update

10 months ago · c6b871f2c5
10 changed files with 701 additions and 0 deletions
--- a/app.db
+++ b/app.db
--- a/src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
+++ b/src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java
@ -278,6 +278,10 @@ public class PipetteCtrlModule {
 		return canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_zmotor_read_zero_point_state.toInt()).getContentI32(0) == 1;
 	}

+	public Boolean isHasTip() throws AppException {
+		return canBusService.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
+	}
+

 	//	@EnginnerPageAction(name = "获取传感器采样数据数量", order = FnOrder.getSensorSampleDataNum)
 	//	public Integer getSensorSampleDataNum() throws HardwareException {
--- a/src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java
+++ b/src/main/java/a8k/service/app/devicedriver/calibration/HbotConsumablePosCalibration.java
@ -0,0 +1,173 @@
+package a8k.service.app.devicedriver.calibration;
+
+
+import a8k.constant.AppConstant;
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.app.devicedriver.basectrl.CodeScaner;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
+import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
+import a8k.service.app.devicedriver.ctrl.ConsumablesScanCtrl;
+import a8k.service.app.devicedriver.ctrl.HbotControler;
+import a8k.service.app.devicedriver.pos.Hbot2DCodeScanPos;
+import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr;
+import a8k.service.app.devicedriver.pos.HbotSamplePosMgr;
+import a8k.type.ConsumableGroup;
+import a8k.type.ConsumableScanRawResult;
+import a8k.type.HbotConsumablePos;
+import a8k.type.cfg.Pos2d;
+import a8k.type.cfg.Pos3d;
+import a8k.type.exception.AppException;
+import a8k.type.type.TipGroup;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ArrayNode;
+import com.fasterxml.jackson.databind.node.ObjectNode;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPosCalibration)
+@Component
+public class HbotConsumablePosCalibration {
+	static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotConsumablePosCalibration.class);
+
+	@Resource
+	PipetteCtrlModule pipetteCtrlModule;
+	@Resource
+	HbotModule        hbotModule;
+
+
+	@Resource
+	HbotControler        hbotControler;
+	@Resource
+	HbotConsumablePosMgr hbotConsumablePosMgr;
+
+	Boolean stopFlag = false;
+
+	Boolean checkStopFlag() {
+		if (stopFlag) {
+			stopFlag = false;
+			return true;
+		}
+		return false;
+	}
+
+	void resetStopFlag() {
+		stopFlag = false;
+	}
+
+	void setStopFlag() {
+		stopFlag = true;
+	}
+
+
+	@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
+	public Object getPoss() throws AppException {
+		return hbotConsumablePosMgr.getParams();
+	}
+
+	@ExtApiFn(name = "获取所有坐标中文说明", group = "基础", order = 2)
+	public Object getPossChName() throws AppException {
+		return hbotConsumablePosMgr.getParamsChName();
+	}
+
+
+	//	测试工具
+	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
+	public void deviceReset() throws AppException {
+		enableModule();
+		pipetteCtrlModule.zMotorMoveZeroBlock();
+		hbotModule.moveToZeroBlock();
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
+	public void enableModule() throws AppException {
+		pipetteCtrlModule.zMotorEnable(1);
+		hbotModule.enable(1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
