大瓶缓冲液校准完成

README.md

@@ -244,4 +244,10 @@ TODO:
         ...
     错误码
         ...
+```
+
+
+```
+TODO:
+    单片机层添加急停指令，同时添加急停错误。
 ```

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -20,6 +20,7 @@ public enum ExtApiTabConfig {
 	ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
 	HbotTipPosCalibration("校准.Tip耗材位置校准", true),
 	HbotLittleBottleConsumableCalibration("校准.小瓶耗材位置校准", true),
+	HbotLargeBottleBSPosCalibration("校准.大瓶BS耗材位置校准", true),
 
 	ActionReactorService("底层调试.单步调试", false),//OK
 	Hbot2DCodeScanPos("参数.Hbot二维码扫描坐标参数", false),

src/main/java/a8k/service/app/devicedriver/calibration/HbotLargeBottleBSPosCalibration.java

@@ -0,0 +1,200 @@
+package a8k.service.app.devicedriver.calibration;
+
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
+import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
+import a8k.service.app.devicedriver.ctrl.HbotControler;
+import a8k.service.app.devicedriver.pos.HbotConsumablePosMgr;
+import a8k.type.*;
+import a8k.type.cfg.Pos2d;
+import a8k.type.cfg.Pos3d;
+import a8k.type.exception.AppException;
+import a8k.utils.ZJsonHelper;
+import a8k.utils.ZSimplAlgo;
+import com.fasterxml.jackson.databind.node.ObjectNode;
+import jakarta.annotation.Resource;
+import org.aspectj.lang.annotation.Aspect;
+import org.slf4j.Logger;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@ExtApiTab(cfg = ExtApiTabConfig.HbotLargeBottleBSPosCalibration)
+@Component
+@Aspect
+public class HbotLargeBottleBSPosCalibration {
+	static Logger logger = org.slf4j.LoggerFactory.getLogger(HbotLargeBottleBSPosCalibration.class);
+
+	@Resource
+	PipetteCtrlModule pipetteCtrlModule;
+	@Resource
+	HbotModule        hbotModule;
+
+
+	@Resource
+	HbotControler        hbotControler;
+	@Resource
+	HbotConsumablePosMgr hbotConsumablePosMgr;
+
+	Boolean stopFlag = false;
+
+	Boolean checkStopFlag() {
+		if (stopFlag) {
+			stopFlag = false;
+			return true;
+		}
+		return false;
+	}
+
+	void resetStopFlag() {
+		stopFlag = false;
+	}
+
+	void setStopFlag() {
+		stopFlag = true;
+	}
+
+
+	@ExtApiFn(name = "获取坐标", group = "基础", order = 1)
+	public Object getPoss() throws AppException {
+		return hbotConsumablePosMgr.getParams();
+	}
+
+
+	//	测试工具
+	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
+	public void moveToZero() throws AppException {
+		enableModule();
+		pipetteCtrlModule.zMotorMoveZeroBlock();
+		hbotModule.moveToZeroBlock();
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
+	public void enableModule() throws AppException {
+		pipetteCtrlModule.zMotorEnable(1);
+		hbotModule.enable(1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
+	public void disableModule() throws AppException {
+		pipetteCtrlModule.zMotorEnable(0);
+		hbotModule.enable(0);
+	}
+
+
+	List<LargeBottleConsumableRefPoint> refpoints = new java.util.ArrayList<>();
+
+
+	@ExtApiFn(name = "开始标定大瓶坐标", group = "标定大瓶缓液XY坐标", order = 30)
+	public void startCalibrate() throws AppException {
+		refpoints = new java.util.ArrayList<>();
+		moveToZero();
+		disableModule();
+	}
+
+	@ExtApiFn(name = "添加大瓶参考点", group = "标定大瓶缓液XY坐标", order = 31)
+	public Object addRefPoint(ConsumableGroup group) throws AppException {
