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a8k_app
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tags/v0
zhaohe 1 year ago
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3 changed files with 175 additions and 148 deletions
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  1. 92
      src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java
  2. 231
      src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java
  3. BIN
      zhaohe_app.db

92
src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java
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@ -1,92 +0,0 @@
package a8k.service.db.dao;
import org.springframework.stereotype.Component;
/**
* 反应板夹搬运相关服务访问
*/
@Component
public class ReactionPlatesTransmitCtrlParamDao {
//
public final String serviceName = "ReactionPlatesTransmitCtrlService";
public int getActionOvertime() {
return 0;
}
/*
* 板夹仓相关参数
*/
public int getPlateBoxChannel0Pos() {
//板夹仓通道0位置
return 0;
}
public int getPlateBoxChannelInterval() {
//板夹仓通道间间距
return 0;
}
public int getPlatePusherEndPos() {
//板夹仓推杆到位位置
return 0;
}
public int getPlatePusherScanerStartPos() {
//推杆扫码开始位置
return 0;
}
/*
* 转盘相关位置
*/
public int getTurntablePushPos0() {
//转盘仓位0，入板位置
return 0;
}
public int getTurntablePullPos0() {
//转盘仓位0，出板位置
return 0;
}
public int getTurntableReactionPos0() {
//转盘仓位0，出板位置
return 0;
}
public int getTurntablePosInterval() {
//转盘仓位之间间距
return 0;
}
/*
* 光学模组相关
*/
public int getPullerStandbyPos() {
//获取拉杆待机位置
return 0;
}
public int getPullerTargetPos() {
//获取拉杆，目标位
return 0;
}
public int getDropPos() {
//获取丢板位置
return 0;
}
public int getOptScanScandbyPos() {
//获取拉板，光学模组待机位
return 0;
}
}

231
src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java
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@ -6,8 +6,7 @@ import a8k.canbus.protocol.MId;
import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppRet;
import a8k.canbus.A8kCanBusService;
import a8k.service.db.dao.ReactionPlatesTransmitCtrlParamDao;
import a8k.utils.HardwareService;
import a8k.utils.*;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@ -15,92 +14,214 @@ import org.springframework.stereotype.Component;
@Component
@HardwareService(name="反应板")
public class ReactionPlatesTransmitCtrlService {
@HardwareService(name = "反应板条搬移服务")
@HardwareServiceParams(service = ReactionPlatesTransmitCtrlService.class)
public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
static Logger logger = LoggerFactory.getLogger(ReactionPlatesTransmitCtrlService.class);
HardwareParamReader hpReader = new HardwareParamReader(ReactionPlatesTransmitCtrlService.class);
/*
职责说明
1.仓位变化
2.推出反应板
3.反应板推出异常检测
4.反应板推出二次校准服务
*/
@Resource
A8kCanBusService canBus;
@Resource
ReactionPlatesTransmitCtrlParamDao paramDao;
@HardwareServiceParam(name = "动作超时时间", group = "基础参数")
public Integer getActionOvertime() {
return hpReader.getInteger("actionOvertime", 5000);
}
@HardwareServiceParam(name = "板夹仓通道0位置", group = "板夹仓参数")
public Integer getPBCh0Pos() {
return hpReader.getInteger("PBCh0Pos", -17);
}
@HardwareServiceParam(name = "板夹仓通道间距", group = "板夹仓参数")
public Integer getPBChSpacing() {
return hpReader.getInteger("PBChSpacing", 265);
}
@HardwareServiceParam(name = "推杆到位坐标", group = "板夹仓参数")
public Integer getPusherEndPos() {
return hpReader.getInteger("PusherEndPos", 1160);
}
@HardwareServiceParam(name = "推杆扫码开始坐标", group = "板夹仓参数")
public Integer getPusherScanStartPos() {
return hpReader.getInteger("PusherScanStartPos", 960);
}
/*
* 转盘相关位置
*/
@HardwareServiceParam(name = "仓位0入板位置", group = "转盘参数")
public Integer getTurntablePushPos0() {
return hpReader.getInteger("TurntablePushPos0", 0);
}
