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update

tags/v0
zhaohe 1 year ago
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5 changed files with 262 additions and 112 deletions
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  1. 120
      src/main/java/a8k/a8k_can_protocol/MId.java
  2. 11
      src/main/java/a8k/appbean/AppErrorCode.java
  3. 29
      src/main/java/a8k/appbean/ecode/AppEcode.java
  4. 131
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  5. 83
      src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java

120
src/main/java/a8k/a8k_can_protocol/MId.java
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@ -0,0 +1,120 @@
package a8k.a8k_can_protocol;
public enum MId {
NotSet(0, "未设置"),//
HbotBoard(10, "机械臂板模块"),//
HbotM(11, "机械臂XY"),//
//
PlatesBoxBoard(20, "板夹仓模块"),//
PlatesBoxYM(21, "板夹仓移动电机"),//
PlatesBoxPusherM(22, "板夹仓推杆电机"),//
PlatesBoxScanner(23, "板夹仓扫码模组"),//
//
ShakeModBoard(30, "摇匀模组板"),//
ShakeModClampingM(31, "试管固定夹爪电机"),//
ShakeModGripperZM(32, "摇匀升降电机"),//
ShakeModShakeM(33, "试管摇匀电机"),//
ShakeModGripperYM(34, "摇匀前后电机"),//
ShakeModGripperSV(35, "摇匀试管帽夹爪"),//
ShakeModTubeScanerClampingSV(36, "试管架旋转固定舵机"),//
ShakeModTubeScanerRotateSV(37, "试管架旋转舵机"),//
//
PlatesBoxTCMBoard(40, "反应板夹温度控制板"),//
PlatesBoxTCM(41, "反应板夹温度控制模块"),//
WbTubeFanMod(42, "气溶胶风扇"),//
//
IncubatorTCMBoard(50, "温度控制"),//
IncubatorTCM(51, "温度控制"),//
//
FeedingModBoard(60, "出入料模块"),//
FeedingModInfeedM(61, "入料电机"),//
FeedingModXM(62, "试管架平移电机"),//
FeedingModOutfeedM(63, "出料电机"),//
FeedingModScannerMod(64, "试管架扫码器"),//
//
IncubatorRotateBoard(70, "孵育盘旋转板"),//
IncubatorRotateCtrlM(71, "孵育盘旋转"),//
//
PipetteModBoard(80, "机械臂Z轴板"),//
PipetteModZM(81, "机械臂Z"),//
PipetteMod(82, "移液枪"),//
PipetteModCodeScanner(83, "物料扫码器"),//
//
OptModBoard(90, "光学模组板"),//
OptModScannerM(91, "板卡扫描电机"),//
OptModPullM(92, "板卡推杆电机"),//
OptMod(93, "扫描仪"),//
//
A8kIdCardReaderBoard(100, "A8K读卡器板"),//
A8kIdCardReader(101, "A8K读卡器"),//
;
final public String chname;
final public int index;
MId(int index, String chname) {
this.chname = chname;
this.index = index;
}
public int toInt() {
return index;
}
public static MId valueOf(Integer val) {
return valueOf(val.intValue());
}
public static MId valueOf(int val) {
return switch (val) {
case 0 -> NotSet;
case 10 -> HbotBoard;
case 11 -> HbotM;
//
case 20 -> PlatesBoxBoard;
case 21 -> PlatesBoxYM;
case 22 -> PlatesBoxPusherM;
case 23 -> PlatesBoxScanner;
//
case 30 -> ShakeModBoard;
case 31 -> ShakeModClampingM;
case 32 -> ShakeModGripperZM;
case 33 -> ShakeModShakeM;
case 34 -> ShakeModGripperYM;
case 35 -> ShakeModGripperSV;
case 36 -> ShakeModTubeScanerClampingSV;
case 37 -> ShakeModTubeScanerRotateSV;
//
case 40 -> PlatesBoxTCMBoard;
case 41 -> PlatesBoxTCM;
case 42 -> WbTubeFanMod;
//
case 50 -> IncubatorTCMBoard;
case 51 -> IncubatorTCM;
//
case 60 -> FeedingModBoard;
case 61 -> FeedingModInfeedM;
case 62 -> FeedingModXM;
case 63 -> FeedingModOutfeedM;
case 64 -> FeedingModScannerMod;
//
case 70 -> IncubatorRotateBoard;
case 71 -> IncubatorRotateCtrlM;
//
case 80 -> PipetteModBoard;
case 81 -> PipetteModZM;
case 82 -> PipetteMod;
case 83 -> PipetteModCodeScanner;
//
case 90 -> OptModBoard;
case 91 -> OptModScannerM;
case 92 -> OptModPullM;
case 93 -> OptMod;
//
case 100 -> A8kIdCardReaderBoard;
case 101 -> A8kIdCardReader;
default -> NotSet;
};
}
}