+		enableModule();
+		Pos2d xypos = hbotModule.readPos();
+		//		pipetteCtrlModule.zMotorMeasureDistance();
+		//		Integer                        z                    = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
+		LargeBottleConsumableRefPoint refPoints = new LargeBottleConsumableRefPoint(group, new Pos3d(xypos.x, xypos.y, 0));
+		this.refpoints.add(refPoints);
+		disableModule();
+		ObjectNode node = ZJsonHelper.createObjectNode();
+		node.put("newPoint", ZJsonHelper.createObjectNode(refPoints));
+		node.put("computeResult", ZJsonHelper.createObjectNode(computeLittleBottlePosInfo()));
+		return node;
+	}
+
+	@ExtApiFn(name = "移除最后一个参考点", group = "标定大瓶缓液XY坐标", order = 32)
+	public void removeTheLastRefPoint() {
+		if (!refpoints.isEmpty()) {
+			refpoints.remove(refpoints.size() - 1);
+		}
+	}
+
+
+	@ExtApiFn(name = "读取坐标计算结果", group = "标定大瓶缓液XY坐标", order = 33)
+	public LargeBottoleConsumablePosInfo computeLittleBottlePosInfo() {
+		//第一排x求平均
+		//				x[0] = ZSimplAlgo.computeAverage(
+		//				littleBottleConsumableRefPoint.stream().filter(point -> point.group.ordinal() % 3 == 0 && point.index % 5 == 0).
+		//						map(point -> point.pos.x).toList()
+		//		);
+
+		var    p00      = refpoints.stream().filter(point -> point.group == ConsumableGroup.GROUP0).findFirst().orElse(null);
+		Double x, y, dx = null, dy = null;
+
+		x = ZSimplAlgo.computeAverage(
+				refpoints.stream().filter(point -> point.group.ordinal() / 3 == 0).
+						map(point -> point.pos.x).toList());
+		//第一列y求平均
+		y = ZSimplAlgo.computeAverage(
+				refpoints.stream().filter(point -> point.group.ordinal() % 3 == 0).
+						map(point -> point.pos.y).toList());
+		//除了第一列的所有点，减少x,相加，求平均
+		if (p00 != null) {
+			dx = ZSimplAlgo.computeAverage(
+					refpoints.stream().filter(point -> point.getCol() != 0).
+							map(point -> (point.pos.x - p00.pos.x) * 1.0 / point.getCol()).toList());
+			//除了第一排的所有点，减少y,相加，求平均
+			dy = ZSimplAlgo.computeAverage(
+					refpoints.stream().filter(point -> point.getRow() != 0).
+							map(point -> (point.pos.y - p00.pos.y) * 1.0 / point.getRow()).toList());
+		}
+
+		return new LargeBottoleConsumablePosInfo(new Pos3d(x.intValue(), y.intValue(), 0), dx, dy);
+	}
+
+	@ExtApiFn(name = "保存计算结果", group = "标定大瓶缓液XY坐标", order = 34)
+	public void savePosInfo() throws AppException {
+		hbotConsumablePosMgr.setLargeBufferGroupPosInfo(computeLittleBottlePosInfo());
+	}
+
+	@ExtApiFn(name = "读取所有参考点", group = "标定大瓶缓液XY坐标", order = 35)
+	public Object readAllRefPoint() throws AppException {
+		return refpoints;
+	}
+
+	//
+	//	标定Z轴
+	//
+	public void setZPos(HbotConsumablePosParam posName) throws AppException {
+		enableModule();
+		pipetteCtrlModule.zMotorMeasureDistance();
+		hbotConsumablePosMgr.setParam(posName, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		disableModule();
+	}
+
+	@ExtApiFn(name = "校准.大瓶缓冲液Z轴位置", group = "标定Z轴", order = 104)
+	public void setLargeBSSSampleZPos() throws AppException {setZPos(HbotConsumablePosParam.LargeBSSSampleZPos);}
+
+	@ExtApiFn(name = "校准.大瓶缓冲液Z轴结束位置", group = "标定Z轴", order = 105)