+	public void disableModule() throws AppException {
+		pipetteCtrlModule.zMotorEnable(0);
+		hbotModule.enable(0);
+	}
+
+	//
+	//	标定
+	//
+
+	@ExtApiFn(name = "标定HBOT坐标", group = "标定", order = 21)
+	void calibratePos(HbotConsumablePos hbotConsumablePos) throws AppException {
+		enableModule();
+		Pos2d xypos = hbotModule.readPos();
+		pipetteCtrlModule.zMotorMeasureDistance();
+		Integer z = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
+		hbotConsumablePosMgr.setParam(hbotConsumablePos, new Pos3d(xypos.x, xypos.y, z));
+	}
+
+
+	//
+	//	校验
+	//
+	@ExtApiFn(name = "校验Tip坐标", group = "校验", order = 30)
+	public void testTakeTip() throws AppException {
+		resetStopFlag();
+		enableModule();
+		for (TipGroup tipGroup : TipGroup.values()) {
+			for (int i = 0; i < AppConstant.TIP_NUM; i++) {
+				hbotControler.testTakeTip(tipGroup, i);
+				if (checkStopFlag())
+					return;
+			}
+		}
+
+	}
+
+	@ExtApiFn(name = "校验小瓶缓冲液坐标", group = "校验", order = 31)
+	public void testMoveToLittleBufferPos() throws AppException {
+		resetStopFlag();
+		enableModule();
+		for (ConsumableGroup group : ConsumableGroup.values()) {
+			for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
+				hbotControler.moveToLittleBufferPos(group, i);
+				if (checkStopFlag())
+					return;
+			}
+		}
+
+	}
+
+	@ExtApiFn(name = "校验探测物质坐标", group = "校验", order = 32)
+	public void testMoveToProbeSubstancePos() throws AppException {
+		resetStopFlag();
+		enableModule();
+		for (ConsumableGroup group : ConsumableGroup.values()) {
+			for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
+				hbotControler.moveToProbeSubstancePos(group, i);
+				if (checkStopFlag())
+					return;
+			}
+		}
+	}
+
+	@ExtApiFn(name = "校验大瓶缓冲液坐标", group = "校验", order = 33)
+	public void testMoveToLargeBufferPos() throws AppException {
+		resetStopFlag();
+		enableModule();
+		for (ConsumableGroup group : ConsumableGroup.values()) {
+			hbotControler.moveToLargeBufferPos(group);
+			if (checkStopFlag())
+				return;
+		}
+	}
+
+	@ExtApiFn(name = "停止校验", group = "校验", order = 34)
+	public void stopTest() throws AppException {
+		setStopFlag();
+	}
+}
--- a/src/main/java/a8k/service/app/devicedriver/ctrl/HbotControler.java
+++ b/src/main/java/a8k/service/app/devicedriver/ctrl/HbotControler.java
@ -0,0 +1,108 @@
+package a8k.service.app.devicedriver.ctrl;
+
+import a8k.constant.AppConstant;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
+import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
+import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr;
+import a8k.service.app.devicedriver.pos.HbotFixPosMgr;
+import a8k.service.app.devicedriver.pos.HbotSamplePosMgr;
+import a8k.type.ConsumableGroup;
+import a8k.type.HbotSamplePos;
+import a8k.type.cfg.Pos3d;
+import a8k.type.exception.AppException;
+import a8k.type.type.TipGroup;
+import a8k.utils.HbotScanerPosComputer;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+@Component
+public class HbotControler {
+	static Logger logger = LoggerFactory.getLogger(HbotControler.class);
+
+	@Resource
+	HbotFixPosMgr         hbotFixPosMgr;
+	@Resource
+	HbotSamplePosMgr      hbotSamplePosMgr;
+	@Resource
+	HbotConsumablePosMgr  hbotConsumablePosMgr;
+
+	@Resource
