5 changed files with 71 additions and 274 deletions
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14src/main/java/com/iflytop/gd/GraphiteDigesterServiceApplication.java
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93src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java
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15src/main/java/com/iflytop/gd/hardware/comm/can/A8kCanBusConnection.java
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137src/main/java/com/iflytop/gd/hardware/service/setup/A8kSubModuleRegInitService.java
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86src/main/java/com/iflytop/gd/hardware/service/setup/SubModuleRegInitialValueMgrService.java
@ -1,137 +0,0 @@ |
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package com.iflytop.gd.hardware.service.setup; |
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import com.iflytop.gd.hardware.comm.can.A8kCanBusService; |
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import com.iflytop.gd.hardware.config.A8kSubModuleInitRegConfig; |
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import com.iflytop.gd.hardware.drivers.ModuleEnableCtrlDriver; |
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import com.iflytop.gd.hardware.exception.HardwareException; |
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import com.iflytop.gd.hardware.service.AppEventBusService; |
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import com.iflytop.gd.hardware.type.MId; |
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import com.iflytop.gd.hardware.type.ModuleType; |
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import com.iflytop.gd.hardware.type.RegIndex; |
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import com.iflytop.gd.hardware.type.appevent.A8kCanBusOnConnectEvent; |
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import com.iflytop.gd.hardware.type.appevent.AppEvent; |
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import com.iflytop.gd.hardware.type.db.SubModuleRegInitialValue; |
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import com.iflytop.gd.hardware.utils.OS; |
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import jakarta.annotation.PostConstruct; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.List; |
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/** |
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* 子设备寄存器初始化服务 |
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*/ |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class A8kSubModuleRegInitService { |
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private final A8kCanBusService canBus; |
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private final ModuleEnableCtrlDriver moduleEnableCtrlDriver; |
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private final AppEventBusService eventBus; |
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private final A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig; |
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private final SubModuleRegInitialValueMgrService subModuleRegInitialValueMgrService; |
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private Boolean isInited = false; |
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@PostConstruct |
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void init() { |
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eventBus.regListener(this::onAppEvent); |
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} |
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public synchronized boolean getIsInited() { |
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return isInited; |
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} |
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private void onAppEvent(AppEvent event) { |
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if (event instanceof A8kCanBusOnConnectEvent) { |
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var initThread = new Thread(this::initModuleRegVal); |
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initThread.setName("initModuleRegVal"); |
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initThread.start(); |
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} |
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} |
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private void initModuleRegVal() { |
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do { |
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// try { |
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log.info("forceInitA8kModParams"); |
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dumpAllSubBoardVersion(); |
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// initA8kModParams(); |
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isInited = true; |
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log.info("======================================================"); |
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log.info("= init hardware param success...... ="); |
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log.info("======================================================"); |
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break; |
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// } catch (HardwareException e) { |
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// log.error("init hardware param fail......, try init it after 5s", e); |
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// } |
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} while (false); |
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} |
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private void dumpAllSubBoardVersion() { |
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log.info("======================================================="); |
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log.info("= dump all sub board version...... ="); |
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log.info("="); |
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boolean hasDiffVersion = false; |
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Integer maxVersion = null; |
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for (MId mid : MId.values()) { |
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if (mid == MId.NotSet) { |
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continue; |
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} |
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try { |
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if (!canBus.ping(mid)) { |
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log.error(String.format("+ %-40s(%d): offline", mid, mid.index)); |
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continue; |
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} |
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Integer ver = canBus.moduleReadVersion(mid); |
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String moduleType = canBus.moduleReadType(mid).toString(); |
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if (maxVersion != null && !maxVersion.equals(ver)) { |
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hasDiffVersion = true; |
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} |
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if (maxVersion == null || ver > maxVersion) { |
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maxVersion = ver; |
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} |
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log.info(String.format("+ %-40s(%d): type:%-20s version:%s", mid, mid.index, moduleType, ver)); |
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} catch (HardwareException e) { |
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log.error(String.format("+ %20s(%d): offline", mid, mid.index)); |
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} |
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} |
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if (!hasDiffVersion) { |
