From ce4c074818f6bd69603000070a0997801461b148 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 27 Jul 2024 17:44:16 +0800 Subject: [PATCH] update --- src/main/java/a8k/appbean/cfg/Pos2d.java | 4 + .../java/a8k/appbean/cfg/TipPickUpPosInfo.java | 36 +++- src/main/java/a8k/canbus/A8kCanBusService.java | 122 ++++++++++++- .../java/a8k/canbus/A8kModParamInitializer.java | 16 ++ .../java/a8k/canbus/data/PipetteSampleData.java | 7 + src/main/java/a8k/canbus/protocol/A8kPacket.java | 33 ++-- src/main/java/a8k/canbus/protocol/CmdId.java | 26 +-- .../a8k/service/hardware/HbotControlService.java | 202 ++++++++++++++++----- 8 files changed, 363 insertions(+), 83 deletions(-) create mode 100644 src/main/java/a8k/canbus/data/PipetteSampleData.java diff --git a/src/main/java/a8k/appbean/cfg/Pos2d.java b/src/main/java/a8k/appbean/cfg/Pos2d.java index 111fc05..be1922d 100644 --- a/src/main/java/a8k/appbean/cfg/Pos2d.java +++ b/src/main/java/a8k/appbean/cfg/Pos2d.java @@ -15,4 +15,8 @@ public class Pos2d { this.y = 0; } + public String toString() { + return String.format("(%d, %d)", x, y); + } + } diff --git a/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java b/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java index 1f3fe77..73593f4 100644 --- a/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java +++ b/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java @@ -6,21 +6,24 @@ public class TipPickUpPosInfo { public Pos2d g1tl; public Pos2d g2tl; - public Integer xSpacing; //x间隔 - public Integer ySpacing; //y间隔 + public Double xSpacing; //x间隔 + public Double ySpacing; //y间隔 public Integer pickUpZPos; //拾取高度 + final public static Integer ROW_MAX = 10; + final public static Integer COL_MAX = 12; + public TipPickUpPosInfo() { g0tl = new Pos2d(0, 0); g1tl = new Pos2d(0, 0); g2tl = new Pos2d(0, 0); - xSpacing = 0; - ySpacing = 0; + xSpacing = 0.0; + ySpacing = 0.0; pickUpZPos = 0; } - public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Integer xSpacing, Integer ySpacing, Integer pickUpZPos) { + public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Double xSpacing, Double ySpacing, Integer pickUpZPos) { this.g0tl = g0tl; this.g1tl = g1tl; this.g2tl = g2tl; @@ -28,4 +31,27 @@ public class TipPickUpPosInfo { this.ySpacing = ySpacing; this.pickUpZPos = pickUpZPos; } + + Pos2d getTopLeft(Integer group) { + if (group == 0) { + return g0tl; + } else if (group == 1) { + return g1tl; + } else if (group == 2) { + return g2tl; + } else { + return new Pos2d(0, 0); + } + } + + public Pos2d getTipPos(Integer group, Integer index) { + int row; //行 + int col; //列 + + row = index / COL_MAX; + col = index % COL_MAX; + + Pos2d topleft = getTopLeft(group); + return new Pos2d((int) (topleft.x + col * xSpacing), (int) (topleft.y + row * ySpacing)); + } } diff --git a/src/main/java/a8k/canbus/A8kCanBusService.java b/src/main/java/a8k/canbus/A8kCanBusService.java index 6b6635d..90f6dcc 100644 --- a/src/main/java/a8k/canbus/A8kCanBusService.java +++ b/src/main/java/a8k/canbus/A8kCanBusService.java @@ -4,6 +4,7 @@ import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent; import a8k.appbean.OptScanDirection; import a8k.appbean.PlateInfo; import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr; +import a8k.canbus.data.PipetteSampleData; import a8k.canbus.protocol.