+	PipetteCtrlModule     pipetteCtrlModule;
+	@Resource
+	HbotBaseMoveControler hbotBaseMoveControler;
+
+	public void checkTipIndex(TipGroup tipGroup, Integer index) throws AppException {
+		if (index >= AppConstant.TIP_NUM) {
+			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
+		}
+	}
+
+	public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
+		logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
+		checkTipIndex(tipGroup, index);
+
+		Pos3d tipPos = hbotConsumablePosMgr.getTipPos(tipGroup, index);
+		hbotBaseMoveControler.hbotMoveTo(tipPos);
+		pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+
+		return pipetteCtrlModule.isHasTip();
+	}
+
+	public void testTakeTip(TipGroup tipGroup, Integer index) throws AppException {
+		checkTipIndex(tipGroup, index);
+
+		Pos3d tipPos = hbotConsumablePosMgr.getTipPos(tipGroup, index);
+		hbotBaseMoveControler.hbotMoveTo(tipPos);
+
+		//取tip
+		pipetteCtrlModule.zMotorMoveToBlock(tipPos.z - 100);
+		if (!pipetteCtrlModule.isHasTip()) {
+			throw new AppException(A8kEcode.APPE_TAKE_TIP_FAIL);
+		}
+
+		//丢tip
+		pipetteCtrlModule.putTipBlock();
+		if (pipetteCtrlModule.isHasTip()) {
+			throw new AppException(A8kEcode.APPE_PUT_TIP_FAIL);
+		}
+
+		//z轴归零
+		pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+	}
+
+	public void dropTip() throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotFixPosMgr.getDropTipPos());
+		pipetteCtrlModule.putTipBlock();
+	}
+
+	public void moveToDropLiquidPos() throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotFixPosMgr.getDropLiquidPos());
+	}
+
+	/**
+	 * 移动到取样位置
+	 * @param pos 取样位置
+	 * @throws AppException 异常
+	 */
+	public void moveToTakeSamplePos(HbotSamplePos pos) throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotSamplePosMgr.getSamplePos(pos));
+	}
+
+	public void moveToLittleBufferPos(ConsumableGroup group, Integer off) throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotConsumablePosMgr.getLittleBufferPos(group, off));
+	}
+
+	public void moveToProbeSubstancePos(ConsumableGroup group, Integer off) throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotConsumablePosMgr.getProbeSubstancePos(group, off));
+	}
+
+	public void moveToLargeBufferPos(ConsumableGroup group) throws AppException {
+		hbotBaseMoveControler.hbotMoveTo(hbotConsumablePosMgr.getLargeBufferPos(group));
+	}
+
+
+}
--- a/src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
+++ b/src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java
@ -0,0 +1,200 @@
+package a8k.service.app.devicedriver.pos;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiParamsTab;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.utils.PosParameterReader;
+import a8k.type.ConsumableGroup;
+import a8k.type.HbotConsumablePos;
+import a8k.type.cfg.Pos3d;
+import a8k.type.type.TipGroup;
+import a8k.utils.PlaneUtils;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+/**
+ * HBOT二维码扫描坐标参数
+ */
+@Component
+@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPos)
+@ExtApiParamsTab(service = HbotConsumablePosMgr.class)
+public class HbotConsumablePosMgr {
+	static final Logger logger = LoggerFactory.getLogger(HbotConsumablePosMgr.class);
+
+	@Resource
+	LowerDeviceParameterDBService lowerDeviceParameterDBService;
