project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 1 year ago
parent
c336680972
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ce10e6a99c
9 changed files with 249 additions and 173 deletions
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  1. 10
      README.md
  2. 1
      src/main/java/a8k/appbean/ecode/AppRet.java
  3. 31
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  4. 2
      src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
  5. 6
      src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java
  6. 50
      src/main/java/a8k/service/db/entity/MotorTubeRackMoveCtrlServiceParameter.java
  7. 55
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  8. 99
      src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java

10
README.md
View File

@ -20,10 +20,12 @@
2.水平移动舵机初始化位置为200(处于设备最后端) 2.水平移动舵机初始化位置为200(处于设备最后端)
复位要求:
1. 板夹仓推杆电机需要处于零点位置
2. 光学模组推杆电机需要处于零点位置
3. 试管架通道中没有试管架
4. 出料口没有试管架
5. 进出料位置没有试管
``` ```

1
src/main/java/a8k/appbean/ecode/AppRet.java
View File

@ -46,6 +46,7 @@ public class AppRet<T> {
return r; return r;
} }
public static <T> AppRet<T> success() { public static <T> AppRet<T> success() {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.suc = true; r.suc = true;

31
src/main/java/a8k/base_hardware/A8kCanBusService.java
View File

@ -145,6 +145,22 @@ public class A8kCanBusService {
} }
//code_scaner_start_scan
//code_scaner_stop_scan
//code_scaner_result_is_ready
//code_scaner_read_scaner_result
public void codeScanerStartScan(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.code_scaner_start_scan.toInt());
}
public void codeScanerStopScan(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.code_scaner_stop_scan.toInt());
}
public A8kPacket codeScanerReadScanerResult(MId id) throws HardwareException {
return callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
}
// //
// module opeation // module opeation
// //
@ -378,8 +394,10 @@ public class A8kCanBusService {
public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException { public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
long startedAt = System.currentTimeMillis(); long startedAt = System.currentTimeMillis();
CmdId action = lastCmdMap.get(mid);
// CmdId action = lastCmdMap.get(mid);
CmdId action = lastCmdMapGet(mid);
do { do {
try { try {
var status = getModuleStatus(mid); var status = getModuleStatus(mid);
if (status == ModuleStatus.IDLE) { if (status == ModuleStatus.IDLE) {
@ -442,6 +460,7 @@ public class A8kCanBusService {
this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime); this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime);
} }
// TODO // TODO
public Integer module_read_reg(Integer moduleId, RegIndex regindex) { public Integer module_read_reg(Integer moduleId, RegIndex regindex) {
return 0; return 0;
@ -515,7 +534,7 @@ public class A8kCanBusService {
} }
if (pack.getCmdId() != CmdId.module_get_status.toInt()) { if (pack.getCmdId() != CmdId.module_get_status.toInt()) {
lastCmdMap.put(MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()));
lastCmdMapPut(MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()));
} }
@ -577,6 +596,14 @@ public class A8kCanBusService {
} }
} }
} }
synchronized void lastCmdMapPut(MId mid, CmdId cmdId) {
lastCmdMap.put(mid, cmdId);
}
synchronized CmdId lastCmdMapGet(MId mid) {
return lastCmdMap.get(mid);
}
// //
// public static void main(String[] args) { // public static void main(String[] args) {
// A8kCanBusService service = new A8kCanBusService(); // A8kCanBusService service = new A8kCanBusService();

2
src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
View File

@ -1,9 +1,7 @@
package a8k.service.db.dao; package a8k.service.db.dao;
import a8k.service.db.entity.HardwareServiceSetting; import a8k.service.db.entity.HardwareServiceSetting;
import a8k.service.db.entity.MotorTubeRackMoveCtrlServiceParameter;
import com.iflytop.uf.UfActiveRecord; import com.iflytop.uf.UfActiveRecord;
import com.iflytop.uf.UfActiveRecordField;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
import java.util.List; import java.util.List;

6
src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamService.java → src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java
View File

@ -3,12 +3,16 @@ package a8k.service.db.dao;
/** /**
* 反应板夹搬运相关服务访问 * 反应板夹搬运相关服务访问
*/ */
public class ReactionPlatesTransmitCtrlParamService {
public class ReactionPlatesTransmitCtrlParamDao {
// //
public final String serviceName = "ReactionPlatesTransmitCtrlService"; public final String serviceName = "ReactionPlatesTransmitCtrlService";
public int getActionOvertime() {
return 0;
}
/* /*
* 板夹仓相关参数 * 板夹仓相关参数

50
src/main/java/a8k/service/db/entity/MotorTubeRackMoveCtrlServiceParameter.java
View File

@ -1,50 +0,0 @@
package a8k.service.db.entity;
import com.iflytop.uf.UfActiveRecord;