+	public void setLargeBSSSampleEndZPos() throws AppException {setZPos(HbotConsumablePosParam.LargeBSSSampleEndZPos);}
+
+	//
+	//	校验
+	//
+
+	@ExtApiFn(name = "校验大瓶缓冲液坐标", group = "校验", order = 303)
+	public void testMoveToLargeBufferPos() throws AppException {
+		resetStopFlag();
+		enableModule();
+		for (ConsumableGroup group : ConsumableGroup.values()) {
+			hbotControler.moveToLargeBufferPos(group);
+			if (checkStopFlag())
+				return;
+		}
+	}
+
+	@ExtApiFn(name = "停止校验", group = "校验", order = 304)
+	public void stopTest() throws AppException {
+		setStopFlag();
+	}
+
+
+}

src/main/java/a8k/service/app/devicedriver/calibration/HbotLittleBottleConsumableCalibration.java

@@ -102,8 +102,8 @@ public class HbotLittleBottleConsumableCalibration {
 	public Object addLittleBottleGroupRefPoint(ConsumableGroup group, Integer off0To24) throws AppException {
 		enableModule();
 		Pos2d xypos = hbotModule.readPos();
-//		pipetteCtrlModule.zMotorMeasureDistance();
-//		Integer                        z                    = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
+		//		pipetteCtrlModule.zMotorMeasureDistance();
+		//		Integer                        z                    = pipetteCtrlModule.zMotorReadMeasureDistanceResult();
 		LittleBottleConsumableRefPoint littleBufferRefPoint = new LittleBottleConsumableRefPoint(group, off0To24, new Pos3d(xypos.x, xypos.y, 0));
 		this.littleBottleConsumableRefPoint.add(littleBufferRefPoint);
 		disableModule();
@@ -222,31 +222,32 @@ public class HbotLittleBottleConsumableCalibration {
 	//	标定Z轴
 	//
 
+	//		LittleBSSampleEndZPos("小瓶缓冲液取样结束Z坐标"),
+	//	ProbeSubstanceSampleZPos("探测物质取样Z坐标"),
+	//	ProbeSubstanceSampleEndZPos("探测物质取样结束Z坐标"),
 
-	@ExtApiFn(name = "校准.小瓶穿孔Z轴位置", group = "标定Z轴", order = 101)
-	public void setLittleBSPierceZPos() throws AppException {
+	public void setZPos(HbotConsumablePosParam posName) throws AppException {
 		enableModule();
 		pipetteCtrlModule.zMotorMeasureDistance();
-		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSPierceZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
+		hbotConsumablePosMgr.setParam(posName, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
 		disableModule();
 	}
 
+
+	@ExtApiFn(name = "校准.小瓶穿孔Z轴位置", group = "标定Z轴", order = 101)
+	public void setLittleBSPierceZPos() throws AppException {setZPos(HbotConsumablePosParam.LittleBSPierceZPos);}
+
 	@ExtApiFn(name = "校准.小瓶取样Z轴位置", group = "标定Z轴", order = 102)
-	public void setLittleBSSampleZPos() throws AppException {
-		enableModule();
-		pipetteCtrlModule.zMotorMeasureDistance();
-		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.LittleBSSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
-		disableModule();
-	}
+	public void setLittleBSSampleZPos() throws AppException {setZPos(HbotConsumablePosParam.LittleBSSampleZPos);}
+
+	@ExtApiFn(name = "校准.探测物质取样结束Z轴位置", group = "标定Z轴", order = 103)
+	public void setProbeSubstanceSampleEndZPos() throws AppException {setZPos(HbotConsumablePosParam.ProbeSubstanceSampleEndZPos);}
 
 	@ExtApiFn(name = "校准.探测物质取样Z轴位置", group = "标定Z轴", order = 103)
-	public void setProbeSubstanceSampleZPos() throws AppException {
-		enableModule();
