26 changed files with 1264 additions and 937 deletions
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9src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
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82src/main/java/a8k/hardware/A8kCanBusService.java
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2src/main/java/a8k/hardware/type/regindex/RegIndex.java
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6src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
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8src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java
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8src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java
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10src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java
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4src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
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91src/main/java/a8k/service/app/devicedriver/basectrl/MiniServoControler.java
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31src/main/java/a8k/service/app/devicedriver/basectrl/TubeTransportControler.java
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18src/main/java/a8k/service/app/devicedriver/basectrl/type/MiniServoMid.java
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23src/main/java/a8k/service/app/devicedriver/basectrl/type/MiniServoRegIndex.java
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4src/main/java/a8k/service/app/devicedriver/calibration/PositionCalibration.java
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56src/main/java/a8k/service/app/devicedriver/calibration/TubePreProcesPosCalibration.java
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49src/main/java/a8k/service/app/devicedriver/calibration/TubeScanPosCalibration.java
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10src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java
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10src/main/java/a8k/service/app/devicedriver/ctrl/DeviceInitCtrlService.java
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62src/main/java/a8k/service/app/devicedriver/ctrl/TubePreProcesControler.java
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20src/main/java/a8k/service/app/devicedriver/ctrl/TubeScanerControler.java
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186src/main/java/a8k/service/app/devicedriver/pos/TubePreProcesPosMgr.java
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4src/main/java/a8k/service/app/devicedriver/pos/TubeScanPosMgr.java
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8src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java
@ -0,0 +1,91 @@ |
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package a8k.service.app.devicedriver.basectrl; |
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|
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.hardware.type.a8kcanprotocol.CmdId; |
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import a8k.hardware.type.a8kcanprotocol.MId; |
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import a8k.hardware.type.regindex.RegIndex; |
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import a8k.service.app.devicedriver.basectrl.type.MiniServoMid; |
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import a8k.type.ecode.HardwareError; |
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import a8k.type.exception.AppException; |
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import jakarta.annotation.Resource; |
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|
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public class MiniServoControler { |
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@Resource |
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A8kCanBusService canBus; |
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|
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|
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public void miniServoEnable(MiniServoMid id, int enable) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable); |
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} |
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|
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public int miniServoReadPos(MiniServoMid id) throws AppException { |
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var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos); |
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return packet.getContentI32(0); |
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} |
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|
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public void miniServoActiveCfg(MiniServoMid id) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_active_cfg); |
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} |
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|
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public void miniServoStop(MiniServoMid id) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_stop); |
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} |
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|
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public void miniServoSetMidPoint(MiniServoMid id) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_set_mid_point); |
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} |
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|
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public int miniServoReadIoState(MiniServoMid id) throws AppException { |
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var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_io_state); |
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return packet.getContentI32(0); |
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} |
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|
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public void miniServoMoveTo(MiniServoMid id, int pos) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_move_to, pos); |
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} |
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|
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public void miniServoMoveToBlock(MiniServoMid id, int pos, Integer actionOvertime) throws AppException { |
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miniServoMoveTo(id, pos); |
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canBus.waitForMod(id.mid, actionOvertime); |
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} |
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|
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public void miniServoRotate(MiniServoMid id, int direction) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_rotate, direction); |
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} |
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|
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public void miniServoRotateBlock(MiniServoMid id, int direction, Integer actionOvertime) throws AppException { |
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miniServoRotate(id, direction); |
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canBus.waitForMod(id.mid, actionOvertime); |
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} |
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|
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public void miniServoRotateWithTorque(MiniServoMid id, int torque) throws AppException { |
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canBus.callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque); |
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} |
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|
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public void miniServoRotateWithTorqueBlock(MiniServoMid id, int torque, Integer actionOvertime) throws AppException { |
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miniServoRotateWithTorque(id, torque); |