11
src/main/java/a8k/appbean/AppErrorCode.java
View File

@ -7,24 +7,21 @@ public enum AppErrorCode {
LargeBufferNotEnough("大瓶缓冲液不足", 3), //
PasswdError("密码错误", 4), //
UserDoesNotExist("用户不存在", 5), //
GripperPosError("抓手舵机位置异常", 6), //
GripperLiftMotorPosError("抓手升降电机位置异常", 8), //
GripperHorizontalMovementMotorPosError("抓手前后移动舵机位置异常", 9),//
GripperMPosError("抓手舵机位置异常", 6), //
GripperZMPosError("抓手升降电机位置异常", 8), //
GripperYMPosError("抓手前后移动舵机位置异常", 9),//
TubesInShakeModule("摇匀模组位置有试管", 10),//
PlateStuckDetectorSensorTrigger("卡板检查光电触发", 11),//
;
final private String chName;
final private int errorIndex;
public int mid;
private AppErrorCode(String chname, int errorIndex) {
this.chName = chname;
this.errorIndex = errorIndex;
}
public String getChName() {
return chName;
}

29
src/main/java/a8k/appbean/ecode/AppEcode.java
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@ -0,0 +1,29 @@
package a8k.appbean.ecode;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.AppErrorCode;
public class AppEcode {
AppErrorCode errorCode;
MId mid;
public AppEcode(AppErrorCode errorCode, MId mid) {
this.errorCode = errorCode;
this.mid = mid;
}
public AppEcode(AppErrorCode errorCode) {
this.errorCode = errorCode;
this.mid = MId.NotSet;
}
public boolean isOk() {
return errorCode == AppErrorCode.Success;
}
public MId getMid() {
return mid;
}
}