-		pipetteCtrlModule.zMotorMeasureDistance();
-		hbotConsumablePosMgr.setParam(HbotConsumablePosParam.ProbeSubstanceSampleZPos, pipetteCtrlModule.zMotorReadMeasureDistanceResult());
-		disableModule();
-	}
+	public void setProbeSubstanceSampleZPos() throws AppException {setZPos(HbotConsumablePosParam.ProbeSubstanceSampleZPos);}
 
+	@ExtApiFn(name = "校准.小瓶缓冲液取样结束Z轴位置", group = "标定Z轴", order = 104)
+	public void setLittleBSSampleEndZPos() throws AppException {setZPos(HbotConsumablePosParam.LittleBSSampleEndZPos);}
 
 	//
 	//	校验

src/main/java/a8k/service/app/devicedriver/pos/HbotConsumablePosMgr.java

@@ -5,14 +5,9 @@ import a8k.extapi_controler.utils.ExtApiParamsTab;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.db.LowerDeviceParameterDBService;
 import a8k.service.db.utils.PosParameterReader;
-import a8k.type.ConsumableGroup;
-import a8k.type.HbotConsumablePosParam;
-import a8k.type.LittleBottleConsumablePosInfo;
-import a8k.type.LittleBottleConsumableType;
+import a8k.type.*;
 import a8k.type.cfg.Pos3d;
 import a8k.type.type.TipGroup;
-import a8k.utils.ZJsonHelper;
-import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -20,8 +15,6 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;
 
-import java.util.List;
-
 /**
  * HBOT二维码扫描坐标参数
  */
@@ -161,6 +154,21 @@ public class HbotConsumablePosMgr {
 		return info;
 	}
 
+	public LargeBottoleConsumablePosInfo getLargeBufferGroupPosInfo() {
+		LargeBottoleConsumablePosInfo info = new LargeBottoleConsumablePosInfo();
+		info.pos00 = posReader.getPos(HbotConsumablePosParam.LargeBuffer_0Pos, Pos3d.class);
+		info.dx    = posReader.getPos(HbotConsumablePosParam.LargeBuffer_DX, Double.class);
+		info.dy    = posReader.getPos(HbotConsumablePosParam.LargeBuffer_DY, Double.class);
+		return info;
+	}
+
+
+	public void setLargeBufferGroupPosInfo(LargeBottoleConsumablePosInfo info) {
+		posReader.updatePos(HbotConsumablePosParam.LargeBuffer_0Pos, info.pos00);
+		posReader.updatePos(HbotConsumablePosParam.LargeBuffer_DX, info.dx);
+		posReader.updatePos(HbotConsumablePosParam.LargeBuffer_DY, info.dy);
+	}
+
 	public LittleBottleConsumablePosInfo getLittleBottleConsumablePosInfo(LittleBottleConsumableType type) {
 		if (type.equals(LittleBottleConsumableType.BufferSolution)) {
 			return getLittleBufferGroupPosInfo();

src/main/java/a8k/type/HbotConsumablePosParam.java

@@ -38,8 +38,11 @@ public enum HbotConsumablePosParam {
 
 	LittleBSPierceZPos("小瓶缓冲液刺破Z坐标"),
 	LittleBSSampleZPos("小瓶缓冲液取样Z坐标"),
+	LittleBSSampleEndZPos("小瓶缓冲液取样结束Z坐标"),
 	ProbeSubstanceSampleZPos("探测物质取样Z坐标"),
+	ProbeSubstanceSampleEndZPos("探测物质取样结束Z坐标"),
 	LargeBSSSampleZPos("大瓶缓冲液取样Z坐标"),
+	LargeBSSSampleEndZPos("大瓶缓冲液取样结束Z坐标"),
 
 
 	;

src/main/java/a8k/type/LargeBottleConsumableRefPoint.java

@@ -0,0 +1,22 @@
+package a8k.type;
+
+import a8k.type.cfg.Pos3d;
+
+public class LargeBottleConsumableRefPoint {
+	public ConsumableGroup group;
+
+	public Pos3d pos;
+
+	public LargeBottleConsumableRefPoint(ConsumableGroup group, Pos3d pos) {
+		this.group = group;
+		this.pos   = pos;
+	}
+
+	public Integer getRow() {
+		return group.ordinal() / 3;
+	}
+
+	public Integer getCol() {
