代码冲突

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugDisabledAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_disabled_all_motor")
+@CommandDebugMapping("disable_all_motor")
 public class DebugDisabledAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugEnableAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_enable_all_motor")
+@CommandDebugMapping("enable_all_motor")
 public class DebugEnableAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugStopAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_stop_all_motor")
+@CommandDebugMapping("stop_all_motor")
 public class DebugStopAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 

src/main/java/com/iflytop/sgs/app/controller/MotorController.java

@@ -22,24 +22,23 @@ import org.springframework.web.bind.annotation.RestController;
 @RequiredArgsConstructor
 @Slf4j
 public class MotorController {
-
-    private DeviceSensorService deviceSensorService;
+    private final DeviceSensorService deviceSensorService;
 
     @Operation(summary = "获取当前电机位置")
     @GetMapping("/position/{motor}")
     public Result<String> getPosition(@PathVariable String motor) {
 
-        if(motor.equals("Transfer")){
+        if (motor.equals("Transfer")) {
             try {
-                double xPosition=deviceSensorService.getXYServoPosition(DevicePartId.XSV);
-                double zPosition=deviceSensorService.getXYServoPosition(DevicePartId.ZM);
-                String position=String.format("%.2f,0,%.2f",xPosition,zPosition);
+                double xPosition = deviceSensorService.getXYServoPosition(DevicePartId.XSV);
+                double zPosition = deviceSensorService.getMotorPosition(DevicePartId.ZM);
+                String position = String.format("%.2f,0,%.2f", xPosition, zPosition);
                 return Result.success(position);
             } catch (HardwareException e) {
                 throw new RuntimeException(e);
             }
 
-        }else{
+        } else {
             DevicePartId devicePartId = DevicePartId.valueOf(motor);
             Double position;
             try {

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -103,6 +103,20 @@ public class DeviceInitService {
         //蠕动泵
         DeviceCommandBundle liquidPumpEnableDeviceCommandBundle = DeviceCommandGenerator.liquidPumpEnable();
         deviceCommandService.sendCommand(liquidPumpEnableDeviceCommandBundle);
+
+        //开抱闸
+        DeviceCommandBundle doorOpenClampDeviceCommandBundle = DeviceCommandGenerator.doorOpenClamp();
+        deviceCommandService.sendCommand(doorOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle transferZOpenClampDeviceCommandBundle = DeviceCommandGenerator.transferZOpenClamp();
+        deviceCommandService.sendCommand(transferZOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle transferXOpenClampDeviceCommandBundle = DeviceCommandGenerator.transferXOpenClamp();
+        deviceCommandService.sendCommand(transferXOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle liquidMotorOpenClampDeviceCommandBundle = DeviceCommandGenerator.liquidMotorOpenClamp();
+        deviceCommandService.sendCommand(liquidMotorOpenClampDeviceCommandBundle);
+
     }
 
 

src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java

@@ -17,11 +17,11 @@ public enum DevicePositionCode {
      * 溶液首次预充距离
      * */
     solutionPreFillDistance(DevicePositionType.DISTANCE, "溶液首次预充距离"),
-    /*
+    /**
     * 稀硝酸预充距离
     * */
     thinPreFillDistance(DevicePositionType.DISTANCE,"稀硝酸预充距离"),
-    /*
+    /**
     * 浓硝酸预充距离
     * */
     thickPreFillDistance(DevicePositionType.DISTANCE,"浓硝酸预充距离"),

