project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 1 year ago
parent
22501a3ca2
commit
dd0ade5395
5 changed files with 76 additions and 24 deletions
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  1. 1
      README.md
  2. 8
      src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java
  3. 11
      src/main/java/a8k/appbean/cfg/LargeBottleBufferPos.java
  4. 4
      src/main/java/a8k/canbus/protocol/RegIndex.java
  5. 76
      src/main/java/a8k/service/hardware/HbotControlService.java

1
README.md
View File

@ -2,6 +2,7 @@
TODO:
1. 数据库文件是否被破坏检查
2. 数据库文件如果被破坏，自动恢复默认配置
3. 添加归零保护，底层检测，如果电机未归零就执行moveTo,则报错。
坐标XY方向约定:
0 ----------------------->

8
src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java
View File

@ -4,9 +4,9 @@ import a8k.utils.HbotScanerPosComputer;
public class BottleGroupsPosInfo {
static public Integer cgetMAX_GROUP_COL() {return 2;}
static public Integer cgetMAX_GROUP_COL() {return 3;}
static public Integer cgetMAX_GROUP_ROW() {return 3;}
static public Integer cgetMAX_GROUP_ROW() {return 2;}
static public Integer cgetMAX_GROUP() {return cgetMAX_GROUP_COL() * cgetMAX_GROUP_ROW();}
@ -17,6 +17,8 @@ public class BottleGroupsPosInfo {
public Pos2d scanCodeRelaPos; //扫码相对位置
public Integer posTestZ;
public BottlesPosInfo smallBottleBufferPos; //小瓶缓冲液位置信息
public BottlesPosInfo detectMaterialPos; //探测物质位置信息
@ -36,6 +38,7 @@ public class BottleGroupsPosInfo {
Integer groupXSpacing,
Integer groupYSpacing,
Pos2d scanCodeRelaPos,
Integer posTestZ,
BottlesPosInfo smallBottleBufferPos,
BottlesPosInfo detectMaterialPos) {
this.topLelf = topLelf;
@ -44,6 +47,7 @@ public class BottleGroupsPosInfo {
this.scanCodeRelaPos = scanCodeRelaPos;
this.smallBottleBufferPos = smallBottleBufferPos;
this.detectMaterialPos = detectMaterialPos;
this.posTestZ = posTestZ;
}
Pos2d cgetTopLelf(Integer group) {

11
src/main/java/a8k/appbean/cfg/LargeBottleBufferPos.java
View File

@ -14,8 +14,7 @@ public class LargeBottleBufferPos {
public Integer ySpacing; //y间隔
public Integer scancodeRelaPos; //扫码相对每个大屏缓冲液的位置，第一排 -dy，第二排dy
public Integer sampleZPos; //取样开始位置
public Integer sampleZDepth; //取样深度
public Integer cgetCOL() {
return 3;
@ -34,17 +33,13 @@ public class LargeBottleBufferPos {
xSpacing = 0;
ySpacing = 0;
scancodeRelaPos = 0;
sampleZPos = 0;
sampleZDepth = 0;
}
public LargeBottleBufferPos(Pos2d topLelf, Integer xSpacing, Integer ySpacing, Integer relaPos, Integer sampleZPos, Integer sampleZDepth) {
public LargeBottleBufferPos(Pos2d topLelf, Integer xSpacing, Integer ySpacing, Integer scancodeRelaPos) {
this.topLelf = topLelf;
this.xSpacing = xSpacing;
this.ySpacing = ySpacing;
this.scancodeRelaPos = 0;
this.sampleZPos = sampleZPos;
this.sampleZDepth = sampleZDepth;
this.scancodeRelaPos = scancodeRelaPos;
}
public Pos2d cgetBottlePos(Integer bottleIndex) {

4
src/main/java/a8k/canbus/protocol/RegIndex.java
View File

@ -10,6 +10,8 @@ public enum RegIndex {
kreg_module_status(2), // 0idle,1busy,2error
kreg_module_errorcode(3), // inited_flag
kreg_extboard_resetflag(100),
/***********************************************************************************************************************
* 水冷温度控制器 *
***********************************************************************************************************************/
@ -80,6 +82,7 @@ public enum RegIndex {
***********************************************************************************************************************/
kreg_xyrobot_io_state(9900, false), //
kreg_xyrobot_is_enable(9901), //
kreg_xyrobot_robot_type(9950), //
kreg_xyrobot_one_circle_pulse(9951), //
kreg_xyrobot_one_circle_pulse_denominator(9952), //
@ -116,6 +119,7 @@ public enum RegIndex {
***********************************************************************************************************************/
kreg_step_motor_pos(10101), // 机器人x坐标
kreg_step_motor_is_enable(10102), // 是否使能
kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移
kreg_step_motor_shift(10150), // x偏移
kreg_step_motor_shaft(10151), // x轴是否反转