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miniServoWaitIsNotMove(id, actionOvertime); |
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} |
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|
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// kmini_servo_set_cur_pos |
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public void miniServoSetCurPos(MiniServoMid id, Integer pos) throws AppException { |
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canBus.callcmdOvertime(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos); |
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} |
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public void miniServoWaitIsNotMove(MiniServoMid id, int acitionOvertime) throws AppException { |
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long startedAt = System.currentTimeMillis(); |
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do { |
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var isMove = canBus.moduleGetReg(id.mid, RegIndex.kreg_mini_servo_is_move); |
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if (isMove != 0) { |
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break; |
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} |
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long now = System.currentTimeMillis(); |
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if (now - startedAt > acitionOvertime) { |
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throw AppException.of(new HardwareError(A8kEcode.LOW_ERROR_OVERTIME, id.mid, null)); |
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} |
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} while (true); |
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} |
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} |
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@ -0,0 +1,18 @@ |
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package a8k.service.app.devicedriver.basectrl.type; |
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|
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import a8k.hardware.type.a8kcanprotocol.MId; |
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public enum MiniServoMid { |
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ShakeModGripperYSV( MId.ShakeModGripperYSV),// |
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ShakeModGripperSV( MId.ShakeModGripperSV),// |
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ShakeModTubeScanerClampingSV( MId.ShakeModTubeScanerClampingSV),// |
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ShakeModTubeScanerRotateSV( MId.ShakeModTubeScanerRotateSV),// |
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; |
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final public MId mid; |
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MiniServoMid(MId mid) { |
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this.mid = mid; |
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} |
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} |
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@ -0,0 +1,23 @@ |
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package a8k.service.app.devicedriver.basectrl.type; |
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|
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import a8k.hardware.type.regindex.RegIndex; |
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|
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public enum MiniServoRegIndex { |
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kreg_module_version(RegIndex.kreg_module_version), // 模块版本 |
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kreg_module_type(RegIndex.kreg_module_type), // 模块类型 |
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kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error |
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kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag |
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kreg_extboard_resetflag(RegIndex.kreg_extboard_resetflag), |
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kreg_mini_servo_pos(RegIndex.kreg_mini_servo_pos), // 位置 |
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kreg_mini_servo_limit_velocity(RegIndex.kreg_mini_servo_limit_velocity), // 限制速度 |
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kreg_mini_servo_limit_torque(RegIndex.kreg_mini_servo_limit_torque), // 限制扭矩 |
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kreg_mini_servo_protective_torque(RegIndex.kreg_mini_servo_protective_torque), // 保护扭矩 |
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kreg_mini_servo_is_move(RegIndex.kreg_mini_servo_is_move), // 是否在运动 |
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; |
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public final RegIndex regIndex; |
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|
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MiniServoRegIndex(RegIndex regIndex) { |
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this.regIndex = regIndex; |
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} |
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} |
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@ -0,0 +1,56 @@ |
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package a8k.service.app.devicedriver.calibration; |
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|
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import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; |
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import a8k.extapi_controler.utils.ExtApiFn; |
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import a8k.extapi_controler.utils.ExtApiTab; |
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.MId; |
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import a8k.service.app.devicedriver.basectrl.MiniServoControler; |
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import a8k.service.app.devicedriver.basectrl.type.MiniServoMid; |
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import a8k.service.app.devicedriver.pos.TubePreProcesPosMgr; |
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import a8k.type.exception.AppException; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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|
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@ExtApiTab(cfg = ExtApiTabConfig.TubeScanPosCalibration) |
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@Component |
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public class TubePreProcesPosCalibration { |
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@Resource |
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TubePreProcesPosMgr tubePreProcesPosMgr; |
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@Resource |
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A8kCanBusService canBus; |
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@Resource |
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MiniServoControler miniServoControler; |
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|
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//基础工具 |
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@ExtApiFn(name = "归零", group = "测试工具", order = 11) |
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public void deviceReset() throws AppException { |
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enableModule(); |
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canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, 15000); |
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} |
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@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12) |
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public void enableModule() throws AppException { |
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miniServoControler.miniServoEnable(MiniServoMid.ShakeModGripperSV, 1); |
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miniServoControler.miniServoEnable(MiniServoMid.ShakeModGripperYSV, 1); |