import com.iflytop.uf.UfActiveRecordField;
public class MotorTubeRackMoveCtrlServiceParameter {
@UfActiveRecordField
public Integer moveToZeroOvertime;// 回零超时时间
@UfActiveRecordField
public Integer actionOvertime;// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间。
@UfActiveRecordField
public Integer tubeScanPos; //试管扫码位置
@UfActiveRecordField
public Integer tubeHeighJudgmentPos; //高低试管判断位置
@UfActiveRecordField
public Integer tubePreProcessPos; //试管预处理位置
@UfActiveRecordField
public Integer tubeExistJudgmentPos; //入料位置
@UfActiveRecordField
public Integer tubeRackEnterPos; //出料位置
@UfActiveRecordField
public Integer tubeRackExitPos; //出料位置
@UfActiveRecordField
public Integer tubeRackScanCodePos; //试管架扫码位置
@UfActiveRecordField
public Integer horizontalMotorLostStepThresholdVal; //水平电机丢步判断
@UfActiveRecordField
public Integer scanCodeClampPos; //试管扫码夹紧位置
@UfActiveRecordField
public Integer scanCodeReleasePos;//试管扫码释放位置
@UfActiveRecordField
public Integer tubeSpacing;
public static String getTableName() {
return "MotorTubeRackMoveCtrlServiceParameter" + "Table";
}
}

55
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -49,14 +49,26 @@ public class MotorTubeRackMoveCtrlService {
// //
// 电机基础控制 // 电机基础控制
// //
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getMoveToZeroOvertime());
/**
* 电机归零，设备初始化时调用，特点是直接调用MoveToZero
* @throws HardwareException 硬件异常
* @throws InterruptedException 打断异常
*/
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos()); canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getMoveToZeroOvertime());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
} }
/**
* 电机归零，电机运行时归零，特点是通过归零判断设备是否丢步
* @throws HardwareException
* @throws InterruptedException
*/
public void moveToZero() throws HardwareException, InterruptedException { public void moveToZero() throws HardwareException, InterruptedException {
//先通过move_to 指令移动到零点 //先通过move_to 指令移动到零点
//再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao //再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao
@ -66,17 +78,16 @@ public class MotorTubeRackMoveCtrlService {
//3.读取电机运行完成后所在的位置 //3.读取电机运行完成后所在的位置
//4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。 //4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。
var params = this.paramDao; var params = this.paramDao;
var beforePos = canBus.stepMotorReadPos(MId.FeedingModXM); var beforePos = canBus.stepMotorReadPos(MId.FeedingModXM);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM); canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getMoveToZeroOvertime());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
var afterPos = canBus.stepMotorReadPos(MId.FeedingModXM); var afterPos = canBus.stepMotorReadPos(MId.FeedingModXM);
var distance = beforePos - afterPos; var distance = beforePos - afterPos;
var dval = canBus.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
var dval = canBus.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) { if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep); throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
} }
@ -92,37 +103,50 @@ public class MotorTubeRackMoveCtrlService {
* 移动试管架到入口位置 * 移动试管架到入口位置
*/ */
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException { public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackEnterPos(), params.getActionOvertime());
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackEnterPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
} }
/** /**
* 移动试管架到出口位置 * 移动试管架到出口位置
*/ */
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException { public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackExitPos(), params.getActionOvertime());
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackExitPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
} }
/** /**
* 移动试管架到试管架扫码位置 * 移动试管架到试管架扫码位置
*/ */
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException { public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeRackScanCodePos(), params.getActionOvertime());
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackScanCodePos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
} }
/** /**
* 移动试管架到试管架扫码并扫码 * 移动试管架到试管架扫码并扫码
*/ */
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException { public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
this.moveTubeRackToScanPos();
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
moveTubeRackToScanPos();
canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000); Thread.sleep(5000);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt()); var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt()); this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent(); var contentBytes = response.getCmdContent();
return new String(contentBytes); return new String(contentBytes);
// this.moveTubeRackToScanPos();
// moveTubeRackToScanPos();
// canBus.