131
src/main/java/a8k/base_hardware/A8kCanBusService.java
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@ -1,6 +1,7 @@
package a8k.base_hardware;
import a8k.a8k_can_protocol.*;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException;
import a8k.appbean.appevent.A8kHardwareReport;
import a8k.service.AppEventBusService;
@ -64,7 +65,7 @@ public class A8kCanBusService {
int packetIndex = 0;//
// 调试标志位
boolean debugFlag = false;//
boolean debugFlag = true;//
// websocket自动重连时间
Timer autoConnectTimer = new Timer();//
@ -140,139 +141,139 @@ public class A8kCanBusService {
//
// module opeation
//
public void modulePing(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_ping);
public void modulePing(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_ping);
}
public void moduleStop(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_stop);
public void moduleStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_stop);
}
public ModuleStatus getModuleStatus(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_status);
public ModuleStatus getModuleStatus(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_status);
return ModuleStatus.valueOf(packet.getContentI32(0));
}
public void moduleSetReg(int id, RegIndex regindex, int reg) throws HardwareException {
callcmd(id, CmdId.kmodule_set_reg, regindex.ordinal(), reg);
public void moduleSetReg(MId id, RegIndex regindex, int reg) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_set_reg, regindex.ordinal(), reg);
}
public int moduleGetReg(int id, RegIndex regindex) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_reg, regindex.ordinal());
public int moduleGetReg(MId id, RegIndex regindex) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_reg, regindex.ordinal());
return packet.getContentI32(0);
}
public int moduleGetError(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmodule_get_error);
public int moduleGetError(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmodule_get_error);
return packet.getContentI32(0);
}
public void moduleClearError(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_clear_error);
public void moduleClearError(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_clear_error);
}
public void moduleActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kmodule_active_cfg);
public void moduleActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmodule_active_cfg);
}
//
// stepMotor
//
public void stepMotorEnable(int mid, int enable) throws HardwareException {
callcmd(mid, CmdId.kstep_motor_enable, enable);
public void stepMotorEnable(MId mid, int enable) throws HardwareException {
callcmd(mid.toInt(), CmdId.kstep_motor_enable, enable);
}
public int stepMotorReadPos(int id) throws HardwareException {
A8kPacket packet = callcmd(id, CmdId.kstep_motor_read_pos);
public int stepMotorReadPos(MId id) throws HardwareException {
A8kPacket packet = callcmd(id.toInt(), CmdId.kstep_motor_read_pos);
return packet.getContentI32(0);
}
public void stepMotorEasyRotate(int id, int direction) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_rotate, direction);
public void stepMotorEasyRotate(MId id, int direction) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_rotate, direction);
}
public void stepMotorEasyMoveBy(int id, int dpos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_by, dpos);
public void stepMotorEasyMoveBy(MId id, int dpos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_by, dpos);
}
public void stepMotorEasyMoveTo(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to, pos);
public void stepMotorEasyMoveTo(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to, pos);
}
public void stepMotorEasyMoveToZero(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_zero);
public void stepMotorEasyMoveToZero(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_zero);
}
public void stepMotorEasySetCurrentPos(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_set_current_pos, pos);
public void stepMotorEasySetCurrentPos(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_set_current_pos, pos);
}
public void stepMotorEasyMoveToIo(int id, int io) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_io, io);
public void stepMotorEasyMoveToIo(MId id, int io) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_io, io);
}
public void stepMotorStop(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_stop);
public void stepMotorStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_stop);
}
public void stepMotorActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_active_cfg);
public void stepMotorActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_active_cfg);
}
public int stepMotorReadIoState(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kstep_motor_read_io_state);
public int stepMotorReadIoState(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kstep_motor_read_io_state);
return packet.getContentI32(0);
}
public void stepMotorEasyMoveToEndPoint(int id) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_move_to_end_point);
public void stepMotorEasyMoveToEndPoint(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_end_point);
}
public void stepMotorEasyReciprocatingMotion(int id, int startpos, int endpos, int times) throws HardwareException {
callcmd(id, CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times);
public void stepMotorEasyReciprocatingMotion(MId id, int startpos, int endpos, int times) throws HardwareException {
callcmd(id.toInt(), CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times);
}
//
// MINI_SERVO
//
public void miniServoEnable(int id, int enable) throws HardwareException {
callcmd(id, CmdId.kmini_servo_enable, enable);
public void miniServoEnable(MId id, int enable) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_enable, enable);
}
public int miniServoReadPos(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmini_servo_read_pos);
public int miniServoReadPos(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_pos);
return packet.getContentI32(0);
}
public void miniServoActiveCfg(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_active_cfg);
public void miniServoActiveCfg(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_active_cfg);
}
public void miniServoStop(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_stop);
public void miniServoStop(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_stop);
}
public void miniServoSetMidPoint(int id) throws HardwareException {
callcmd(id, CmdId.kmini_servo_set_mid_point);
public void miniServoSetMidPoint(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_set_mid_point);
}
public int miniServoReadIoState(int id) throws HardwareException {
var packet = callcmd(id, CmdId.kmini_servo_read_io_state);
public int miniServoReadIoState(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_io_state);
return packet.getContentI32(0);
}
public void miniServoMoveTo(int id, int pos) throws HardwareException {
callcmd(id, CmdId.kmini_servo_move_to, pos);
public void miniServoMoveTo(MId id, int pos) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_move_to, pos);
}
public void miniServoRotate(int id, int direction) throws HardwareException {
callcmd(id, CmdId.kmini_servo_rotate, direction);
public void miniServoRotate(MId id, int direction) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_rotate, direction);
}
public void miniServoRotateWithTorque(int id, int torque) throws HardwareException {
callcmd(id, CmdId.kmini_servo_rotate_with_torque, torque);
public void miniServoRotateWithTorque(MId id, int torque) throws HardwareException {
callcmd(id.toInt(), CmdId.kmini_servo_rotate_with_torque, torque);
}
public boolean getIOState(IOId ioid) throws HardwareException {
@ -295,21 +296,21 @@ public class A8kCanBusService {
}
}
public void waitForMod(Integer moduleId, Integer acitionOvertime) throws InterruptedException, HardwareException {
public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
long startedAt = System.currentTimeMillis();
do {
try {
var status = getModuleStatus(moduleId);
var status = getModuleStatus(mid);
if (status == ModuleStatus.IDLE) {
break;
} else if (status == ModuleStatus.ERROR) {
throw new HardwareException(moduleId, moduleGetError(moduleId));
throw new HardwareException(mid.toInt(), moduleGetError(mid));
}
} catch (HardwareException ignored) {
}
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
throw new HardwareException(moduleId, Errorcode.kovertime);
throw new HardwareException(mid.toInt(), Errorcode.kovertime);
}
Thread.sleep(100);