+	PosParameterReader posReader = null;
+
+	static Integer nowParaVersion = 0;
+
+	@PostConstruct
+	void initialize() {
+		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
+		Integer paraVersion = posReader.getVersion();
+		if (!nowParaVersion.equals(paraVersion)) {
+			paramReset();
+		}
+	}
+
+	public void paramReset() {
+		logger.info("init param");
+		posReader.setVersion(nowParaVersion);
+		posReader.updatePos(HbotConsumablePos.Tip00_000Pos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.Tip00_119Pos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.Tip01_000Pos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.Tip01_119Pos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.Tip02_000Pos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.Tip02_119Pos.name(), new Pos3d(0, 0, 0));
+
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos00_00.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.LittleBufferPos05_24.name(), new Pos3d(0, 0, 0));
+
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance00_00.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotConsumablePos.ProbeSubstance05_24.name(), new Pos3d(0, 0, 0));
+	}
+
+	public Map<String, Pos3d> getParams() {
+		Map<String, Pos3d> map = new java.util.HashMap<>();
+		for (HbotConsumablePos param : HbotConsumablePos.values()) {
+			map.put(param.name(), posReader.getPos(param.name(), Pos3d.class));
+		}
+		return map;
+	}
+
+	public Map<String, String> getParamsChName() {
+		Map<String, String> map = new java.util.HashMap<>();
+		for (HbotConsumablePos param : HbotConsumablePos.values()) {
+			map.put(param.name(), param.chName);
+		}
+		return map;
+	}
+
+	public void setParam(HbotConsumablePos param, Pos3d pos) {
+		posReader.updatePos(param.name(), pos);
+	}
+
+
+	public Pos3d getTipPos(TipGroup tipGroup, Integer tipoff) {
+		Pos3d tip000 = null;
+		Pos3d tip011 = null;
+		Pos3d tip108 = null;
+		Pos3d tip119 = null;
+
+		if (tipGroup == TipGroup.GROUP0) {
+			tip000 = posReader.getPos(HbotConsumablePos.Tip00_000Pos.name(), Pos3d.class);
+			tip011 = posReader.getPos(HbotConsumablePos.Tip00_011Pos.name(), Pos3d.class);
+			tip108 = posReader.getPos(HbotConsumablePos.Tip00_108Pos.name(), Pos3d.class);
+			tip119 = posReader.getPos(HbotConsumablePos.Tip00_119Pos.name(), Pos3d.class);
+
+		} else if (tipGroup == TipGroup.GROUP1) {
+			tip000 = posReader.getPos(HbotConsumablePos.Tip01_000Pos.name(), Pos3d.class);
+			tip011 = posReader.getPos(HbotConsumablePos.Tip01_011Pos.name(), Pos3d.class);
+			tip108 = posReader.getPos(HbotConsumablePos.Tip01_108Pos.name(), Pos3d.class);
+			tip119 = posReader.getPos(HbotConsumablePos.Tip01_119Pos.name(), Pos3d.class);
+		} else if (tipGroup == TipGroup.GROUP2) {
+			tip000 = posReader.getPos(HbotConsumablePos.Tip02_000Pos.name(), Pos3d.class);
+			tip011 = posReader.getPos(HbotConsumablePos.Tip02_011Pos.name(), Pos3d.class);
+			tip108 = posReader.getPos(HbotConsumablePos.Tip02_108Pos.name(), Pos3d.class);
+			tip119 = posReader.getPos(HbotConsumablePos.Tip02_119Pos.name(), Pos3d.class);
+		}
+		assert tip000 != null;
+		assert tip011 != null;
+		assert tip108 != null;
+		assert tip119 != null;
+
+		//水平方向
+		double dx = (tip119.x - tip000.x) / 12.0;
+		//前后方向