*; import a8k.canbus.protocol.MId; import a8k.appbean.HardwareException; @@ -62,6 +63,7 @@ public class A8kCanBusService { public String uri; // assign by application.yml private WebSocketClient client; + private A8kPacket txPacketContext; // 接收回执上下文 public BlockingQueue receiptQueue = new LinkedBlockingQueue(); // @@ -154,6 +156,108 @@ public class A8kCanBusService { return new A8kPacket(buffer.array()); } + private void setTxPacketContext(A8kPacket packet) { + txPacketContext = packet; + } + + synchronized private A8kPacket getTxPacketContext() { + return txPacketContext; + } + + + // virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override; // 丢弃 + // + // virtual int32_t pipette_ctrl_init_device() override; + // virtual int32_t pipette_ctrl_put_tip() override; + // virtual int32_t pipette_lld_prepare() override; + // virtual int32_t pipette_plld(int32_t zdpos, int32_t p_threshold) override; + // virtual int32_t pipette_clld(int32_t zdpos, int32_t c_threshold) override; + // virtual int32_t pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) override; + // virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid) override; + // + // virtual int32_t pipette_aspirate(int32_t ul) override; + // virtual int32_t pipette_distribut(int32_t ul) override; + // virtual int32_t pipette_shake_up(int32_t ul, int32_t times) override; + // + // virtual int32_t pipette_aspirate_llf(int32_t ul, int32_t zmotor_v) override; + // virtual int32_t pipette_distribut_llf(int32_t ul, int32_t zmotor_v) override; + // virtual int32_t pipette_shake_up_llf(int32_t ul, int32_t zmotor_v, int32_t times) override; + // + // virtual int32_t pipette_enable_zmotor(int32_t enable); + // virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen) override; + // virtual int32_t pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval) override; // + // virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num) override; + // + + public void pipetteCtrlInitDevice(MId id) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_ctrl_init_device.toInt()); + } + + public void pipetteCtrlPutTip(MId id) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_ctrl_put_tip.toInt()); + } + + public void pipetteCtrlPrepare(MId id) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_lld_prepare.toInt()); + } + + public void pipetteCtrlPlld(MId id, int zdpos, int p_threshold) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_plld.toInt(), zdpos, p_threshold); + } + + public void pipetteCtrlClld(MId id, int zdpos, int c_threshold) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_clld.toInt(), zdpos, c_threshold); + } + + public void pipetteCtrlMlld(MId id, int zdpos, int c_threshold, int p_threshold) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_mlld.toInt(), zdpos, c_threshold, p_threshold); + } + + public Integer pipetteCtrlLldIsDetectLiquid(MId id) throws HardwareException { + var packet = callcmd(id.toInt(), CmdId.pipette_lld_is_detect_liquid.toInt()); + return packet.getContentI32(0); + } + + public void pipetteAspirate(MId id, int ul) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_aspirate.toInt(), ul); + } + + public void pipetteDistribut(MId id, int ul) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_distribut.toInt(), ul); + } + + public void pipetteShakeUp(MId id, int ul, int times) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_shake_up.toInt(), ul, times); + } + + public void pipetteAspirateLlf(MId id, int ul, int zmotor_v) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_aspirate_llf.toInt(), ul, zmotor_v); + } + + public void pipetteDistributLlf(MId id, int ul, int zmotor_v) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_distribut_llf.toInt(), ul, zmotor_v); + } + + public void pipetteShakeUpLlf(MId id, int ul, int zmotor_v, int times) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_shake_up_llf.toInt(), ul, zmotor_v, times); + } + + public