@HardwareServiceParam(name = "仓位0出板位置", group = "转盘参数")
public Integer getTurntablePullPos0() {
return hpReader.getInteger("TurntablePullPos0", 0);
}
@HardwareServiceParam(name = "仓位0点滴位", group = "转盘参数")
public Integer getTurntableDropLiquidPos0() {
return hpReader.getInteger("TurntableDropLiquidPos0", 0);
}
public Integer getTurntablePosSpacing() {
return 1800;
}
/*
* 光学模组相关
*/
@HardwareServiceParam(name = "拉板目标位置", group = "光学模组参数")
public Integer getPullerTargetPos() {
return hpReader.getInteger("PullerTargetPos", 0);
}
@HardwareServiceParam(name = "丢板坐标", group = "光学模组参数")
public Integer getPlateDropPos() {
return hpReader.getInteger("PlateDropPos", 0);
}
@HardwareServiceParam(name = "扫描待机位", group = "光学模组参数")
public Integer getOptScanScandbyPos() {
return hpReader.getInteger("OptScanScandbyPos", 0);
}
/**
* ZERO_DPOS
*/
@HardwareServiceParam(name = "推杆电机", group = "坐标偏移参数")
public Integer getPlatesBoxPusherMDpos() {
return hpReader.getInteger("PlatesBoxPusherMDpos", 0);
}
@HardwareServiceParam(name = "板夹仓平移电机", group = "坐标偏移参数")
public Integer getPlatesBoxYMDpos() {
return hpReader.getInteger("PlatesBoxYMDpos", 0);
}
@HardwareServiceParam(name = "光学模组拉板电机", group = "坐标偏移参数")
public Integer getOptModPullMDpos() {
return hpReader.getInteger("OptModPullMDpos", 0);
}
@HardwareServiceParam(name = "光学模组扫描电机", group = "坐标偏移参数")
public Integer getOptModScannerMDpos() {
return hpReader.getInteger("OptModScannerMDpos", 0);
}
@HardwareServiceParam(name = "转盘电机", group = "坐标偏移参数")
public Integer getIncubatorRotateCtrlMDpos() {
return hpReader.getInteger("IncubatorRotateCtrlMDpos", 0);
}
/* =======================================================================================
基础操作
Utils
=======================================================================================*/
AppRet<Object> moduleReset() throws HardwareException, InterruptedException {
//光电状态检查
private void checkBeforeMoveTrunable() throws HardwareException {
//试管平移通道是否有障碍
if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
logger.warn("THChInterPPS or THChOuterPPS is trigger");
return AppRet.fail(A8kEcode.TubeXChannelIsNotEmpty);
logger.error("THChInterPPS or THChOuterPPS is trigger");
throw new HardwareException(A8kEcode.TubeXChannelIsNotEmpty);
}
//板夹仓卡板检测
if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
logger.warn("PlateBoxPlateStuckPPS is trigger");
return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
logger.error("PlateBoxPlateStuckPPS is trigger");
throw new HardwareException(A8kEcode.PlateStuckDetectorSensorTrigger);
}
//检查钩板电机是否处于终点位置
if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
logger.warn("PullerM is not in zero pos");
return AppRet.fail(A8kEcode.PullerMInitPosError);
logger.error("PullerM is not in zero pos");
throw new HardwareException(A8kEcode.PullerMInitPosError);
}
//检查板夹仓光电是否处于起点位置
if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
logger.warn("PusherM is not in zero pos");
return AppRet.fail(A8kEcode.PusherMInitPosError);
logger.error("PusherM is not in zero pos");
throw new HardwareException(A8kEcode.PusherMInitPosError);
}
}
//板夹仓初始化
canBus.stepMotorEasyMoveToZero(MId.PlatesBoxYM);
canBus.waitForMod(MId.PlatesBoxYM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.PlatesBoxPusherM);
canBus.waitForMod(MId.PlatesBoxPusherM, paramDao.getActionOvertime());
/* =======================================================================================
基础操作
=======================================================================================*/
@HardwareServiceAction(name = "模块使能", group = "基础操作")
@Override
public void modGroupEnable(Boolean enable) throws HardwareException, InterruptedException {