+		double dy = (tip119.y - tip000.y) / 10.0;
+
+		int xoff = tipoff % 12;
+		int yoff = tipoff / 12;
+
+		double x = tip000.x + xoff * dx;
+		double y = tip000.y + yoff * dy;
+		double z = PlaneUtils.calculateZ(tip000, tip011, tip119, x, y);
+
+		return new Pos3d((int) x, (int) y, (int) z);
+	}
+
+
+	private Pos3d getLittleBufferOrProbeSubstancePos(
+			Pos3d pos00_00,
+			Pos3d pos00_24,
+			Pos3d pos05_00,
+			Pos3d pos05_24,
+			ConsumableGroup group, Integer off) {
+
+
+		Integer groupNum  = group.off;
+		Integer groupXOff = off % 3;
+		Integer groupYOff = off / 3;
+
+		Integer xoff = off % 5;
+		Integer yoff = off / 5;
+
+		Double gdx_0 = (pos05_00.x - pos00_00.x) / 3.0;
+		Double gdy_0 = (pos05_00.y - pos00_00.y) / 2.0;
+
+		Double gdx_1 = (pos05_24.x - pos00_24.x) / 3.0;
+		Double gdy_1 = (pos05_24.y - pos00_24.y) / 2.0;
+
+		Double gdx = (gdx_0 + gdx_1) / 2.0;
+		Double gdy = (gdy_0 + gdy_1) / 2.0;
+
+
+		Double dx_0 = (pos00_24.x - pos00_00.x) / 5.0;
+		Double dy_0 = (pos00_24.y - pos00_00.y) / 5.0;
+
+		Double dx_1 = (pos05_24.x - pos05_00.x) / 5.0;
+		Double dy_1 = (pos05_24.y - pos05_00.y) / 5.0;
+
+		Double dx = (dx_0 + dx_1) / 2.0;
+		Double dy = (dy_0 + dy_1) / 2.0;
+
+
+		double x = pos00_00.x + groupXOff * gdx + xoff * dx;
+		double y = pos00_00.y + groupYOff * gdy + yoff * dy;
+		double z = (pos00_00.z + pos00_24.z + pos05_00.z + pos05_24.z) / 4.0;
+		return new Pos3d((int) x, (int) y, (int) z);
+
+	}
+
+	public Pos3d getLittleBufferPos(ConsumableGroup group, Integer off) {
+		Pos3d pos00_00 = posReader.getPos(HbotConsumablePos.LittleBufferPos00_00.name(), Pos3d.class);
+		Pos3d pos00_24 = posReader.getPos(HbotConsumablePos.LittleBufferPos00_24.name(), Pos3d.class);
+		Pos3d pos05_00 = posReader.getPos(HbotConsumablePos.LittleBufferPos05_00.name(), Pos3d.class);
+		Pos3d pos05_24 = posReader.getPos(HbotConsumablePos.LittleBufferPos05_24.name(), Pos3d.class);
+		return getLittleBufferOrProbeSubstancePos(pos00_00, pos00_24, pos05_00, pos05_24, group, off);
+	}
+
+	public Pos3d getProbeSubstancePos(ConsumableGroup group, Integer off) {
+		Pos3d pos00_00 = posReader.getPos(HbotConsumablePos.ProbeSubstance00_00.name(), Pos3d.class);
+		Pos3d pos00_24 = posReader.getPos(HbotConsumablePos.ProbeSubstance00_24.name(), Pos3d.class);
+		Pos3d pos05_00 = posReader.getPos(HbotConsumablePos.ProbeSubstance05_00.name(), Pos3d.class);
+		Pos3d pos05_24 = posReader.getPos(HbotConsumablePos.ProbeSubstance05_24.name(), Pos3d.class);
+		return getLittleBufferOrProbeSubstancePos(pos00_00, pos00_24, pos05_00, pos05_24, group, off);
+	}
+
+	public Pos3d getLargeBufferPos(ConsumableGroup group) {
+		Pos3d pos00 = posReader.getPos(HbotConsumablePos.LargeBufferPos00.name(), Pos3d.class);
+		Pos3d pos05 = posReader.getPos(HbotConsumablePos.LargeBufferPos05.name(), Pos3d.class);
+
+		int xoff = group.off % 3;
+		int yoff = group.off / 3;
+
+		double dx = (pos05.x - pos00.x) / 3.0;
+		double dy = (pos05.y - pos00.y) / 2.0;
+
+		double x = pos00.x + xoff * dx;
+		double y = pos00.y + yoff * dy;
+		double z = (pos00.z + pos05.z) / 2.0;
+		return new Pos3d((int) x, (int) y, (int) z);
+	}
+}
--- a/src/main/java/a8k/service/app/devicedriver/pos/HbotFixPosMgr.java
+++ b/src/main/java/a8k/service/app/devicedriver/pos/HbotFixPosMgr.java