void pipetteEnableZmotor(MId id, int enable) throws HardwareException { + callcmd(id.toInt(), CmdId.pipette_enable_zmotor.toInt(), enable); + } + + public PipetteSampleData pipetteGetSensorSampleData(MId id, int index) throws HardwareException { + var packet = callcmd(id.toInt(), CmdId.pipette_get_sensor_sample_data.toInt(), index); + if (packet.getCmdContent().length == 0) { + return null; + } + PipetteSampleData sampleData = new PipetteSampleData(); + sampleData.motorPos = packet.getContentI32(0); + sampleData.cval = packet.getContentI32(1); + sampleData.pval = packet.getContentI32(2); + return sampleData; + } + public void optTStartScan(MId id, OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws HardwareException, InterruptedException { callcmd(id.toInt(), CmdId.a8k_opt_v2_t_start_scan.toInt(), scanDirection.getInteger(), lasterGain, scanGain); } @@ -687,7 +791,7 @@ public class A8kCanBusService { lastCmdMapPut(MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId())); } - + txPacketContext = pack; client.send(txpacket); A8kPacket receipt; try { @@ -728,17 +832,25 @@ public class A8kCanBusService { A8kPacket packet = new A8kPacket(rx); - if (!packet.isSupportPacket()) { logger.warn("Rx packet not support: {}", packet); return; } - - if (debugFlag && packet.isTrace()) { - logger.info("RX |RAW:{}| {}", s, packet); + A8kPacket tpCxt = this.txPacketContext; + if (debugFlag) { + if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK) { + if (tpCxt != null && tpCxt.getPacketIndex() == packet.getPacketIndex()) { + if (tpCxt.isTrace()) { + logger.info("RX-ACK |RAW:{}| {}", s, packet); + } + } + } else { + logger.info("RX |RAW:{}| {}", s, packet); + } } + if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { if (isWaitingReceipt) { if (waitingReceiptIndex == packet.getPacketIndex()) { diff --git a/src/main/java/a8k/canbus/A8kModParamInitializer.java b/src/main/java/a8k/canbus/A8kModParamInitializer.java index 48683ee..c4e45d0 100644 --- a/src/main/java/a8k/canbus/A8kModParamInitializer.java +++ b/src/main/java/a8k/canbus/A8kModParamInitializer.java @@ -83,7 +83,23 @@ public class A8kModParamInitializer implements AppEventListener { canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_pos_devi_tolerance, 5); canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_io_trigger_append_distance, 10); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_x, -100); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_y, -100); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_x, -100); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_y, -100); + + + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_vstart, 1); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_a1, 5); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_amax, 10); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_v1, 300); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_dmax, 10); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_d1, 5); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_vstop, 1); + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_tzerowait, 300); + + canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_one_circle_pulse, 7215); // canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500); } diff --git a/src/main/java/a8k/canbus/data/PipetteSampleData.java b/src/main/java/a8k/canbus/data/PipetteSampleData.java new file mode 100644 index 0000000..ab18790 --- /dev/null +++ b/src/main/java/a8k/canbus/data/PipetteSampleData.java @@ -0,0 +1,7 @@ +package a8k.canbus.data; + +public class PipetteSampleData { + public