// return "";
} }
// //
@ -223,7 +247,6 @@ public class MotorTubeRackMoveCtrlService {
// 其他辅助组件 // 其他辅助组件
// //
/** /**
* 扫描夹紧机构夹紧 * 扫描夹紧机构夹紧
*/ */

99
src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java
View File

@ -1,11 +1,21 @@
package a8k.service.hardware; package a8k.service.hardware;
import a8k.a8k_can_protocol.A8kEcode;
import a8k.a8k_can_protocol.IOId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppRet;
import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.ReactionPlatesTransmitCtrlParamDao;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
@Component @Component
public class ReactionPlatesTransmitCtrlService { public class ReactionPlatesTransmitCtrlService {
static Logger logger = LoggerFactory.getLogger(ReactionPlatesTransmitCtrlService.class);
/* /*
职责说明 职责说明
@ -15,29 +25,81 @@ public class ReactionPlatesTransmitCtrlService {
4.反应板推出二次校准服务 4.反应板推出二次校准服务
*/ */
@Resource
A8kCanBusService canBus;
@Resource
ReactionPlatesTransmitCtrlParamDao paramDao;
/* ======================================================================================= /* =======================================================================================
基础操作 基础操作
=======================================================================================*/ =======================================================================================*/
void moduleReset() {
/*
复位要求
1. 反应板夹仓推杆零点光电处于触发状态
2. 板夹钩爪零点光电处于触发状态 或 终点光电处于触发状态
3. 板夹卡板光电没有处于触发状态
*/
AppRet moduleReset() throws HardwareException, InterruptedException {
//光电状态检查
//试管平移通道是否有障碍
if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
logger.warn("THChInterPPS or THChOuterPPS is trigger");
// throw new HardwareException(MId.A8kIdCardReaderBoard, A8kEcode.PlateStuckDetectorSensorTrigger);
return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
}
//板夹仓卡板检测
if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
logger.warn("PlateBoxPlateStuckPPS is trigger");
return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
}
//检查钩板电机是否处于终点位置
if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
logger.warn("PullerM is not in zero pos");
return AppRet.fail(A8kEcode.PullerMInitPosError);
}
//检查板夹仓光电是否处于起点位置
if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
logger.warn("PusherM is not in zero pos");
return AppRet.fail(A8kEcode.PusherMInitPosError);
}
//板夹仓初始化
canBus.stepMotorEasyMoveToZero(MId.PlatesBoxYM);
canBus.waitForMod(MId.PlatesBoxYM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.PlatesBoxPusherM);
canBus.waitForMod(MId.PlatesBoxPusherM, paramDao.getActionOvertime());
//光学模组初始化
canBus.stepMotorEasyMoveToZero(MId.OptModPullM);
canBus.waitForMod(MId.OptModPullM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.OptModScannerM);
canBus.waitForMod(MId.OptModScannerM, paramDao.getActionOvertime());
//转盘归零
canBus.stepMotorEasyMoveToZero(MId.IncubatorRotateCtrlM);
canBus.waitForMod(MId.IncubatorRotateCtrlM, paramDao.getActionOvertime());
return AppRet.success();
} }
void moduleEnable() {
void moduleEnable() throws HardwareException {
/* /*
模块使能 模块使能
*/ */
canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 1);
canBus.stepMotorEnable(MId.OptModPullM, 1);
canBus.stepMotorEnable(MId.OptModScannerM, 1);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 1);
} }
void moduleDisable() {
void moduleDisable() throws HardwareException {
/* /*
模块失能 模块失能
*/ */
canBus.stepMotorEnable(MId.PlatesBoxYM, 0);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);
canBus.stepMotorEnable(MId.OptModPullM, 0);
canBus.stepMotorEnable(MId.OptModScannerM, 0);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);
} }
/* ======================================================================================= /* =======================================================================================
@ -60,9 +122,9 @@ public class ReactionPlatesTransmitCtrlService {
kreg_plate_code_scaner_item (扫码完成读取) kreg_plate_code_scaner_item (扫码完成读取)
kreg_plate_code_scaner_lot (扫码完成读取) kreg_plate_code_scaner_lot (扫码完成读取)
kreg_plate_code_scaner_code_legal （扫码完成读取） kreg_plate_code_scaner_code_legal （扫码完成读取）
*/ */
} }
/** /**
@ -89,7 +151,6 @@ public class ReactionPlatesTransmitCtrlService {
Integer[] plateScanerReadRawData() { Integer[] plateScanerReadRawData() {
/* /*
先不实现，
后续实现效果， 后续实现效果，
网页端执行完推板后，点击读取，网页端弹出一个页面， 网页端执行完推板后，点击读取，网页端弹出一个页面，
页面上有一条曲线 页面上有一条曲线
@ -130,17 +191,27 @@ public class ReactionPlatesTransmitCtrlService {
=======================================================================================*/ =======================================================================================*/
AppRet deviceStateCheck() {
return AppRet.success();
}
/** /**
* 移动转盘到入口位置 * 移动转盘到入口位置
* @param turntablePos 第几个仓位 * @param turntablePos 第几个仓位
*/ */
void moveTurntableToEnterPos(int turntablePos) {
AppRet moveTurntableToEnterPos(int turntablePos) throws HardwareException {
/* /*
注意事项: 注意事项:
1.移动前检查，出转盘钩爪电机光电是否触发（两个光电必须触发一个才能执行动作），否则直接抛出 电机位置异常错误 1.移动前检查，出转盘钩爪电机光电是否触发（两个光电必须触发一个才能执行动作），否则直接抛出 电机位置异常错误
2.移动前检测，入转盘钩爪零点光电是否触发。 2.移动前检测，入转盘钩爪零点光电是否触发。
3.移动前检查，入转盘卡板光电是否触发。 3.移动前检查，入转盘卡板光电是否触发。
*/ */
if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS) || !canBus.getIOState(IOId.PullerMZeroPPS) || !canBus.getIOState(IOId.PusherMZeroPPS)) {
return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
}
return AppRet.success();
} }
/** /**
@ -149,7 +220,7 @@ public class ReactionPlatesTransmitCtrlService {
*/ */
void moveTurntableToExitPos(int turntablePos) { void moveTurntableToExitPos(int turntablePos) {
/* /*
同moveTurntableToEnterPos
moveTurntableToEnterPos
*/ */
} }

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