fix:初始化设备应该检测是否是虚拟模式

src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java

@@ -6,6 +6,7 @@ import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -22,12 +23,14 @@ import java.util.concurrent.CompletableFuture;
 public class DoorCloseCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
+    private final GDDeviceStatusService gDDeviceStatusService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorClose).getDistance();
             deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
+            //TODO 关门口判断加液模块是否有托盘
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

@@ -44,8 +44,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                     if (acidPumpDevice == null) {
                         throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
                     }
-                    Point2D tubePoint2D = deviceCommandUtilService.getPointByTubeNum(tubeNum);//根据试管编号获取点位
-                    deviceCommandUtilService.dualRobotMovePoint(cmdDTO.getCommandId(), cmdDTO.getCommand(), tubePoint2D);//移动加液机械臂到指定试管点位
+                    deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位
                     deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                 }
             }

src/main/java/com/iflytop/gd/app/service/CraftsStepService.java

@@ -126,9 +126,8 @@ public class CraftsStepService {
                 if (acidPumpDevice == null) {
                     throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
                 }
-                Point2D tubePoint2D = deviceCommandUtilService.getPointByTubeNum(tubeNum);//根据试管编号获取点位
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "移动加液机械臂到指定试管点位", tubePoint2D));
-                deviceCommandUtilService.dualRobotMovePoint(tubePoint2D);//移动加液机械臂到指定试管点位
+                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "移动加液机械臂到指定试管", tubeNum));
+                deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
                 webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "添加溶液", addLiquid));
                 deviceCommandUtilService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
             }

src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java

@@ -10,6 +10,8 @@ import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
+import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
@@ -22,6 +24,7 @@ import java.util.concurrent.TimeUnit;
 public class DeviceCommandUtilService {
     private final DeviceCommandService deviceCommandService;
     private final DevicePositionService devicePositionService;
+    private final LiquidDistributionArmDriver liquidDistributionArmDriver;
 
     /**
      * 门电机移动
@@ -287,39 +290,46 @@ public class DeviceCommandUtilService {
         commandWait(deviceCommandFuture);
     }
 
-    /**
-     * 双轴械臂 移动至指定点
-     */
-    public void dualRobotMovePoint(Point2D point2D) throws Exception {
-        dualRobotMovePoint(null, null, point2D);
-    }
+//    /**
+//     * 双轴械臂 移动至指定点
+//     */
+//    public void dualRobotMovePoint(Point2D point2D) throws Exception {
+//        dualRobotMovePoint(null, null, point2D);
+//    }
 
-    /**
-     * 双轴械臂 移动至指定点
-     */
-    public void dualRobotMovePoint(String cmdId, String cmdCode, Point2D point2D) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotMovePoint(point2D.getX(), point2D.getY());
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
-        commandWait(deviceCommandFuture);
-    }
+//    /**
+//     * 双轴械臂 移动至指定点
+//     */
+//    public void dualRobotMovePoint(String cmdId, String cmdCode, Point2D point2D) throws Exception {
+//        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotMovePoint(point2D.getX(), point2D.getY());
+//        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+//        commandWait(deviceCommandFuture);
+//    }
 
     /**
-     * 加液机械臂回原点
+     * 双轴械臂 移动至指定试管
      */
-    public void dualRobotOrigin() throws Exception {
-        dualRobotOrigin(null, null);
+    public void dualRobotMovePoint(int index) throws Exception {
+        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, index);
     }
 
     /**
      * 加液机械臂回原点
      */
-    public void dualRobotOrigin(String cmdId, String cmdCode) throws Exception {
-        DeviceCommandBundle dualRobotJoint1OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
-        DeviceCommandBundle dualRobotJoint2OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
-        CommandFuture dualRobotJoint1OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint1OriginDeviceCommand);
-        CommandFuture dualRobotJoint2OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint2OriginDeviceCommand);
-        commandWait(dualRobotJoint1OriginDeviceCommandFuture, dualRobotJoint2OriginDeviceCommandFuture);
-    }
+    public void dualRobotOrigin() throws Exception {
+        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
+    }
+
+//    /**
+//     * 加液机械臂回原点
+//     */
+//    public void dualRobotOrigin(String cmdId, String cmdCode) throws Exception {
+//        DeviceCommandBundle dualRobotJoint1OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
+//        DeviceCommandBundle dualRobotJoint2OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
+//        CommandFuture dualRobotJoint1OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint1OriginDeviceCommand);
+//        CommandFuture dualRobotJoint2OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint2OriginDeviceCommand);
+//        commandWait(dualRobotJoint1OriginDeviceCommandFuture, dualRobotJoint2OriginDeviceCommandFuture);
+//    }
 
