diff --git a/src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java b/src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java deleted file mode 100644 index 773c409..0000000 --- a/src/main/java/a8k/service/db/dao/ReactionPlatesTransmitCtrlParamDao.java +++ /dev/null @@ -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; - } - - -} diff --git a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java b/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java index 8610fa6..f28f956 100644 --- a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java +++ b/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java @@ -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 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） */ - - } /** diff --git a/zhaohe_app.db b/zhaohe_app.db index 95aca0e..11ba095 100644 Binary files a/zhaohe_app.db and b/zhaohe_app.db differ