update

src/main/java/a8k/appbean/HardwareException.java

@@ -10,6 +10,7 @@ public class HardwareException extends Exception {
 	A8kEcode errorCode;
 	MId      moduleId;
 	CmdId    cmdId;
+	String   extmessage;
 
 	public HardwareException() {
 		super();
@@ -29,6 +30,14 @@ public class HardwareException extends Exception {
 		this.cmdId     = cmd;
 	}
 
+	public HardwareException(A8kEcode ecode, String extmessage) {
+		super(String.format("Error code %s", ecode));
+		this.errorCode  = ecode;
+		this.moduleId   = null;
+		this.cmdId      = null;
+		this.extmessage = extmessage;
+	}
+
 	public HardwareException(A8kEcode ecode) {
 		super(String.format("Error code %s", ecode));
 		this.errorCode = ecode;
@@ -48,4 +57,7 @@ public class HardwareException extends Exception {
 		return cmdId;
 	}
 
+	public String getExtMessage() {
+		return extmessage;
+	}
 }

src/main/java/a8k/appbean/cfg/SmallBottleBufferPos.java

@@ -42,7 +42,13 @@ public class SmallBottleBufferPos {
 	public Integer smallBottleBufDistributeZPos; //小瓶缓冲液吐液高度
 	public Integer detectMaterialDistributeZpos; //探测物质吐液高度
 
-	public SmallBottleBufferPos(){
+	public Integer cgetMAX_COL()   {return 5;}
+
+	public Integer cgetMAX_ROW()   {return 5;}
+
+	public Integer cgetBottomNum() {return 5 * 5;}
+
+	public SmallBottleBufferPos() {
 		g0TopLelf                    = new Pos2d(0, 0);
 		g1TopLelf                    = new Pos2d(0, 0);
 		g2TopLelf                    = new Pos2d(0, 0);
@@ -90,4 +96,39 @@ public class SmallBottleBufferPos {
 		this.detectMaterialDistributeZpos = detectMaterialDistributeZpos;
 	}
 
+	Pos2d cgetTopLelf(Integer group) {
+		return switch (group) {
+			case 0 -> g0TopLelf;
+			case 1 -> g1TopLelf;
+			case 2 -> g2TopLelf;
+			case 3 -> g3TopLelf;
+			case 4 -> g4TopLelf;
+			case 5 -> g5TopLelf;
+			default -> null;
+		};
+	}
+
+	Pos2d cgetScanPos(Integer group) {
+		Pos2d topLelf = cgetTopLelf(group);
+		if (topLelf == null) {
+			return null;
+		}
+		return new Pos2d(topLelf.x + scanRelaPos.x, topLelf.y + scanRelaPos.y);
+	}
+
+	Pos2d cgetBottlePos(Integer group, Integer bottleIndex) {
+		Pos2d topLelf = cgetTopLelf(group);
+		assert topLelf != null;
+		int col = bottleIndex % 5;
+		int row = bottleIndex / 5;
+		return new Pos2d(topLelf.x + col * xSpacing, topLelf.y + row * ySpacing);
+	}
+
+	Pos3d cgetBottlePiercedPos(Integer group, Integer bottleIndex) {
+		Pos2d bottlePos = cgetBottlePos(group, bottleIndex);
+		return new Pos3d(bottlePos.x, bottlePos.y, piercedZPos);
+	}
+
+
+
 }

src/main/java/a8k/appbean/ecode/AppRet.java

@@ -116,8 +116,8 @@ public class AppRet<T> {
 			r.success   = false;
 			r.ecode     = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
 			r.data      = null;
-			r.traceInfo = trace;
-			r.message   = r.ecode.toDisPlayString();
+			r.traceInfo = r.ecode.toDisPlayString()+hexcep.getExtMessage();
+			r.message   = r.ecode.toDisPlayString()+hexcep.getExtMessage();
 		} else {
 			r.success   = false;
 			r.ecode     = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -76,7 +76,7 @@ public class HbotControlService implements HardwareCtrlModule {
 						new Pos2d(3947, -15),
 						92.4,
 						92.4,
-						585));
+						590));
 	}
 
 
@@ -360,6 +360,8 @@ public class HbotControlService implements HardwareCtrlModule {
 		var posInfo = getSmallBottleBufferPosInfo();
 
 
+
+
 		return null;
 	}