     /**
      * 加液机械臂回原点

src/main/java/com/iflytop/gd/app/service/DeviceInitService.java

@@ -9,7 +9,9 @@ import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.ContainerType;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
+import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.MId;
+import com.iflytop.gd.hardware.type.RegIndex;
 import com.opencsv.CSVReader;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
@@ -35,6 +37,9 @@ public class DeviceInitService {
     }
 
     public void initDeviceSetData() {
+        if (deviceStateService.getDeviceState().isVirtual()) {
+            return;
+        }
         try {
             Thread.sleep(2000);
             String filePath = Paths.get("src", "main", "resources", "init", "zapp_sub_module_reg_initial_value.csv").toString();
@@ -51,14 +56,20 @@ public class DeviceInitService {
             }
             reader.close();
         } catch (Exception e) {
+            initDeviceSetData();
             log.error("设备初始化失败", e);
         }
 
     }
 
     public void sendToDevice(DeviceInitializationData data) {
-        System.out.println("Sending to device: " + data.getMid() + " - " + data.getRegIndex() + " = " + data.getRegInitVal());
-//        canBusService.moduleSetReg(MId.valueOf(data.getMid()));
+        try {
+            log.info("初始化设备: {} - {} = {}", data.getMid(), data.getRegIndex(), data.getRegInitVal());
+            canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
+        } catch (HardwareException e) {
+            log.error("初始化设备错误: {} - {} = {}", data.getMid(), data.getRegIndex(), data.getRegInitVal());
+            throw new RuntimeException(e);
+        }
     }
 
     public void initDeviceState() {

src/main/java/com/iflytop/gd/hardware/type/IO/InputIOMId.java

@@ -3,18 +3,18 @@ package com.iflytop.gd.hardware.type.IO;
 import com.iflytop.gd.hardware.type.MId;
 