canBus.stepMotorEnable(MId.PlatesBoxYM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.OptModPullM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.OptModScannerM, enable ? 1 : 0);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, enable ? 1 : 0);
}
@HardwareServiceAction(name = "模块停止", group = "基础操作")
@Override
public void modGroupStop() throws HardwareException {
canBus.stepMotorStop(MId.PlatesBoxYM);
canBus.stepMotorStop(MId.PlatesBoxPusherM);
canBus.stepMotorStop(MId.OptModPullM);
canBus.stepMotorStop(MId.OptModScannerM);
canBus.stepMotorStop(MId.IncubatorRotateCtrlM);
}
@HardwareServiceAction(name = "电机归零", group = "基础操作")
@Override
public void modGroupMoveToZero() throws HardwareException, InterruptedException {
checkBeforeMoveTrunable();
//板夹仓初始化
canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, getActionOvertime());
//光学模组初始化
canBus.stepMotorEasyMoveToZero(MId.OptModPullM);
canBus.waitForMod(MId.OptModPullM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.OptModScannerM);
canBus.waitForMod(MId.OptModScannerM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, getActionOvertime());
//转盘归零
canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, getActionOvertime());
}
@HardwareServiceAction(name = "电机快速归零", group = "基础操作")
@Override
public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
//试管平移通道是否有障碍
checkBeforeMoveTrunable();
//板夹仓初始化
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxYM, getActionOvertime());
//光学模组初始化
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModScannerM, getActionOvertime());
//转盘归零
canBus.stepMotorEasyMoveToZero(MId.IncubatorRotateCtrlM);
canBus.waitForMod(MId.IncubatorRotateCtrlM, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.IncubatorRotateCtrlM, getActionOvertime());
}
return AppRet.success();
@HardwareServiceAction(name = "转盘移动到推板位", group = "基础操作")
public void trunableMoveToPushPos(Integer index) throws HardwareException, InterruptedException {
checkBeforeMoveTrunable();
canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
getTurntablePushPos0() + index * getTurntablePosSpacing(), getActionOvertime());
}
void moduleEnable() throws HardwareException {
/*
模块使能
*/
canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 1);
canBus.stepMotorEnable(MId.OptModPullM, 1);
canBus.stepMotorEnable(MId.OptModScannerM, 1);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 1);
@HardwareServiceAction(name = "转盘移动到出板位", group = "基础操作")
public void trunableMoveToPullPos(Integer index) throws HardwareException, InterruptedException {
checkBeforeMoveTrunable();
canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
getTurntablePullPos0() + index * getTurntablePosSpacing(), getActionOvertime());
}
void moduleDisable() throws HardwareException {
/*
模块失能
*/
canBus.stepMotorEnable(MId.PlatesBoxYM, 0);
canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);
canBus.stepMotorEnable(MId.OptModPullM, 0);
canBus.stepMotorEnable(MId.OptModScannerM, 0);
canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);
@HardwareServiceAction(name = "转盘移动到滴定位", group = "基础操作")
public void trunableMoveToDropLiquidPos(Integer index) throws HardwareException, InterruptedException {
checkBeforeMoveTrunable();
canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
getTurntableDropLiquidPos0() + index * getTurntablePosSpacing(), getActionOvertime());
}
/* =======================================================================================
@ -124,8 +245,6 @@ public class ReactionPlatesTransmitCtrlService {
kreg_plate_code_scaner_lot (扫码完成读取)
kreg_plate_code_scaner_code_legal （扫码完成读取）
*/
}
/**

BIN
zhaohe_app.db
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