diff --git a/src/main/java/a8k/a8k_can_protocol/MId.java b/src/main/java/a8k/a8k_can_protocol/MId.java new file mode 100644 index 0000000..eeb0843 --- /dev/null +++ b/src/main/java/a8k/a8k_can_protocol/MId.java @@ -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; + }; + } +} diff --git a/src/main/java/a8k/appbean/AppErrorCode.java b/src/main/java/a8k/appbean/AppErrorCode.java index 6dc2408..fc5b8ae 100644 --- a/src/main/java/a8k/appbean/AppErrorCode.java +++ b/src/main/java/a8k/appbean/AppErrorCode.java @@ -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; } diff --git a/src/main/java/a8k/appbean/ecode/AppEcode.java b/src/main/java/a8k/appbean/ecode/AppEcode.java new file mode 100644 index 0000000..bf0303a --- /dev/null +++ b/src/main/java/a8k/appbean/ecode/AppEcode.java @@ -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; + } + +} diff --git a/src/main/java/a8k/base_hardware/A8kCanBusService.java b/src/main/java/a8k/base_hardware/A8kCanBusService.java index 5b66d9a..a8ae7ec 100644 --- a/src/main/java/a8k/base_hardware/A8kCanBusService.java +++ b/src/main/java/a8k/base_hardware/A8kCanBusService.java @@ -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); diff --git a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java index 09e5c31..d986083 100644 --- a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java +++ b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java @@ -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);