板夹加载时增加板夹舱盖开关检查

src/main/java/com/dreamworks/boditech/controller/DeviceController.java

@@ -15,6 +15,7 @@ import jakarta.annotation.Resource;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestHeader;
 import org.springframework.web.bind.annotation.ResponseBody;
 
 import java.util.ArrayList;
@@ -29,8 +30,13 @@ public class DeviceController extends BaseController {
 
     @ResponseBody
     @PostMapping("/api/device/test-card-load")
-    public ApiResponse testCardLoad() {
-//        this.deviceService.testCardLoad();
+    public ApiResponse testCardLoad(@RequestHeader("IS-FS-READY") String isFsReady ) {
+        // @TODO : 删除该标记
+        if ( "NO".equals(isFsReady) ) {
+            return this.success();
+        }
+
+        this.deviceService.testCardLoad();
         return this.success();
     }
 

src/main/java/com/dreamworks/boditech/driver/Device.java

@@ -83,6 +83,7 @@ public class Device {
         this.appendActuator(new ActMotor(ActuatorModule.TEST_CARD_FEED_MOTOR, this));
         this.appendActuator(new ActMotor(ActuatorModule.TEST_CARD_BOX_MOTOR, this));
         this.appendActuator(new ActCodeScanner(ActuatorModule.ARM_Z_SCANNER, this));
+        this.appendActuator(new ActModuleTestCardBoxCase(ActuatorModule.TEST_CARD_BOX_CASE, this));
     }
 
     // append actuator

src/main/java/com/dreamworks/boditech/driver/actuator/ActModuleTestCardBoxCase.java

@@ -0,0 +1,11 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Device;
+public class ActModuleTestCardBoxCase extends ActuatorBase {
+    // io : is case cover closed
+    public static final Integer IO_CASE_COVER_CLOSED = 1;
+
+    // constructor
+    public ActModuleTestCardBoxCase(Integer mid, Device device) {
+        super(mid, device);
+    }
+}

src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorModule.java

@@ -20,6 +20,7 @@ public class ActuatorModule {
     public static Integer ANALYSIS_PUSH_MOTOR = 92;
     public static Integer ANALYSIS_SCAN_MOTOR = 91;
     public static Integer ANALYSIS_SCAN_SCANNER = 93;
+    public static Integer TEST_CARD_BOX_CASE = 20;
 
     public static Integer MODULE_STATUS_IDLE = 0;
     public static Integer MODULE_STATUS_BUSY = 1;

src/main/java/com/dreamworks/boditech/driver/task/TaskTestCardLoad.java

@@ -2,6 +2,7 @@ package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.actuator.ActArmXY;
 import com.dreamworks.boditech.driver.actuator.ActCodeScanner;
+import com.dreamworks.boditech.driver.actuator.ActModuleTestCardBoxCase;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;
 public class TaskTestCardLoad extends TaskBase {
     @Override
@@ -10,7 +11,11 @@ public class TaskTestCardLoad extends TaskBase {
         ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
         ActCodeScanner codeScanner = (ActCodeScanner)device.getActuator(ActuatorModule.ARM_Z_SCANNER);
 
-        // @TODO ：需要检查板夹仓是否盖上
+        // 检查试卡盒仓盖是否关闭
+        ActModuleTestCardBoxCase testCardBoxCase = (ActModuleTestCardBoxCase)device.getActuator(ActuatorModule.TEST_CARD_BOX_CASE);
+        if ( 1 == testCardBoxCase.readIO(ActModuleTestCardBoxCase.IO_CASE_COVER_CLOSED) ) {
+            throw new RuntimeException("TEST_CARD_BOX_CASE_COVER_NOT_CLOSED");
+        }
 
         Integer scanStartX = device.getLocationByName("testCardScanStart.x");
         Integer scanStartY = device.getLocationByName("testCardScanStart.y");

src/main/resources/application-dev.yml

@@ -8,7 +8,7 @@ spring:
 app:
   device:
     debug : true
-    connectionType : WebSocket # SerialPort, WebSocket
+    connectionType : SerialPort # SerialPort, WebSocket
     path : COM3
     baudrate : 921600
     wsuri : ws://192.168.8.10:19005