Integer motorPos; + public Integer cval; + public Integer pval; +} diff --git a/src/main/java/a8k/canbus/protocol/A8kPacket.java b/src/main/java/a8k/canbus/protocol/A8kPacket.java index 28c98ec..3fee79d 100644 --- a/src/main/java/a8k/canbus/protocol/A8kPacket.java +++ b/src/main/java/a8k/canbus/protocol/A8kPacket.java @@ -22,7 +22,6 @@ public class A8kPacket { */ public static final Logger logger = LoggerFactory.getLogger(A8kPacket.class); - byte[] raw; public static final int PACKET_MIN_LEN = 8; @@ -82,12 +81,25 @@ public class A8kPacket { public String toString() { int packetType = getPacketType(); String ret = ""; - CmdId cmdId = CmdId.valueOf(getCmdId()); assert cmdId != null; if (packetType == PACKET_TYPE_CMD) { - if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) { - ret = String.format("[CMD ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent())); + CmdId cmdId = CmdId.valueOf(getCmdId()); + assert cmdId != null; + if (packetType == PACKET_TYPE_CMD) { + + if (cmdId.equals(CmdId.module_get_reg) || cmdId.equals(CmdId.module_set_reg)) { + RegIndex regIndex = RegIndex.valueOf(getContentI32(0)); + if (regIndex != null) { + ret = String.format("[CMD ] index:[%d] %s %s(%d) %d", getPacketIndex(), cmdId, regIndex, regIndex.index, getContentI32(1)); + } else { + ret = String.format("[CMD ] index:[%d] %s unkown_index(%d) %d", getPacketIndex(), cmdId, getContentI32(0), getContentI32(1)); + } } else { - ret = String.format("[CMD ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent())); + if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) { + ret = String.format("[CMD ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent())); + } else { + ret = String.format("[CMD ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent())); + } } + } else if (packetType == PACKET_TYPE_ACK) { if (cmdId.receiptAttachType == CmdId.ATTACH_IS_INT32) { ret = String.format("[ACK ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, formatInt32ATTACH(getCmdContent())); @@ -132,21 +144,16 @@ public class A8kPacket { if (!isSupportPacket()) { return false; } - CmdId cmdid = CmdId.valueOf(getCmdId()); assert cmdid != null; - if (!cmdid.notTrace) { - return true; - } if (CmdId.module_get_reg.equals(cmdid) || CmdId.module_set_reg.equals(cmdid)) { RegIndex regIndex = RegIndex.valueOf(getContentI32(0)); assert regIndex != null; - if (!regIndex.trace) { - return false; - } + return regIndex.trace; + } else { + return cmdid.trace; } - return false; } } diff --git a/src/main/java/a8k/canbus/protocol/CmdId.java b/src/main/java/a8k/canbus/protocol/CmdId.java index 43f9c62..255d0f3 100644 --- a/src/main/java/a8k/canbus/protocol/CmdId.java +++ b/src/main/java/a8k/canbus/protocol/CmdId.java @@ -9,11 +9,11 @@ public enum CmdId { event_bus_reg_change_report(0x0064, "event_bus_reg_change_report"),// // module_ping(0x0100, "module_ping"),// - module_get_status(0x0104, "module_get_status", true),// + module_get_status(0x0104, "module_get_status", false),// module_stop(0x0101, "module_stop"),// module_set_reg(0x0105, "module_set_reg"),// module_get_reg(0x0106, "module_get_reg"),// - module_get_error(0x010a, "module_get_error", true),// + module_get_error(0x010a, "module_get_error", false),// module_clear_error(0x010b, "module_clear_error"),// module_active_cfg(0x0110, "module_active_cfg"),// // @@ -21,9 +21,9 @@ public enum CmdId { xymotor_move_by(0x0302, "xymotor_move_by"),// xymotor_move_to(0x0303, "xymotor_move_to"),// xymotor_move_to_zero(0x0304, "xymotor_move_to_zero"),// - xymotor_read_pos(0x0306, "xymotor_read_pos"),// + xymotor_read_pos(0x0306, "xymotor_read_pos",false),// xymotor_read_inio_index_in_stm32(0x0307, "xymotor_read_inio_index_in_stm32"),// - xymotor_read_inio(0x0308, "xymotor_read_inio", true),// + xymotor_read_inio(0x0308, "xymotor_read_inio", false),// xymotor_set_pos(0x0309, "xymotor_set_pos"),// xymotor_motor_move_by_direct(0x030a, "xymotor_motor_move_by_direct"),// xymotor_read_enc_direct(0x030b, "xymotor_read_enc_direct"),// @@ -69,7 +69,7 @@ public enum CmdId { step_motor_easy_move_to_io(0x0216, "step_motor_easy_move_to_io"),// step_motor_stop(0x0228, "step_motor_stop"),// step_motor_active_cfg(0x0229, "step_motor_active_cfg"),// - step_motor_read_io_state(0x022a, "step_motor_read_io_state", true),// + step_motor_read_io_state(0x022a, "step_motor_read_io_state", false),// step_motor_easy_move_to_end_point(0x022c, "step_motor_easy_move_to_end_point"),// step_motor_read_tmc5130_status(0x0232, "step_motor_read_tmc5130_status"),// step_motor_read_tmc5130_state(0x0233, "step_motor_read_tmc5130_state"),// @@ -90,9 +90,9 @@ public enum CmdId { mini_servo_rotate_with_torque(0x660b, "mini_servo_rotate_with_torque"),// mini_servo_set_cur_pos(0x660c, "mini_servo_set_cur_pos"),// // - extboard_read_inio(0x6701, "extboard_read_inio", true),// + extboard_read_inio(0x6701, "extboard_read_inio", false),// extboard_write_outio(0x6702, "extboard_write_outio"),// - extboard_read_muti_inio(0x6703, "extboard_read_muti_inio", true),// + extboard_read_muti_inio(0x6703, "extboard_read_muti_inio", false),// extboard_read_inio_index_in_stm32(0x6704, "extboard_read_inio_index_in_stm32"),// extboard_read_outio_index_in_stm32(0x6705, "extboard_read_outio_index_in_stm32"),// extboard_read_outio(0x6706, "extboard_read_outio"),// @@ -136,7 +136,7 @@ public enum CmdId { public String chName; public int cmdAttachType = ATTACH_IS_INT32; public int receiptAttachType = ATTACH_IS_INT32; - public boolean notTrace = false; + public boolean trace = true; public boolean actionCmd = true; CmdId(int index, String chname) { @@ -144,11 +144,11 @@ public enum CmdId { this.chName = chname; } - CmdId(int index, String chname, boolean notTrace) { + CmdId(int index, String chname, boolean trace) { this.index = index; this.chName = chname; - this.notTrace = notTrace; - this.actionCmd = !notTrace; + this.trace = trace; + this.actionCmd = trace; } CmdId(int index, String chname, int cmdAttachType, int receiptAttachType) { @@ -158,12 +158,12 @@ public enum CmdId { this.receiptAttachType = receiptAttachType; } - CmdId(int index, String chname, int cmdAttachType, int receiptAttachType, boolean notTrace) { + CmdId(int index, String chname, int cmdAttachType, int receiptAttachType, boolean trace) { this.index = index; this.chName = chname; this.cmdAttachType = cmdAttachType; this.receiptAttachType = receiptAttachType; - this.notTrace = notTrace; + this.trace = trace; } diff --git a/src/main/java/a8k/service/hardware/HbotControlService.java b/src/main/java/a8k/service/hardware/HbotControlService.java index a515571..fd800f6 100644 --- a/src/main/java/a8k/service/hardware/HbotControlService.java +++ b/src/main/java/a8k/service/hardware/HbotControlService.java @@ -2,6 +2,7 @@ package a8k.service.hardware; import a8k.appbean.HardwareException; import a8k.appbean.cfg.