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// gStateMgrService.setMcuVersion(String.format("V%04d", maxVersion)); |
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} else { |
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//版本不一致，标记为(*)，表示需要升级 |
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// gStateMgrService.setMcuVersion(String.format("V%04d(*)", maxVersion)); |
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} |
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} |
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private void initA8kModParams() throws HardwareException { |
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for (MId mid : MId.values()) { |
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if (mid == MId.NotSet) |
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continue; |
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log.info("============== {}({}) ===============", mid, mid.index); |
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ModuleType moduleType = canBus.moduleReadType(mid); |
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List<RegIndex> regIndexes = a8kSubModuleInitRegConfig.findRegIndexByModuleType(moduleType); |
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for (RegIndex regIndex : regIndexes) { |
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SubModuleRegInitialValue val = subModuleRegInitialValueMgrService.findByIDAndRegIndex(mid, regIndex); |
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if (val == null) |
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continue; |
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log.info(String.format("= init %s(%d) %-45s: %d", mid, mid.index, regIndex, val.regInitVal)); |
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canBus.moduleSetReg(mid, regIndex, val.regInitVal); |
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} |
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log.info("="); |
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} |
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} |
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} |
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@ -1,86 +0,0 @@ |
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package com.iflytop.gd.hardware.service.setup; |
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import com.iflytop.gd.hardware.comm.can.A8kCanBusService; |
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import com.iflytop.gd.hardware.config.A8kSubModuleInitRegConfig; |
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import com.iflytop.gd.hardware.dao.SubModuleRegInitialValueDao; |
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import com.iflytop.gd.hardware.exception.HardwareException; |
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import com.iflytop.gd.hardware.type.MId; |
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import com.iflytop.gd.hardware.type.ModuleType; |
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import com.iflytop.gd.hardware.type.RegIndex; |
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import com.iflytop.gd.hardware.type.db.SubModuleRegInitialValue; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.List; |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class SubModuleRegInitialValueMgrService { |
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private final SubModuleRegInitialValueDao subModuleRegInitialValueDao; |
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private final A8kCanBusService canBus; |
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private final A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig; |
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/** |
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* 从微控制器同步寄存器值到数据库 |
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* @throws HardwareException e |
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*/ |
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public void syncFromMirco() throws HardwareException { |
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List<SubModuleRegInitialValue> regcache = List.of(); |
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for (MId mid : MId.values()) { |
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if (mid == MId.NotSet) |
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continue; |
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ModuleType moduleType = canBus.moduleReadType(mid); |
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List<RegIndex> regIndexes = a8kSubModuleInitRegConfig.findRegIndexByModuleType(moduleType); |
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for (RegIndex regIndex : regIndexes) { |
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log.info("read {}({})-{}", mid, mid.index, regIndex); |
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Integer val = canBus.moduleGetReg(mid, regIndex); |
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regcache.add(new SubModuleRegInitialValue(mid, regIndex, val)); |
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} |
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} |
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for (SubModuleRegInitialValue reg : regcache) { |
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log.info(String.format("storage %s(%d) %-40s: %d", reg.mid, reg.mid.index, reg.regIndex, reg.regInitVal)); |
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subModuleRegInitialValueDao.update(reg.mid, reg.regIndex, reg.regInitVal); |
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} |
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// |
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// 删除掉不需要的寄存器 |
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// |
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var allConfigs = subModuleRegInitialValueDao.getAll(); |
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for (SubModuleRegInitialValue reg : allConfigs) { |
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//TODO:模块类型存储到数据库中，而不是从微控制器读取 |
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ModuleType moduleType = canBus.moduleReadType(reg.mid); |
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if (!a8kSubModuleInitRegConfig.isNeeded(moduleType, reg.regIndex)) { |
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subModuleRegInitialValueDao.delete(reg.id); |
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} |
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} |
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} |
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public void export() { |
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subModuleRegInitialValueDao.export(); |
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} |
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public String getExportPath() { |
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return subModuleRegInitialValueDao.getExportPATH(); |
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} |
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public void importFromCSV(String filecontent) { |
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subModuleRegInitialValueDao.importFromCSV(filecontent, true); |
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} |
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public List<SubModuleRegInitialValue> getAll() { |
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return subModuleRegInitialValueDao.getAll(); |
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} |
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public SubModuleRegInitialValue findByIDAndRegIndex(MId mid, RegIndex regIndex) { |
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return subModuleRegInitialValueDao.findByIDAndRegIndex(mid, regIndex); |
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} |
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} |
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