittleBottleGroupRefPoint() throws AppException { |
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enableModule(); |
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pipetteCtrlModule.zMotorMeasureDistance(); |
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Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult(); |
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zpos.add(z); |
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disableModule(); |
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return z; |
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} |
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@ExtApiFn(name = "计算坐标", group = "标定小瓶坐标", order = 32) |
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@ExtApiFn(name = "计算坐标", group = "标定小瓶XY坐标", order = 32) |
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public LittleBottleConsumablePosInfo computeLittleBottlePosInfo() { |
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//计算y0,所有group==0,1,2,同时0<=off<5的点，求平均 |
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Double[] y = new Double[2]; |
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@ -137,7 +125,7 @@ public class HbotLittleBottleConsumableCalibration { |
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Double[] dys = new Double[6]; |
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Double dx; |
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Double dy; |
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double z = 0.0; |
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// double z = 0.0; |
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LittleBottleConsumableRefPoint[] gx_00 = new LittleBottleConsumableRefPoint[6]; |
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@ -173,7 +161,7 @@ public class HbotLittleBottleConsumableCalibration { |
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littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 2 && point.index % 5 == 0). |
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map(point -> point.pos.x).toList() |
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); |
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z = ZSimplAlgo.computeAverage(zpos); |
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// z = ZSimplAlgo.computeAverage(zpos); |
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//计算d0x,所有 非0,5,10,15,20的点，到x0的距离/偏移差值，求平均 |
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for (int i = 0; i < 6; i++) { |
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int finalI = i; |
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@ -201,29 +189,55 @@ public class HbotLittleBottleConsumableCalibration { |
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} |
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dy = ZSimplAlgo.computeAverage(dys); |
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var oldposInfo = hbotConsumablePosMgr.getLittleBottleConsumablePosInfo(littleBottleConsumableType); |
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littleBottleConsumablePosInfo = new LittleBottleConsumablePosInfo(); |
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littleBottleConsumablePosInfo.g0_000 = new Pos3d(x[0].intValue(), y[0].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g1_000 = new Pos3d(x[1].intValue(), y[0].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g2_000 = new Pos3d(x[2].intValue(), y[0].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g3_000 = new Pos3d(x[0].intValue(), y[1].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g4_000 = new Pos3d(x[1].intValue(), y[1].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g5_000 = new Pos3d(x[2].intValue(), y[1].intValue(), (int) z); |
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littleBottleConsumablePosInfo.g0_000 = new Pos3d(x[0].intValue(), y[0].intValue(), oldposInfo.g0_000.z); |
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littleBottleConsumablePosInfo.g1_000 = new Pos3d(x[1].intValue(), y[0].intValue(), oldposInfo.g1_000.z); |
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littleBottleConsumablePosInfo.g2_000 = new Pos3d(x[2].intValue(), y[0].intValue(), oldposInfo.g2_000.z); |
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littleBottleConsumablePosInfo.g3_000 = new Pos3d(x[0].intValue(), y[1].intValue(), oldposInfo.g3_000.z); |
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littleBottleConsumablePosInfo.g4_000 = new Pos3d(x[1].intValue(), y[1].intValue(), oldposInfo.g4_000.z); |
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littleBottleConsumablePosInfo.g5_000 = new Pos3d(x[2].intValue(), y[1].intValue(), oldposInfo.g5_000.z); |
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littleBottleConsumablePosInfo.dx = dx; |
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littleBottleConsumablePosInfo.dy = dy; |
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return littleBottleConsumablePosInfo; |
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} |
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@ExtApiFn(name = "保存计算结果", group = "标定小瓶坐标", order = 33) |
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@ExtApiFn(name = "保存计算结果", group = "标定小瓶XY坐标", order = 33) |
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public void saveLittleBottleConsumablePosInfo() throws AppException { |
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hbotConsumablePosMgr.setLittleBottleConsumablePosInfo(littleBottleConsumableType, littleBottleConsumablePosInfo); |
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} |
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@ExtApiFn(name = "读取所有参考点", group = "标定小瓶坐标", order = 33) |
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@ExtApiFn(name = "读取所有参考点", group = "标定小瓶XY坐标", order = 33) |
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public Object readAllRefPoint() throws AppException { |
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return littleBottleConsumableRefPoint; |
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} |
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// |
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// 标定Z轴 |
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// |
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@ExtApiFn(name = "校准.小瓶穿孔Z轴位置", group = "标定Z轴", order = 101) |
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public void setLittleBSPierceZPos() throws AppException { |
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pipetteCtrlModule.zMotorMeasureDistance(); |
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hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSPierceZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult()); |
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} |
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@ExtApiFn(name = "校准.小瓶取样Z轴位置", group = "标定Z轴", order = 102) |
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public void setLittleBSSampleZPos() throws AppException { |
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pipetteCtrlModule.zMotorMeasureDistance(); |
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hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult()); |
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} |
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@ExtApiFn(name = "校准.探测物质取样Z轴位置", group = "标定Z轴", order = 103) |
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public void setProbeSubstanceSampleZPos() throws AppException { |
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pipetteCtrlModule.zMotorMeasureDistance(); |
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hbotConsumablePosMgr.setParam(HbotConsumablePosParam.ProbeSubstanceSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult()); |
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} |
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// |
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// 校验 |
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// |
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@ -232,19 +246,21 @@ public class HbotLittleBottleConsumableCalibration { |
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resetStopFlag(); |
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enableModule(); |
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for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { |
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hbotControler.moveToLittleBufferPos(group, i); |
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hbotControler.moveToLittleBufferPiercePos(group, i); |
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pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock(); |
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if (checkStopFlag()) |
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return; |
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} |
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} |
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//TODO:添加取样校验 |
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@ExtApiFn(name = "校验探测物质坐标", group = "校验", order = 302) |
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public void testMoveToProbeSubstancePos(ConsumableGroup group) throws AppException { |
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resetStopFlag(); |
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enableModule(); |
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for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) { |
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hbotControler.moveToProbeSubstancePos(group, i); |
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hbotControler.moveToProbeSubstanceSamplePos(group, i); |
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pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock(); |
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if (checkStopFlag()) |
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return; |
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