83
src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
View File

@ -1,8 +1,10 @@
package a8k.service.ctrl_service;
import a8k.a8k_can_protocol.ModId;
import a8k.a8k_can_protocol.IOId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.AppErrorCode;
import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppEcode;
import a8k.base_hardware.A8kCanBusService;
import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
import jakarta.annotation.Resource;
@ -24,7 +26,6 @@ public class DeviceInitializationCtrlService {
* 2.试管夹紧
* 3.抓手平移
* 4.抓手
* 0.
* 1. 抓手尝试移动到夹紧位置,等待一定时间，如果没有移动到夹紧位置，则返回错误。
* 2. 试管夹紧电机归零，超时一定时间，没有归零，则返回错误。
* 3. 抓手平移电机，移动到待机位，如果移动不到，则返回错误。
@ -61,68 +62,70 @@ public class DeviceInitializationCtrlService {
SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams;
private void hardwareStaticInit() throws HardwareException {
private AppErrorCode hardwareStaticInit() throws HardwareException {
/*
* 复位思路
* 硬件初始化:
* 1.使能所有舵机
* 2.打开必要的电源
* 3.使能所有电机
*/
// HbotM
//PlatesBoxYM
//ShakeModClampingM
//ShakeModGripperZM
//ShakeModShakeM
//ShakeModGripperYM
//FeedingModInfeedM
//FeedingModXM
//FeedingModOutfeedM
//PipetteModZM
//OptModPullM
//使能所有电机
canBus.stepMotorEnable(MId.HbotM, 1);
canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
canBus.stepMotorEnable(MId.ShakeModGripperZM, 1);
canBus.stepMotorEnable(MId.ShakeModShakeM, 1);
canBus.stepMotorEnable(MId.ShakeModGripperYM, 1);
canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.stepMotorEnable(MId.OptModPullM, 1);
//使能所有舵机
canBus.miniServoEnable(MId.ShakeModGripperSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 1);
//打开必要的电源
canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true);
return AppErrorCode.Success;
}
canBus.stepMotorEnable(ModId.HbotM,1);
private AppEcode checkDeviceState() throws HardwareException {
/*
* 初始化前检查:
* 1. 试管平移通道是否有障碍
* 2. 板夹仓盖子是否盖上
* 3. 板夹推杆是否在原点
* 4. 板夹拉取是否在终点或者原点
*/
// public static final int ShakeModGripperSV = 35;//摇匀试管帽夹爪
// public static final int ShakeModTubeScanerClampingSV = 36;//试管架旋转固定舵机
// public static final int ShakeModTubeScanerRotateSV = 37;//试管架旋转舵机
//试管平移通道是否有障碍
boolean var = canBus.getIOState(IOId.THChInterPPS);
if (var)
return new AppEcode(AppErrorCode.PlateStuckDetectorSensorTrigger);
return new AppEcode(AppErrorCode.Success);
}
public AppErrorCode initializeDevice() {
logger.info("Initializing device ...");
try {
/*
* 复位思路
* 硬件初始化:
* 1.使能所有舵机
* 2.打开必要的电源
* 3.使能所有电机
*
* 检查
* 1.试管平移通道是否有障碍
* 2.板夹仓盖子是否盖上
* 3.推杆卡板光电是否触发
* 4.拉杆卡板光电是否触发
* 5.回收站光电是否被触发
*
*
* 复位
* 1.
*
*
* 清空设备
*
*
*
* 清空耗材
*/
canBus.stepMotorEasyMoveToZero(ModId.ShakeModGripperZM);
canBus.waitForMod(ModId.ShakeModGripperZM, actionOvertime);
canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM);
canBus.waitForMod(MId.ShakeModGripperZM, actionOvertime);
} catch (HardwareException e) {
logger.error("HardwareException");
throw new RuntimeException(e);

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