update

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

@@ -11,8 +11,11 @@ public class TipPickUpPosInfo {
 
 	public Integer pickUpZPos; //拾取高度
 
-	final public static Integer ROW_MAX = 10;
-	final public static Integer COL_MAX = 12;
+	static public Integer cgetTipNum()  {return 12 * 10;}
+
+	static public Integer cgetCOL_MAX() {return 12;}
+
+	static public Integer cgetROW_MAX() {return 10;}
 
 	public TipPickUpPosInfo() {
 		g0tl       = new Pos2d(0, 0);
@@ -48,10 +51,12 @@ public class TipPickUpPosInfo {
 		int row; //行
 		int col; //列
 
-		row = index / COL_MAX;
-		col = index % COL_MAX;
+		row = index / cgetCOL_MAX();
+		col = index % cgetCOL_MAX();
 
 		Pos2d topleft = getTopLeft(group);
 		return new Pos2d((int) (topleft.x + col * xSpacing), (int) (topleft.y + row * ySpacing));
 	}
+
+
 }

src/main/java/a8k/canbus/A8kCanBusService.java

@@ -672,7 +672,7 @@ public class A8kCanBusService {
 		} while (true);
 	}
 
-	public Boolean getIOState(IOId ioid) throws HardwareException {
+	public Boolean priGetIOState(IOId ioid) throws HardwareException {
 		if (ioid.mtype == ModuleType.kboard) {
 			return callcmd(ioid.mid.toInt(), CmdId.extboard_read_inio.toInt(), ioid.ioIndex).getContentI32(0) != 0;
 		} else if (ioid.mtype == ModuleType.ktmc_step_motor) {
@@ -684,6 +684,19 @@ public class A8kCanBusService {
 		}
 	}
 
+	public Boolean getIOState(IOId ioid) throws HardwareException {
+		while (true) {
+			Boolean firstReadIO  = priGetIOState(ioid);
+			Boolean secondReadIO = priGetIOState(ioid);
+			if(firstReadIO == secondReadIO){
+				return firstReadIO;
+			}else{
+				logger.warn("getIOState {} not match, retry", ioid);
+			}
+		}
+	}
+
+
 	public void setIOState(IOId ioid, boolean val) throws HardwareException {
 		if (ioid.mtype == ModuleType.kboard) {
 			callcmd(ioid.mid.toInt(), CmdId.extboard_write_outio.toInt(), ioid.ioIndex, val ? 1 : 0);

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

@@ -1,6 +1,7 @@
 package a8k.service.hardware;
 
 import a8k.appbean.HardwareException;
+import a8k.appbean.PlateBoxCh;
 import a8k.appbean.cfg.*;
 import a8k.appbean.ecode.AppRet;
 import a8k.canbus.A8kCanBusService;
@@ -284,7 +285,7 @@ public class HbotControlService implements HardwareCtrlModule {
 			throw new HardwareException(A8kEcode.ParamOutOfRange);
 		}
 
-		if (index > TipPickUpPosInfo.ROW_MAX * TipPickUpPosInfo.COL_MAX || index < 0) {
+		if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
 			throw new HardwareException(A8kEcode.ParamOutOfRange);
 		}
 
@@ -337,13 +338,44 @@ public class HbotControlService implements HardwareCtrlModule {
 		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PipetteModZM, getActionOvertime()));
 	}
 
+	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	//	hbot移动到并扫码
+	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	private AppRet<String> hBotMoveToAndScan(Pos2d pos) throws HardwareException, InterruptedException {
+		hbotCheckAndMoveTo(pos);
+		canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
+		String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, getScancodeOvertime());
+		return AppRet.success(result);
+	}
+
+	//扫描板夹仓二维码
+	public AppRet<String> scanPlatesCode(PlateBoxCh ch) throws HardwareException, InterruptedException {
+		var posInfo = getPlates2dCodeScanPosInfo();
+		return hBotMoveToAndScan(new Pos2d(posInfo.ch0ScanPos.x, posInfo.ch0ScanPos.y + posInfo.scanYSpacing * ch.off));
+	}
+
+	//扫描小缓冲液二维码
+	public AppRet<String> scanSmallBottleBufferCode(Integer group) {
+		var posInfo = getSmallBottleBufferPosInfo();
+
+
+		return null;
+	}
+
+	//扫描大缓冲液二维码
+	public String scanBigBottleBufferCode(Integer index) {
+		return "";
+	}
+
 
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//	测试
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	Boolean testTakeTipFlag;
 
-	private AppRet<Boolean> takeTipTestStep(Integer groupId, Integer index) throws HardwareException, InterruptedException {
+	@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);
 		TipPickUpPosInfo tipPos = getTipPickUpPosInfo();
 
@@ -358,7 +390,7 @@ public class HbotControlService implements HardwareCtrlModule {
 		//		ObjectMapper mapper = new ObjectMapper();
 		testTakeTipFlag = true;
 		Map<String, String> result = new HashMap<>();
-		for (int i = startFrom; i < TipPickUpPosInfo.COL_MAX * TipPickUpPosInfo.ROW_MAX; i++) {
+		for (int i = startFrom; i < TipPickUpPosInfo.cgetTipNum(); i++) {
 			var ret = takeTipTestStep(groupId, i);
 			result.put("Tip" + i, ret.getData() ? "suc" : "fail");
 			logger.info("Take Tip {}-{} => {}", groupId, i, ret.getData());
@@ -369,37 +401,13 @@ public class HbotControlService implements HardwareCtrlModule {
 		return AppRet.success(result);
 	}
 
+
 	@HardwareServiceAction(name = "停止取全部Tip", group = "测试脚本")
 	public void testTakeAllTipStop() throws HardwareException, InterruptedException {
 		testTakeTipFlag = false;
 	}
 
 
-	private AppRet<String> 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 AppRet<String> 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 AppRet<String> scanSmallBottleBufferCode(Integer index) {
-
-
-		return null;
-	}
-
-	//扫描大缓冲液二维码
-	public String scanBigBottleBufferCode(Integer index) {
-		return "";
-	}
-
 	//在试管架的位置取样品
 	public boolean takeSampleFromPos0(Integer ul) {
 		return false;