*; +import a8k.appbean.ecode.AppRet; import a8k.canbus.A8kCanBusService; import a8k.canbus.protocol.A8kEcode; import a8k.canbus.protocol.IOId; @@ -15,6 +16,7 @@ import org.slf4j.LoggerFactory; import org.springframework.context.ApplicationContext; import org.springframework.stereotype.Component; + /** * Hbot控制服务 */ @@ -37,8 +39,13 @@ public class HbotControlService implements HardwareCtrlModule { HardwareParamReader settingReader = new HardwareParamReader(HbotControlService.class); @HardwareServiceParam(name = "动作超时时间", group = "基础配置") - public Integer getActionOverTime() { - return settingReader.getInteger("ActionOverTime", 10000); + public Integer getActionOvertime() { + return settingReader.getInteger("ActionOvertime", 10000); + } + + @HardwareServiceParam(name = "扫码超时时间", group = "基础配置") + public Integer getScancodeOvertime() { + return settingReader.getInteger("ActionOvertime", 1000); } @HardwareServiceParam(name = "急诊位", group = "简单位置坐标") @@ -50,8 +57,21 @@ public class HbotControlService implements HardwareCtrlModule { ); } + @HardwareServiceParam(name = "TIP组位置信息", group = "位置坐标集合") + public TipPickUpPosInfo getTipPickUpPosInfo() { + return settingReader.getObject("TipPickUpPosInfo", TipPickUpPosInfo.class, + new TipPickUpPosInfo( + new Pos2d(903, -11), + new Pos2d(0, 0), + new Pos2d(0, 0), + 92.4, + 92.4, + 0)); + } + + @HardwareServiceParam(name = "Tip丢弃位置", group = "简单位置坐标") - public Pos3d getTipDropPos() throws Exception { + public Pos3d getTipDropPos() { return new Pos3d( 0, 0, @@ -60,7 +80,7 @@ public class HbotControlService implements HardwareCtrlModule { } @HardwareServiceParam(name = "滴液反应位", group = "简单位置坐标") - public Pos3d getReactionPos() throws Exception { + public Pos3d getReactionPos() { return settingReader.getObject("ReactionPos", Pos3d.class, new Pos3d( 0, @@ -69,20 +89,9 @@ public class HbotControlService implements HardwareCtrlModule { )); } - @HardwareServiceParam(name = "TIP组位置信息", group = "位置坐标集合") - public TipPickUpPosInfo getTipPickUpPosInfo() throws Exception { - return settingReader.getObject("TipPickUpPosInfo", TipPickUpPosInfo.class, - new TipPickUpPosInfo( - new Pos2d(0, 0), - new Pos2d(0, 0), - new Pos2d(0, 0), - 0, - 0, - 0)); - } @HardwareServiceParam(name = "小瓶缓冲液位置", group = "位置坐标集合") - public SmallBottleBufferPos getSmallBottleBufferPosInfo() throws Exception { + public SmallBottleBufferPos getSmallBottleBufferPosInfo() { return settingReader.getObject("SmallBottleBufferPosInfo", SmallBottleBufferPos.class, new SmallBottleBufferPos( new Pos2d(0, 0), @@ -103,7 +112,7 @@ public class HbotControlService implements HardwareCtrlModule { } @HardwareServiceParam(name = "板夹仓扫码位置", group = "位置坐标集合") - public Plates2dCodeScanPos getPlates2dCodeScanPosInfo() throws Exception { + public Plates2dCodeScanPos getPlates2dCodeScanPosInfo() { return settingReader.getObject("Plates2dCodeScanPosInfo", Plates2dCodeScanPos.class,// new Plates2dCodeScanPos( new Pos2d(0, 0), @@ -113,7 +122,7 @@ public class HbotControlService implements HardwareCtrlModule { } @HardwareServiceParam(name = "大瓶缓冲液位置", group = "位置坐标集合") - public LargeBottleBufferPos getLargeBottleBufferPosInfo() throws Exception { + public LargeBottleBufferPos getLargeBottleBufferPosInfo() { return settingReader.getObject("LargeBottleBufferPosInfo", LargeBottleBufferPos.class, new LargeBottleBufferPos( new Pos2d(0, 0), @@ -163,69 +172,162 @@ public class HbotControlService implements HardwareCtrlModule { /** * 下面脚本中涉及到的动作，如果正常结束，Z轴均移动的0位置。 */ - @HardwareServiceAction(name = "Hbot使能", group = "基础控制") + @HardwareServiceAction(name = "模块使能", group = "基础控制") @Override public void modGroupEnable(Boolean enable) throws HardwareException, InterruptedException { - comHardwareOpera.enableAllMotor(); + if (enable) { + comHardwareOpera.enableAllMotor(); + } else { + comHardwareOpera.disableAllMotor(); + } } - @HardwareServiceAction(name = "Hbot停止", group = "基础控制") + @HardwareServiceAction(name = "模块停止", group = "基础控制") @Override public void modGroupStop() throws HardwareException { comHardwareOpera.forceStopAndDisableAllMOtor(); } - @HardwareServiceAction(name = "Hbot归零", group = "基础控制") + @HardwareServiceAction(name = "模块归零", group = "基础控制") @Override public void modGroupMoveToZero() throws HardwareException, InterruptedException { checkPublicArea(); - checkBeforeHbotRun(new Pos2d(0, 0)); + canBus.stepMotorEnable(MId.PipetteModZM, 1); + canBus.hbotEnable(MId.HbotM, 1); - canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getActionOverTime()); - canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOverTime()); + canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getActionOvertime()); + + checkBeforeHbotRun(new Pos2d(0, 0)); + canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOvertime()); } - @HardwareServiceAction(name = "Hbot快速归零", group = "基础控制") + @HardwareServiceAction(name = "模块快速归零", group = "基础控制") @Override public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException { checkPublicArea(); + canBus.stepMotorEnable(MId.PipetteModZM, 1); + canBus.hbotEnable(MId.HbotM, 1); + + canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime()); + checkBeforeHbotRun(new Pos2d(0, 0)); - canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOverTime()); - canBus.hbotMoveToBlock(MId.HbotM, 0, 0, getActionOverTime()); - canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOverTime()); + canBus.hbotMoveToBlock(MId.HbotM, 0, 0, getActionOvertime()); + canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOvertime()); } + + @HardwareServiceAction(name = "Hbot使能", group = "坐标获取工具") + public void hBotEnable() throws HardwareException, InterruptedException { + canBus.hbotEnable(MId.HbotM, 1); + } + + @HardwareServiceAction(name = "Hbot失能", group = "坐标获取工具") + public void hBotDisable() throws HardwareException, InterruptedException { + canBus.hbotEnable(MId.HbotM, 0); + } + + @HardwareServiceAction(name = "Z轴使能", group = "坐标获取工具") + public void zAxisEnable() throws HardwareException, InterruptedException { + canBus.stepMotorEnable(MId.PipetteModZM, 1); + } + + @HardwareServiceAction(name = "Z轴失能", group = "坐标获取工具") + public void zAxisDisable() throws HardwareException, InterruptedException { + canBus.stepMotorEnable(MId.PipetteModZM, 0); + } + + @HardwareServiceAction(name = "读取Z轴坐标", group = "坐标获取工具") + public AppRet readZAxisPosByMoveToZero() throws HardwareException, InterruptedException { + return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PipetteModZM, getActionOvertime())); + } + + @HardwareServiceAction(name = "HBot移动到", group = "基础控制") public void hbotMoveTo(Integer x, Integer y) throws HardwareException, InterruptedException { checkPublicArea(); checkBeforeHbotRun(new Pos2d(x, y)); - canBus.hbotMoveToBlock(MId.HbotM, x, y, getActionOverTime()); + + canBus.hbotEnable(MId.HbotM, 1); + + canBus.hbotMoveToBlock(MId.HbotM, x - 20, y - 20, getActionOvertime()); + canBus.hbotMoveToBlock(MId.HbotM, x, y - 15, getActionOvertime()); + // Thread.sleep(200); + canBus.hbotMoveToBlock(MId.HbotM, x, y, getActionOvertime()); + } + + public void zMoveTo(Integer z) throws HardwareException, InterruptedException { + canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, z, getActionOvertime()); } //取tip - public boolean takeTip(int groupId, int index) { - return false; + @HardwareServiceAction(name = "取Tip", group = "单步操作") + public AppRet takeTip(Integer groupId, Integer index) throws HardwareException, InterruptedException { + logger.info("takeTip groupId:{} index:{}", groupId, index); + if (groupId > 2 || groupId < 0) { + throw new HardwareException(A8kEcode.ParamOutOfRange); + } + + if (index > TipPickUpPosInfo.ROW_MAX * TipPickUpPosInfo.COL_MAX || index < 0) { + throw new HardwareException(A8kEcode.ParamOutOfRange); + } + + TipPickUpPosInfo tipPos = getTipPickUpPosInfo(); + Pos2d pos = tipPos.getTipPos(groupId, index); + hbotMoveTo(pos.x, pos.y); + + canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos, getActionOvertime()); + canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime()); + + Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1; + if (!isGetTip) { + logger.error("takeTip fail"); + } + return AppRet.success(isGetTip); + } + + @HardwareServiceAction(name = "取Tip测试", group = "测试") + public AppRet takeTipTest(Integer groupId, Integer index) throws HardwareException, InterruptedException { + var ret = takeTip(groupId, index); + TipPickUpPosInfo tipPos = getTipPickUpPosInfo(); + + canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos, getActionOvertime()); + canBus.pipetteCtrlPutTip(MId.PipetteMod); + canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime()); + return ret; } //丢tip - public A8kEcode dropTip() { - return A8kEcode.Success; + @HardwareServiceAction(name = "丢Tip", group = "单步操作") + public void dropTip() throws HardwareException, InterruptedException { + Pos3d pos = getTipDropPos(); + hbotMoveTo(pos.x, pos.y); + zMoveTo(pos.z); + canBus.pipetteCtrlPutTip(MId.PipetteMod); } + private AppRet hBotMoveToAndScan(Pos2d pos) throws HardwareException, InterruptedException { + hbotMoveTo(pos.x, pos.y); + canBus.codeScanerStartScan(MId.PipetteModCodeScanner); + String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, getScancodeOvertime()); + return AppRet.success(result); + } //扫描板夹仓二维码 - public String scanPlatesCode(int index, int overtime) { - return ""; + public AppRet scanPlatesCode(Integer index) throws HardwareException, InterruptedException { + var posInfo = getPlates2dCodeScanPosInfo(); + return hBotMoveToAndScan(new Pos2d(posInfo.ch0ScanPos.x, posInfo.ch0ScanPos.y + posInfo.scanYSpacing * index)); } //扫描小缓冲液二维码 - public String scanSmallBottleBufferCode(int index, int overtime) { - return ""; + public AppRet scanSmallBottleBufferCode(Integer index) { + + + return null; } //扫描大缓冲液二维码 - public String scanBigBottleBufferCode(int index, int overtime) { + public String scanBigBottleBufferCode(Integer index) { return ""; } //在试管架的位置取样品 - public boolean takeSampleFromPos0(int ul) { + public boolean takeSampleFromPos0(Integer ul) { return false; } @@ -251,25 +353,31 @@ public class HbotControlService implements HardwareCtrlModule { } - @HardwareServiceStatus(name = "Z轴光电⬆") + // @HardwareServiceStatus(name = "Z轴光电⬆") public Boolean getZPPS() throws HardwareException { return canBus.stepMotorReadIoState(MId.PipetteModZM, 0); } - @HardwareServiceStatus(name = "X轴光电➡") + // @HardwareServiceStatus(name = "X轴光电➡") public Boolean getXPPS() throws HardwareException { return canBus.hbotReadInio(MId.HbotM, 0); } - @HardwareServiceStatus(name = "Y轴光电⬇") + // @HardwareServiceStatus(name = "Y轴光电⬇") public Boolean getYPPS() throws HardwareException { return canBus.hbotReadInio(MId.HbotM, 1); } - @HardwareServiceStatus(name = "TipState") - public Boolean getTipPPS() throws HardwareException { - return false; -// return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1; + // @HardwareServiceStatus(name = "TipState") + // public Boolean getTipPPS() throws HardwareException { + // return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1; + // } + +// @HardwareServiceStatus(name = "HbotPos") + public String getPos() throws HardwareException { + Pos2d pos = canBus.hbotReadPos(MId.HbotM); + return pos.toString(); } + }