src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java

@@ -19,134 +19,136 @@ import java.net.URISyntaxException;
 @Component
 @Slf4j
 public class A8kCanBusService implements CanBusService {
-	@Resource
-	A8kCanBusConnection connection;
-	@Resource
-	ActionOvertimeConstant actionOvertimeConstant;
-
-	@Value("${device.enableCanBus}")
-	Boolean enableCanBus;
-
-	@PostConstruct
-	public void init() throws URISyntaxException {
-		if (enableCanBus) {
-			connection.connect();
-		}else{
-			log.warn("canBus is disabled");
-		}
-	}
-
-	public Boolean ping(MId id)  {
-		return connection.ping(id);
-	}
-
-	/**
-	 * 强制关闭websocket连接，让其与canbus服务重连
-	 */
-	public void forceShutdown() {
-		connection.close();
-	}
-
-	//
-	//	BASE_OPERATION
-	//
-
-	public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws HardwareException {
-		return connection.callcmd(moduleId, cmdId, param);
-	}
-
-	public A8kPacket callcmd2(MId moduleId, CmdId cmdId, Integer overtime, Integer... params) throws HardwareException {
-		return connection.callcmd2(moduleId, cmdId, overtime, params);
-	}
-
-	synchronized public A8kPacket send(A8kPacket pack, int overtime) throws HardwareException {
-		return connection.send(pack, overtime);
-	}
-
-	//
-	//	MODULE FUNCTION
-	//
-
-	public void moduleStop(MId id) throws HardwareException {
-		connection.callcmd(id, CmdId.module_stop);
-	}
-
-	public void moduleStopNoException(MId id) {
-		try {
-			moduleStop(id);
-		} catch (HardwareException ignored) {
-		}
-	}
-
-	public ModuleStatus moduleGetStatus(MId id) throws HardwareException {
-		return connection.moduleGetStatus(id);
-	}
-	public void moduleSetRegByApp(String id, String regindex, Integer reg) throws HardwareException {
-		MId mId=MId.valueOf(id);
-		RegIndex regIndex=RegIndex.valueOf(reg);
-		this.moduleSetReg(mId,regIndex,reg);
-	}
-	/**
-	 * 设置各动作超时时间
-	 */
-	@Override
-	public void initOvertime() {
+    @Resource
+    A8kCanBusConnection connection;
+    @Resource
+    ActionOvertimeConstant actionOvertimeConstant;
+
+    @Value("${device.enableCanBus}")
+    Boolean enableCanBus;
+
+    @PostConstruct
+    public void init() throws URISyntaxException {
+        if (enableCanBus) {
+            connection.connect();
+        } else {
+            log.warn("canBus is disabled");
+        }
+    }
+
+    public Boolean ping(MId id) {
+        return connection.ping(id);
+    }
+
+    /**
+     * 强制关闭websocket连接，让其与canbus服务重连
+     */
+    public void forceShutdown() {
+        connection.close();
+    }
+
+    //
+    //	BASE_OPERATION
+    //
+
+    public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws HardwareException {
+        return connection.callcmd(moduleId, cmdId, param);
+    }
+
+    public A8kPacket callcmd2(MId moduleId, CmdId cmdId, Integer overtime, Integer... params) throws HardwareException {
+        return connection.callcmd2(moduleId, cmdId, overtime, params);
+    }
+
+    synchronized public A8kPacket send(A8kPacket pack, int overtime) throws HardwareException {
+        return connection.send(pack, overtime);
+    }
+
+    //
+    //	MODULE FUNCTION
+    //
+
+    public void moduleStop(MId id) throws HardwareException {
+        connection.callcmd(id, CmdId.module_stop);
+    }
+
+    public void moduleStopNoException(MId id) {
+        try {
+            moduleStop(id);
+        } catch (HardwareException ignored) {
+        }
+    }
+
+    public ModuleStatus moduleGetStatus(MId id) throws HardwareException {
+        return connection.moduleGetStatus(id);
+    }
+
+    public void moduleSetRegByApp(String id, String regindex, Integer reg) throws HardwareException {
+        MId mId = MId.valueOf(id);
+        RegIndex regIndex = RegIndex.valueOf(regindex);
+        this.moduleSetReg(mId, regIndex, reg);
+    }
+
+    /**
+     * 设置各动作超时时间
+     */
+    @Override
+    public void initOvertime() {
         actionOvertimeConstant.pushNewConfig(StepMotorMId.DoorM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
         actionOvertimeConstant.pushNewConfig(StepMotorMId.LiquidM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
         actionOvertimeConstant.pushNewConfig(StepMotorMId.LiquidPumpM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
         actionOvertimeConstant.pushNewConfig(StepMotorMId.ZM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
-	}
-
-	public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws HardwareException {
-		connection.callcmd2(id, CmdId.module_set_reg, 100, regindex.index, reg);
-	}
-
-	public Integer moduleGetReg(MId id, RegIndex regindex) throws HardwareException {
-		var packet = connection.callcmd2(id, CmdId.module_get_reg, 100, regindex.index);
-		return packet.getContentI32(0);
-	}
-
-	public A8kEcode moduleGetError(MId id) throws HardwareException {
-		var packet = connection.callcmd(id, CmdId.module_get_error);
-		return A8kEcode.fromInt(packet.getContentI32(0));
-	}
-
-	public Integer moduleGetDetailError(MId id) throws HardwareException {
-		return connection.callcmd(id, CmdId.module_get_detail_error).getContentI32(0);
-	}
-
-	public Integer moduleReadVersion(MId id) throws HardwareException {
-		return connection.callcmd(id, CmdId.module_get_version).getContentI32(0);
-	}
-
-	public ModuleType moduleReadType(MId id) throws HardwareException {
-		var packet = connection.callcmd(id, CmdId.module_get_type);
-		return ModuleType.of(packet.getContentI32(0));
-	}
-
-	public void waitForMod(MId mid, Integer acitionOvertime) throws HardwareException {
-		long  startedAt = System.currentTimeMillis();
-		CmdId action    = connection.getLastTxCmd(mid);
-		do {
-			ModuleStatus statu = moduleGetStatus(mid);
-			if (statu == ModuleStatus.IDLE) {
-				break;
-			} else if (statu == ModuleStatus.ERROR) {
-				log.error("{} waitting for action {} , catch error  {}, defail ecode {}", mid, action, moduleGetError(mid), moduleGetDetailError(mid));
-				throw HardwareException.of(new AEHardwareError(moduleGetError(mid), mid, action));
-			}
-			long now = System.currentTimeMillis();
-			if (now - startedAt > acitionOvertime) {
-				log.error("{} waitting for action {} overtime({})", mid, action, acitionOvertime);
-				moduleStopNoException(mid);
-				throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, mid, action));
-			}
-			OS.hsleep(30);
-		} while (true);
-	}
-
-	public boolean isConnect() {
-		return connection.isOpen();
-	}
+    }
+
+    public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws HardwareException {
+        connection.callcmd2(id, CmdId.module_set_reg, 100, regindex.index, reg);
+    }
+
+    public Integer moduleGetReg(MId id, RegIndex regindex) throws HardwareException {
+        var packet = connection.callcmd2(id, CmdId.module_get_reg, 100, regindex.index);
+        return packet.getContentI32(0);
+    }
+
+    public A8kEcode moduleGetError(MId id) throws HardwareException {
+        var packet = connection.callcmd(id, CmdId.module_get_error);
+        return A8kEcode.fromInt(packet.getContentI32(0));
+    }
+
+    public Integer moduleGetDetailError(MId id) throws HardwareException {
+        return connection.callcmd(id, CmdId.module_get_detail_error).getContentI32(0);
+    }
+
+    public Integer moduleReadVersion(MId id) throws HardwareException {
+        return connection.callcmd(id, CmdId.module_get_version).getContentI32(0);
+    }
+
+    public ModuleType moduleReadType(MId id) throws HardwareException {
+        var packet = connection.callcmd(id, CmdId.module_get_type);
+        return ModuleType.of(packet.getContentI32(0));
+    }
+
+    public void waitForMod(MId mid, Integer acitionOvertime) throws HardwareException {
+        long startedAt = System.currentTimeMillis();
+        CmdId action = connection.getLastTxCmd(mid);
+        do {
+            ModuleStatus statu = moduleGetStatus(mid);
+            if (statu == ModuleStatus.IDLE) {
+                break;
+            } else if (statu == ModuleStatus.ERROR) {
+                log.error("{} waitting for action {} , catch error  {}, defail ecode {}", mid, action, moduleGetError(mid), moduleGetDetailError(mid));
+                throw HardwareException.of(new AEHardwareError(moduleGetError(mid), mid, action));
+            }
+            long now = System.currentTimeMillis();
+            if (now - startedAt > acitionOvertime) {
+                log.error("{} waitting for action {} overtime({})", mid, action, acitionOvertime);
+                moduleStopNoException(mid);
+                throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, mid, action));
+            }
+            OS.hsleep(30);
+        } while (true);
+    }
+
+    public boolean isConnect() {
+        return connection.isOpen();
+    }
 
