调整初始化链接逻辑

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

@@ -16,6 +16,7 @@ import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.cmd.CmdColor;
 import com.iflytop.sgs.common.service.CanBusService;
 import com.iflytop.sgs.hardware.exception.HardwareException;
+import com.iflytop.sgs.hardware.service.setup.A8kSubModuleRegInitService;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -38,26 +39,34 @@ public class DeviceInitService {
     private final ObjectProvider<HeatModuleState> heatModuleStateProvider;
     private final ObjectProvider<SolutionContainerState> solutionContainerStateProvider;
     private final DeviceLightSoundService deviceLightSoundService;
+    private final A8kSubModuleRegInitService a8kSubModuleRegInitService;
 
     @PostConstruct
-    public void init() {
+    public void init() throws InterruptedException {
+        while (!a8kSubModuleRegInitService.getIsInited()) {
+            Thread.sleep(100);
+        }
         new Thread(() -> {
             try {
-                Thread.sleep(2000);
                 CompletableFuture.runAsync(() -> {
-                    DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.tricolorLightOpen(CmdColor.blue);
-                    deviceCommandService.sendCommand(deviceCommandBundle);
+                    try {
+                        deviceLightSoundService.openColor(CmdColor.blue);
+                    } catch (HardwareException e) {
+                        log.error("设备初始化灯光失败，CmdColor.blue");
+                    }
                 });
                 initDeviceState();
                 initDeviceSetData();
                 canBusService.initOvertime();
                 initEnable();
                 initSensorState();
+                CompletableFuture.runAsync(() -> {
                     try {
                         deviceLightSoundService.openColor(CmdColor.green);
                     } catch (HardwareException e) {
-                    log.error("设备初始化灯光失败，Color.GREEN");
+                        log.error("设备初始化灯光失败，CmdColor.green");
                     }
+                });
                 deviceStateService.getDeviceState().setInitComplete(true);
             } catch (Exception e) {
                 log.error("设备初始化失败", e);
@@ -73,7 +82,6 @@ public class DeviceInitService {
         if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
             return;
         }
-        //从数据库中读取数据通过串口进行数据初始化
         List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
         for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
             DeviceInitializationData data = new DeviceInitializationData();
@@ -81,17 +89,19 @@ public class DeviceInitService {
             data.setMid(deviceParamConfig.getMid());
             data.setRegIndex(deviceParamConfig.getRegIndex());
             data.setRegInitVal(deviceParamConfig.getRegVal());
+            boolean success = false;  // 标记是否执行成功
+            while (!success) {
                 try {
                     canBusService.moduleSetRegByApp(data.getMid(), data.getRegIndex(), data.getRegInitVal());
+                    success = true;
                 } catch (Exception e) {
-                log.error("设备初始化写入参数失败，2秒后重试", e);
+                    log.error("设备初始化写入参数失败，错误: {}", e.getMessage());
                     Thread.sleep(2000);
-                canBusService.moduleSetRegByApp(data.getMid(), data.getRegIndex(), data.getRegInitVal());
-                //initDeviceSetData();
                 }
             }
-
         }
+    }
+
 
     /**
      * 初始化所有设备使能

src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java

@@ -183,7 +183,7 @@ public class A8kCanBusConnection extends WebSocketClient {
     //
     //	PRIVATE
     //
-    @Scheduled(fixedRate = 10000)
+    @Scheduled(fixedRate = 2000)
     private void autoConnect() {
         if (!enableCanBus)
             return;
@@ -191,10 +191,18 @@ public class A8kCanBusConnection extends WebSocketClient {
         if (!isOpen()) {
             if (getReadyState().equals(ReadyState.NOT_YET_CONNECTED)) {
                 try {
+                    log.warn("canbus connect ...");
                     connect();
+                    log.warn("canbus connect success");
                 } catch (IllegalStateException ignored) {
+                    log.warn("a8k canbus connect failed, maybe already connected");
+                } catch (Exception e) {
+                    log.error("a8k canbus connect error", e);
+                    // 连接失败，等待重试
+                    return;
                 }
             } else if (getReadyState().equals(ReadyState.CLOSED)) {
+                log.warn("a8k canbus connection closed, try to reconnect");
                 reconnect();
             }
         }

src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java

@@ -30,7 +30,8 @@ public enum A8kEcode {
 	SYS_EXCEPTION(18), //系统异常
 	DEVICE_NOT_INIT(19), //设备未初始化
 	APPE_PAUSE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(20), //
-	APPE_CONTINUE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(21), //
+	APPE_CONTINUE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(21),
+	WEBSOCKET_CONNECT_ERROR(22), //websocket连接错误//
 
 	//
 	// 参数错误