@ -0,0 +1,61 @@
+package a8k.service.app.devicedriver.pos;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiParamsTab;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.utils.PosParameterReader;
+import a8k.type.cfg.Pos3d;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * HBOT二维码扫描坐标参数
+ */
+@Component
+@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPos)
+@ExtApiParamsTab(service = HbotFixPosMgr.class)
+public class HbotFixPosMgr {
+	static final Logger logger = LoggerFactory.getLogger(HbotFixPosMgr.class);
+
+	enum Pos {
+		DropTipPos,
+		DropLiquidPos,
+	}
+
+	;
+	@Resource
+	LowerDeviceParameterDBService lowerDeviceParameterDBService;
+	PosParameterReader posReader = null;
+
+	static Integer nowParaVersion = 0;
+
+	@PostConstruct
+	void initialize() {
+		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
+		Integer paraVersion = posReader.getVersion();
+		if (!nowParaVersion.equals(paraVersion)) {
+			paramReset();
+		}
+	}
+
+	public void paramReset() {
+		logger.info("init param");
+		posReader.setVersion(nowParaVersion);
+		posReader.updatePos(Pos.DropTipPos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(Pos.DropLiquidPos.name(), new Pos3d(0, 0, 0));
+	}
+
+	public Pos3d getDropTipPos() {
+		return posReader.getPos(Pos.DropTipPos, Pos3d.class);
+	}
+
+	public Pos3d getDropLiquidPos() {
+		return posReader.getPos(Pos.DropLiquidPos, Pos3d.class);
+	}
+
+}
+
--- a/src/main/java/a8k/service/app/devicedriver/pos/HbotSamplePosMgr.java
+++ b/src/main/java/a8k/service/app/devicedriver/pos/HbotSamplePosMgr.java
@ -0,0 +1,57 @@
+package a8k.service.app.devicedriver.pos;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiParamsTab;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.utils.PosParameterReader;
+import a8k.type.HbotSamplePos;
+import a8k.type.cfg.Pos3d;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * HBOT二维码扫描坐标参数
+ */
+@Component
+@ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPos)
+@ExtApiParamsTab(service = HbotSamplePosMgr.class)
+public class HbotSamplePosMgr {
+	static final Logger logger = LoggerFactory.getLogger(HbotSamplePosMgr.class);
+
+	@Resource
+	LowerDeviceParameterDBService lowerDeviceParameterDBService;
+	PosParameterReader posReader = null;
+
+	static Integer nowParaVersion = 0;
+
+	@PostConstruct
+	void initialize() {
+		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
+		Integer paraVersion = posReader.getVersion();
+		if (!nowParaVersion.equals(paraVersion)) {
+			paramReset();
+		}
+	}
+
+	public void paramReset() {
+		logger.info("init param");
+		posReader.setVersion(nowParaVersion);
+		posReader.updatePos(HbotSamplePos.EmergencyTubePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.BloodTubeSamplePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.MiniTubeSamplePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.MiniBloodSamplePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.Bulltube1P5SamplePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.Bulltube0P5SamplePos.name(), new Pos3d(0, 0, 0));
+		posReader.updatePos(HbotSamplePos.StoolTestTubeSamplePos.name(), new Pos3d(0, 0, 0));
+	}
+
+
+	public Pos3d getSamplePos(HbotSamplePos pos) {
+		return posReader.getPos(pos, Pos3d.class);
+	}
+}
+