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canBus.stepMotorEnable(MId.ShakeModClampingM, 1); |
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canBus.stepMotorEnable(MId.ShakeModGripperZM, 1); |
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canBus.stepMotorEnable(MId.ShakeModShakeM, 1); |
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} |
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|
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@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13) |
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public void disableModule() throws AppException { |
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canBus.stepMotorEnable(MId.FeedingModInfeedM, 0); |
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canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0); |
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canBus.stepMotorEnable(MId.FeedingModXM, 0); |
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miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 0); |
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} |
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|
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//标定和校准 |
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|
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} |
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@ -0,0 +1,186 @@ |
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package a8k.service.app.devicedriver.pos; |
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|
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import a8k.service.db.LowerDeviceParameterDBService; |
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import a8k.service.db.utils.PosParameterReader; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import org.slf4j.Logger; |
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import org.slf4j.LoggerFactory; |
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import org.springframework.stereotype.Component; |
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|
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@Component |
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public class TubePreProcesPosMgr { |
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static final Logger logger = LoggerFactory.getLogger(TubeScanPosMgr.class); |
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|
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public enum POS { |
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GripperServoOpenPos("抓手张开位置"),// |
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GripperServoClosePos("抓手闭合位置"),// |
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GripperServoTakeCapPos("抓手取试管位置"),// |
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YServoTakeTubePos("取试管位置"),// |
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YServoShakePos("摇匀位置"),// |
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YServoZeroYPos("待机位"),// |
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ZMotorTakeHTubePos("取高试管位置"),// |
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ZMotorTakeSTubePos("取低试管位置"),// |
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ZMotorJudgeHTubeCapPos("高试管帽有无判断位"),// |
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ZMotorJudgeSTubeCapPos("低试管帽有无判断位"),// |
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ZMotorShakeTubePos("摇匀放置位置"),// |
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ZMotorTakeCapPos("取试管帽位"),// |
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ShakeClampMotorClampPos("试管夹紧位"),// |
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ShakeClampMotorReleasePos("摇匀臂"),// |
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; |
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public final String chName; |
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|
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POS(String chName) { |
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this.chName = chName; |
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} |
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} |
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|
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; |
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|
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@Resource |
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LowerDeviceParameterDBService lowerDeviceParameterDBService; |
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|
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PosParameterReader posReader = null; |
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Integer nowParaVersion = 0; |
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|
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@PostConstruct |
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void initialize() { |
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posReader = lowerDeviceParameterDBService.getReader(this.getClass()); |
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Integer paraVersion = posReader.getVersion(); |
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if (!nowParaVersion.equals(paraVersion)) { |
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logger.info("init param"); |
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posReader.setVersion(nowParaVersion); |
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posReader.updatePos(POS.GripperServoOpenPos, 450); |
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posReader.updatePos(POS.GripperServoClosePos, 310); |
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posReader.updatePos(POS.GripperServoTakeCapPos, 355); |
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posReader.updatePos(POS.YServoTakeTubePos, 3080); |
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posReader.updatePos(POS.YServoShakePos, 2130); |
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posReader.updatePos(POS.YServoZeroYPos, 300); |
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posReader.updatePos(POS.ZMotorTakeHTubePos, 739); |
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posReader.updatePos(POS.ZMotorTakeSTubePos, 983); |
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posReader.updatePos(POS.ZMotorJudgeHTubeCapPos, 591); |
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posReader.updatePos(POS.ZMotorJudgeSTubeCapPos, 867); |
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posReader.updatePos(POS.ZMotorShakeTubePos, 835); |
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posReader.updatePos(POS.ZMotorTakeCapPos, 835); |
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posReader.updatePos(POS.ShakeClampMotorClampPos, 10); |
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posReader.updatePos(POS.ShakeClampMotorReleasePos, 90); |
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} |
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} |
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|
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|
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public Integer getParam(POS pos) { |
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return posReader.getPos(pos, Integer.class); |
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} |
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|
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public Integer getGripperServoOpenPos() { |
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return getParam(POS.GripperServoOpenPos); |
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} |
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|
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public void setGripperServoOpenPos(Integer value) { |
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posReader.updatePos(POS.GripperServoOpenPos, value); |
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} |
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|
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public Integer getGripperServoClosePos() { |