+		return group.ordinal() % 3;
+	}
+}

src/main/java/a8k/type/LargeBottoleConsumablePosInfo.java

@@ -0,0 +1,17 @@
+package a8k.type;
+
+import a8k.type.cfg.Pos3d;
+
+public class LargeBottoleConsumablePosInfo {
+	public Pos3d  pos00;
+	public Double dx;
+	public Double dy;
+
+	public LargeBottoleConsumablePosInfo(Pos3d pos00, Double dx, Double dy) {
+		this.pos00 = pos00;
+		this.dx    = dx;
+		this.dy    = dy;
+	}
+
+	public LargeBottoleConsumablePosInfo(){}
+}

src/main/java/a8k/utils/ZJsonHelper.java

@@ -49,6 +49,9 @@ public class ZJsonHelper {
 
 	public static ObjectNode createObjectNode(Object obj) {
 		ObjectMapper ObjectMapper = new ObjectMapper();
+		if (obj == null) {
+			return null;
+		}
 		if (obj instanceof Integer) {
 			return ObjectMapper.createObjectNode().put("value", (Integer) obj);
 		}

src/main/java/a8k/utils/ZSqliteJdbcHelper.java

@@ -3,6 +3,7 @@ package a8k.utils;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.node.ObjectNode;
+import org.slf4j.Logger;
 import org.springframework.jdbc.core.JdbcTemplate;
 
 import java.lang.reflect.InvocationTargetException;
@@ -17,6 +18,7 @@ import java.util.Date;
 import java.util.List;
 
 public class ZSqliteJdbcHelper {
+	static Logger logger = org.slf4j.LoggerFactory.getLogger(ZSqliteJdbcHelper.class);
 
 	static public boolean isTableExist(JdbcTemplate jdbcTemplate, String tableName) {
 		String sql = "select * from sqlite_master where type = 'table' and name = '" + tableName + "';";
@@ -74,6 +76,7 @@ public class ZSqliteJdbcHelper {
 	static public Object rowMapper(ResultSet rs, Class<?> tClass) throws SQLException, InstantiationException, IllegalAccessException {
 		Object obj = tClass.newInstance();
 		for (java.lang.reflect.Field field : tClass.getDeclaredFields()) {
+
 			if (field.getType().equals(Integer.class)) {
 				field.set(obj, rs.getInt(field.getName()));
 			} else if (field.getType().equals(int.class)) {
@@ -94,7 +97,13 @@ public class ZSqliteJdbcHelper {
 			} else if (field.getType().equals(ObjectNode.class)) {
 				ObjectMapper objectMapper = new ObjectMapper();
 				try {
-					field.set(obj, objectMapper.readTree(rs.getString(field.getName())));
+					String val = rs.getString(field.getName());
+					if (val != null && !val.isEmpty()) {
+//						logger.info("val: {}", val);
+						field.set(obj, objectMapper.readTree(val));
+					} else {
+						field.set(obj, null);
+					}
 				} catch (JsonProcessingException e) {
 					throw new RuntimeException(e);
 				}
@@ -125,6 +134,11 @@ public class ZSqliteJdbcHelper {
 				if (field.getName().equals("id"))
 					continue;
 
+				if(field.get(obj) == null){
+					args.add(null);
+					continue;
+				}
+
 				field.setAccessible(true);
 				if (field.getType().equals(Integer.class) || field.getType().equals(int.class)) {
 					//					args[i] = field.getInt(obj);
@@ -153,7 +167,6 @@ public class ZSqliteJdbcHelper {
 				} else {
 					ObjectMapper objectMapper = new ObjectMapper();
 					args.add(objectMapper.writeValueAsString(field.get(obj)));
-
 				}
 			} catch (IllegalAccessException | JsonProcessingException e) {
 				e.printStackTrace();