 public enum InputIOMId {
-    Heater_CAP1_EXSIT("Heater_CAP1_EXSIT [ 加热位拍子1到位 ]", MId.IO1_IO, 0,false),
-    Heater_CAP2_EXSIT("Heater_CAP2_EXSIT [ 加热位拍子2到位 ]", MId.IO1_IO, 1,false),
-    Heater_CAP3_EXSIT("Heater_CAP3_EXSIT [ 加热位拍子3到位 ]", MId.IO1_IO, 2,false),
-    Heater_CAP4_EXSIT("Heater_CAP4_EXSIT [ 加热位拍子4到位 ]", MId.IO1_IO, 3,false),
-    Heater_CAP5_EXSIT("Heater_CAP5_EXSIT [ 加热位拍子5到位 ]", MId.IO1_IO, 4,false),
-    Heater_CAP6_EXSIT("Heater_CAP6_EXSIT [ 加热位拍子6到位 ]", MId.IO1_IO, 5,false),
-    Heater_TUBE1_EXSIT("Heater_TUBE1_EXSIT [ 加热位试管架1到位 ]", MId.IO1_IO, 6,false),
-    Heater_TUBE2_EXSIT("Heater_TUBE2_EXSIT [ 加热位试管架2到位 ]", MId.IO1_IO, 7,false),
-    Heater_TUBE3_EXSIT("Heater_TUBE3_EXSIT [ 加热位试管架3到位 ]", MId.IO1_IO, 8,false),
-    Heater_TUBE4_EXSIT("Heater_TUBE4_EXSIT [ 加热位试管架4到位 ]", MId.IO1_IO, 9,false),
-    Heater_TUBE5_EXSIT("Heater_TUBE5_EXSIT [ 加热位试管架5到位 ]", MId.IO1_IO, 10,false),
-    Heater_TUBE6_EXSIT("Heater_TUBE6_EXSIT [ 加热位试管架6到位 ]", MId.IO1_IO, 11,false),
+    Heater_CAP1_EXSIT("Heater_CAP1_EXSIT [ 加热模块拍子1到位 ]", MId.IO1_IO, 0,false),
+    Heater_CAP2_EXSIT("Heater_CAP2_EXSIT [ 加热模块拍子2到位 ]", MId.IO1_IO, 1,false),
+    Heater_CAP3_EXSIT("Heater_CAP3_EXSIT [ 加热模块拍子3到位 ]", MId.IO1_IO, 2,false),
+    Heater_CAP4_EXSIT("Heater_CAP4_EXSIT [ 加热模块拍子4到位 ]", MId.IO1_IO, 3,false),
+    Heater_CAP5_EXSIT("Heater_CAP5_EXSIT [ 加热模块拍子5到位 ]", MId.IO1_IO, 4,false),
+    Heater_CAP6_EXSIT("Heater_CAP6_EXSIT [ 加热模块拍子6到位 ]", MId.IO1_IO, 5,false),
+    Heater_TUBE1_EXSIT("Heater_TUBE1_EXSIT [ 加热模块托盘1到位 ]", MId.IO1_IO, 6,false),
+    Heater_TUBE2_EXSIT("Heater_TUBE2_EXSIT [ 加热模块托盘2到位 ]", MId.IO1_IO, 7,false),
+    Heater_TUBE3_EXSIT("Heater_TUBE3_EXSIT [ 加热模块托盘3到位 ]", MId.IO1_IO, 8,false),
+    Heater_TUBE4_EXSIT("Heater_TUBE4_EXSIT [ 加热模块托盘4到位 ]", MId.IO1_IO, 9,false),
+    Heater_TUBE5_EXSIT("Heater_TUBE5_EXSIT [ 加热模块托盘5到位 ]", MId.IO1_IO, 10,false),
+    Heater_TUBE6_EXSIT("Heater_TUBE6_EXSIT [ 加热模块托盘6到位 ]", MId.IO1_IO, 11,false),
     TRAY_CAP1_EXSIT("TRAY_CAP1_EXSIT [ 拍子存放位拍子1到位 ]", MId.IO1_IO, 12,false),
     TRAY_CAP2_EXSIT("TRAY_CAP2_EXSIT [ 拍子存放位拍子2到位 ]", MId.IO1_IO, 13,false),
     TRAY_CAP3_EXSIT("TRAY_CAP3_EXSIT [ 拍子存放位拍子3到位 ]", MId.IO1_IO, 14,false),

src/main/resources/init/zapp_sub_module_reg_initial_value.csv

@@ -48,40 +48,40 @@ id,mid,regIndex,regInitVal
 47,DualRobotAxis2SV,kreg_mini_servo_servo_overload_torque,80
 48,DualRobotAxis2SV,kreg_mini_servo_servo_acc,0
 49,LiquidDistributionArm,kreg_liquid_distribution_arm_enable,1
-50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,1800
-51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,1800
-52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,1799
-53,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d1,2100
-54,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d0,0
-55,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d1,0
-56,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d0,0
-57,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d1,0
-58,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d0,0
-59,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d1,0
-60,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d0,0
-61,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d1,0
-62,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d0,0
-63,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d1,0
-64,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d0,0
-65,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d1,0
-66,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d0,0
-67,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d1,0
-68,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d0,0
-69,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d1,0
-70,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d0,0
-71,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d1,0
-72,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d0,0
-73,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d1,0
-74,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d0,0
-75,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d1,0
-76,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d0,0
-77,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d1,0
-78,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d0,0
-79,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d1,0
-80,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d0,0
-81,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d1,0
-82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,0
-83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,0
+50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,571
+51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,1149
+52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,616
+53,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d1,613
+54,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d0,841
+55,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d1,519
+56,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d0,1140
+57,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d1,514
+58,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d0,1504
+59,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d1,627
+60,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d0,834
+61,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d1,825
+62,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d0,987
+63,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d1,747
+64,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d0,1212
+65,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d1,758
+66,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d0,1469
+67,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d1,816
+68,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d0,1037
+69,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d1,1079
+70,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d0,1165
+71,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d1,1010
+72,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d0,1341
+73,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d1,1001
+74,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d0,1557
+75,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d1,1073
+76,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d0,1317
+77,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d1,1463
+78,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d0,1413
+79,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d1,1389
+80,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d0,1562
+81,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d1,1389
+82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,1748
+83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,1450
 84,DoorM,kreg_step_motor_shaft,1
 85,DoorM,kreg_step_motor_one_circle_pulse,10000
 86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1