76
src/main/java/a8k/service/hardware/HbotControlService.java
View File

@ -108,6 +108,7 @@ public class HbotControlService implements HardwareCtrlModule {
1230,
1250,
new Pos2d(579, 1097),
283,
new BottlesPosInfo/*大孔*/(
new Pos2d(160, 160),
210,
@ -137,12 +138,10 @@ public class HbotControlService implements HardwareCtrlModule {
public LargeBottleBufferPos getLargeBottleBufferPosInfo() {
return settingReader.getObject("LargeBottleBufferPosInfo", LargeBottleBufferPos.class,
new LargeBottleBufferPos(
new Pos2d(4583, 1363),
new Pos2d(4594, 1350),
280,
280,
0,
0,
0
165
));
}
@ -182,6 +181,14 @@ public class HbotControlService implements HardwareCtrlModule {
throw new HardwareException(A8kEcode.PlateBoxNotCover);
}
boolean zEnable = true;
boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
if (canBus.moduleGetReg(MId.PipetteModZM, RegIndex.kreg_step_motor_is_enable) == 0) {
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getActionOvertime());
zEnable = false;
}
//Z轴归零
if (!getZPPS()) {
canBus.stepMotorEnable(MId.PipetteModZM, 1);
@ -212,6 +219,8 @@ public class HbotControlService implements HardwareCtrlModule {
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
zMoveTo(targetPos.z);
}
canBus.stepMotorEnable(MId.PipetteModZM, zEnable ? 1 : 0);
canBus.hbotEnable(MId.HbotM, hbotEnable ? 1 : 0);
}
@ -323,17 +332,31 @@ public class HbotControlService implements HardwareCtrlModule {
@HardwareServiceAction(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole) throws HardwareException, InterruptedException {
BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
hbotCheckAndMoveTo(pos);
}
@HardwareServiceAction(name = "HBot移动到探测物质X孔", group = "单步测试")
public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole) throws HardwareException, InterruptedException {
BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
hbotCheckAndMoveTo(pos);
}
@HardwareServiceAction(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试")
public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws HardwareException, InterruptedException {
LargeBottleBufferPos posInfo = getLargeBottleBufferPosInfo();
Pos2d pos = posInfo.cgetBottlePos( ch.off);
hbotCheckAndMoveTo(pos);
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 坐标获取工具
@ -447,14 +470,14 @@ public class HbotControlService implements HardwareCtrlModule {
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 测试
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Boolean testTakeTipFlag;
Boolean testScriptWorkFlag = false;
@HardwareServiceAction(name = "取放Tip", group = "测试脚本")
public AppRet<Boolean> takeTipTestStep(Integer groupId, Integer index) throws HardwareException, InterruptedException {
var ret = takeTip(groupId, index);
public AppRet<Boolean> takeTipTestStep(Integer tipgroup, Integer index) throws HardwareException, InterruptedException {
var ret = takeTip(tipgroup, index);
TipPickUpPosInfo tipPos = getTipPickUpPosInfo();
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.getPickUpZPos(groupId) - 100, getActionOvertime());
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.getPickUpZPos(tipgroup) - 100, getActionOvertime());
canBus.pipetteCtrlPutTipBlock(MId.PipetteMod);
if (canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1) {
@ -468,7 +491,7 @@ public class HbotControlService implements HardwareCtrlModule {
@HardwareServiceAction(name = "取全部Tip", group = "测试脚本")
public AppRet<Map<String, String>> testTakeAllTip(Integer groupId, Integer startFrom) throws HardwareException, InterruptedException {
// ObjectMapper mapper = new ObjectMapper();
testTakeTipFlag = true;
testScriptWorkFlag = true;
Map<String, String> result = new HashMap<>();
for (int i = startFrom; i < TipPickUpPosInfo.cgetTipNum(); i++) {
var ret = takeTipTestStep(groupId, i);
@ -478,17 +501,42 @@ public class HbotControlService implements HardwareCtrlModule {
result.put("Tip" + i, ret.getData() ? "suc" : "fail");
logger.info("Take Tip {}-{} => {}", groupId, i, ret.getData());
if (!testTakeTipFlag) {
if (!testScriptWorkFlag) {
break;
}
}
return AppRet.success(result);
}
@HardwareServiceAction(name = "测试所有小瓶缓冲液位置", group = "测试脚本")
public void testAllLittleBottleBufferPos(ConsumableGroup group) throws HardwareException, InterruptedException {
testScriptWorkFlag = true;
BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
for (int i = 0; i < BottlesPosInfo.cgetMAX(); i++) {
Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, i);
hbotCheckAndMoveTo(new Pos3d(pos.x, pos.y, posInfo.posTestZ));
if (!testScriptWorkFlag) {
break;
}
}
}
@HardwareServiceAction(name = "测试所有探测物质位置", group = "测试脚本")
public void testAllDetectMaterialPos(ConsumableGroup group) throws HardwareException, InterruptedException {
testScriptWorkFlag = true;
BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
for (int i = 0; i < BottlesPosInfo.cgetMAX(); i++) {
Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, i);
hbotCheckAndMoveTo(new Pos3d(pos.x, pos.y, posInfo.posTestZ));
if (!testScriptWorkFlag) {
break;
}
}
}
@HardwareServiceAction(name = "停止取全部Tip", group = "测试脚本")
@HardwareServiceAction(name = "停止测试脚本", group = "测试脚本")
public void testTakeAllTipStop() throws HardwareException, InterruptedException {
testTakeTipFlag = false;
testScriptWorkFlag = false;
}

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