--- a/src/main/java/a8k/type/HbotConsumablePos.java
+++ b/src/main/java/a8k/type/HbotConsumablePos.java
@ -0,0 +1,37 @@
+package a8k.type;
+
+public enum HbotConsumablePos {
+	Tip00_000Pos("Tip00_000Pos"),
+	Tip00_011Pos("Tip00_011Pos"),
+	Tip00_108Pos("Tip00_108Pos"),
+	Tip00_119Pos("Tip00_119Pos"),
+
+	Tip01_000Pos("Tip01_000Pos"),
+	Tip01_011Pos("Tip01_011Pos"),
+	Tip01_108Pos("Tip01_108Pos"),
+	Tip01_119Pos("Tip01_119Pos"),
+
+	Tip02_000Pos("Tip02_000Pos"),
+	Tip02_011Pos("Tip02_011Pos"),
+	Tip02_108Pos("Tip02_108Pos"),
+	Tip02_119Pos("Tip02_119Pos"),
+
+	LittleBufferPos00_00("LittleBufferPos00_00"),
+	LittleBufferPos00_24("LittleBufferPos00_24"),
+	LittleBufferPos05_00("LittleBufferPos05_00"),
+	LittleBufferPos05_24("LittleBufferPos05_24"),
+
+	ProbeSubstance00_00("ProbeSubstance00_00"),
+	ProbeSubstance00_24("ProbeSubstance00_24"),
+	ProbeSubstance05_00("ProbeSubstance05_00"),
+	ProbeSubstance05_24("ProbeSubstance05_24"),
+
+	LargeBufferPos00("LargeBufferPos00"),
+	LargeBufferPos05("LargeBufferPos05"),
+
+	;
+	final public String chName;
+	HbotConsumablePos(String chName) {
+		this.chName = chName;
+	}
+}
--- a/src/main/java/a8k/type/HbotSamplePos.java
+++ b/src/main/java/a8k/type/HbotSamplePos.java
@ -0,0 +1,11 @@
+package a8k.type;
+
+public enum HbotSamplePos {
+	EmergencyTubePos, //急诊位取样位置
+	BloodTubeSamplePos, //全血试管
+	MiniTubeSamplePos, //迷你试管
+	MiniBloodSamplePos, //阳普管
+	Bulltube1P5SamplePos, //子弹头试管1.5mL
+	Bulltube0P5SamplePos, //子弹头试管0.5mL
+	StoolTestTubeSamplePos,  //粪便试管
+}
--- a/src/main/java/a8k/utils/PlaneUtils.java
+++ b/src/main/java/a8k/utils/PlaneUtils.java
@ -0,0 +1,50 @@
+package a8k.utils;
+
+import a8k.type.cfg.Pos3d;
+
+public class PlaneUtils {
+
+	// 计算平面方程的系数
+	public static double[] calculatePlaneCoefficients(Pos3d p1, Pos3d p2, Pos3d p3) {
+		// 计算平面方程的A、B、C、D
+		double A = (p2.y - p1.y) * (p3.z - p1.z) - (p2.z - p1.z) * (p3.y - p1.y);
+		double B = (p2.z - p1.z) * (p3.x - p1.x) - (p2.x - p1.x) * (p3.z - p1.z);
+		double C = (p2.x - p1.x) * (p3.y - p1.y) - (p2.y - p1.y) * (p3.x - p1.x);
+		double D = -(A * p1.x + B * p1.y + C * p1.z); // 计算D
+
+		return new double[]{A, B, C, D};
+	}
+
+	public static double calculateZ(double[] planeCoefficients, double x, double y) {
+		double A = planeCoefficients[0];
+		double B = planeCoefficients[1];
+		double C = planeCoefficients[2];
+		double D = planeCoefficients[3];
+
+		// z = -(Ax + By + D) / C
+		if (C == 0) {
+			throw new ArithmeticException("C不能为零，无法求解z");
+		}
+		return -(A * x + B * y + D) / C;
+	}
+
+	public static double calculateZ(Pos3d p1, Pos3d p2, Pos3d p3, double x, double y) {
+		double[] planeCoefficients = calculatePlaneCoefficients(p1, p2, p3);
+		return calculateZ(planeCoefficients, x, y);
+	}
+
+
+	public static void main(String[] args) {
+		Pos3d p1 = new Pos3d(0, 0, 100);
+		Pos3d p2 = new Pos3d(100, 0, 105);
+		Pos3d p3 = new Pos3d(0, 100, 110);
+
+		double[] planeCoefficients = calculatePlaneCoefficients(p1, p2, p3);
+		System.out.println("平面方程系数：" + planeCoefficients[0] + " " + planeCoefficients[1] + " " + planeCoefficients[2] + " " + planeCoefficients[3]);
+
+		double x = 20;
+		double y = 80;
+		double z = calculateZ(planeCoefficients, x, y);
+		System.out.println("x=" + x + ", y=" + y + "时，z=" + z);
+	}
+}