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return getParam(POS.GripperServoClosePos); |
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} |
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|
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public void setGripperServoClosePos(Integer value) { |
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posReader.updatePos(POS.GripperServoClosePos, value); |
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} |
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|
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public Integer getGripperServoTakeCapPos() { |
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return getParam(POS.GripperServoTakeCapPos); |
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} |
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|
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public void setGripperServoTakeCapPos(Integer value) { |
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posReader.updatePos(POS.GripperServoTakeCapPos, value); |
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} |
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|
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public Integer getYServoTakeTubePos() { |
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return getParam(POS.YServoTakeTubePos); |
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} |
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|
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public void setYServoTakeTubePos(Integer value) { |
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posReader.updatePos(POS.YServoTakeTubePos, value); |
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} |
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|
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public Integer getYServoShakePos() { |
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return getParam(POS.YServoShakePos); |
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} |
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|
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public void setYServoShakePos(Integer value) { |
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posReader.updatePos(POS.YServoShakePos, value); |
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} |
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|
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public Integer getYServoZeroYPos() { |
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return getParam(POS.YServoZeroYPos); |
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} |
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|
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public void setYServoZeroYPos(Integer value) { |
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posReader.updatePos(POS.YServoZeroYPos, value); |
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} |
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|
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public Integer getZMotorTakeHTubePos() { |
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return getParam(POS.ZMotorTakeHTubePos); |
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} |
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|
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public void setZMotorTakeHTubePos(Integer value) { |
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posReader.updatePos(POS.ZMotorTakeHTubePos, value); |
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} |
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|
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public Integer getZMotorTakeSTubePos() { |
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return getParam(POS.ZMotorTakeSTubePos); |
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} |
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|
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public void setZMotorTakeSTubePos(Integer value) { |
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posReader.updatePos(POS.ZMotorTakeSTubePos, value); |
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} |
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|
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public Integer getZMotorJudgeHTubeCapPos() { |
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return getParam(POS.ZMotorJudgeHTubeCapPos); |
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} |
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|
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public void setZMotorJudgeHTubeCapPos(Integer value) { |
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posReader.updatePos(POS.ZMotorJudgeHTubeCapPos, value); |
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} |
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|
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public Integer getZMotorJudgeSTubeCapPos() { |
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return getParam(POS.ZMotorJudgeSTubeCapPos); |
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} |
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|
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public void setZMotorJudgeSTubeCapPos(Integer value) { |
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posReader.updatePos(POS.ZMotorJudgeSTubeCapPos, value); |
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} |
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|
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public Integer getZMotorShakeTubePos() { |
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return getParam(POS.ZMotorShakeTubePos); |
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} |
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|
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public void setZMotorShakeTubePos(Integer value) { |
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posReader.updatePos(POS.ZMotorShakeTubePos, value); |
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} |
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|
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public Integer getZMotorTakeCapPos() { |
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return getParam(POS.ZMotorTakeCapPos); |
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} |
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|
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public void setZMotorTakeCapPos(Integer value) { |
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posReader.updatePos(POS.ZMotorTakeCapPos, value); |
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} |
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|
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public Integer getShakeClampMotorClampPos() { |
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return getParam(POS.ShakeClampMotorClampPos); |
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} |
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|
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public void setShakeClampMotorClampPos(Integer value) { |
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posReader.updatePos(POS.ShakeClampMotorClampPos, value); |
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} |
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|
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public Integer getShakeClampMotorReleasePos() { |
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return getParam(POS.ShakeClampMotorReleasePos); |
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} |
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|
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public void setShakeClampMotorReleasePos(Integer value) { |
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posReader.updatePos(POS.ShakeClampMotorReleasePos, value); |
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} |
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} |
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