 }

src/main/resources/sql/init.sql

@@ -35,26 +35,6 @@ CREATE TABLE IF NOT EXISTS device_position
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
-INSERT OR IGNORE INTO device_position (id, name, code, type, position)
-VALUES ('1', '预充防滴落距离', 'antiDripDistance', 'DISTANCE', '0'),
-       ('2', '溶液首次预充距离', 'solutionPreFillDistance', 'DISTANCE', '10'),
-       ('3', '稀硝酸预充距离', 'thinPreFillDistance', 'DISTANCE', '10'),
-       ('4', '浓硝酸预充距离', 'thickPreFillDistance', 'DISTANCE', '10'),
-       ('5', '蒸馏水预充距离', 'waterPreFillDistance', 'DISTANCE', '10'),
-       ('6', '托盘试管水平间距', 'trayTubeHorizontalSpacingDistance', 'DISTANCE', '10'),
-       ('7', '转运模块X轴拿取托盘进出卡槽移动距离', 'transferModuleXPickTrayMoveDistance', 'DISTANCE', '3'),
-       ('8', '加液模块电机下降进入试管加液位置', 'solutionModuleMotorDownInTubeAddPositon', 'POSITION', '2'),
-       ('9', '加液模块电机下降进入试管抽取位置', 'solutionModuleMotorDownInTubeExtPositon', 'POSITION', '5'),
-       ('10', '转运模块Z轴拿取托盘时起下降的高度位置', 'transferModuleZPickTrayDownPositon', 'POSITION', '2'),
-       ('11', '开门位置', 'doorOpenPosition', 'POSITION', '10'),
-       ('12', '关门位置', 'doorClosePosition', 'POSITION', '0'),
-       ('13', '上料区托盘夹爪位置点', 'feedAreaTrayPoint', 'POINT_3D', '10,10,10'),
-       ('14', '加液时托盘位置点', 'liquidAreaTrayPoint', 'POINT_3D', '10,10,10'),
-       ('15', '加热区1托盘夹爪位置点', 'heatArea1TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('16', '加热区2托盘夹爪位置点', 'heatArea2TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('17', '加热区3托盘夹爪位置点', 'heatArea3TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('18', '加热区4托盘夹爪位置点', 'heatArea4TrayClawPoint', 'POINT_3D', '10,10,10');
-
 
 -- 系统配置 表
 CREATE TABLE IF NOT EXISTS system_config