From 4876bf97a71466987e91a983b18dfc61076e39a0 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 12 May 2025 11:42:13 +0800
Subject: [PATCH] add quick config page

---
 .../iflytop/app/hardware/type/StepMotorMId.java    |  2 -
 .../iflytop/app/menu/ExtApiPageGroupCfgMgr.java    |  4 +-
 src/main/java/iflytop/app/page/MotorCtrlPage.java  |  2 +-
 .../app/page/MotorParameterQuickConfigPage.java    | 74 ++++++++++++++++++++++
 4 files changed, 78 insertions(+), 4 deletions(-)
 create mode 100644 src/main/java/iflytop/app/page/MotorParameterQuickConfigPage.java

diff --git a/src/main/java/iflytop/app/hardware/type/StepMotorMId.java b/src/main/java/iflytop/app/hardware/type/StepMotorMId.java
index c5755b6..689ed13 100644
--- a/src/main/java/iflytop/app/hardware/type/StepMotorMId.java
+++ b/src/main/java/iflytop/app/hardware/type/StepMotorMId.java
@@ -6,8 +6,6 @@ public enum StepMotorMId {
 	DoorM(MId.DoorM),
 	ShakeM(MId.ShakeM),
 	CapStorageM(MId.CapStorageM),
-	HBotXM(MId.HBotXM),
-	HBotYM(MId.HBotYM),
 	HBotZM(MId.HBotZM),
 	Heater1M(MId.Heater1M),
 	Heater2M(MId.Heater2M),
diff --git a/src/main/java/iflytop/app/menu/ExtApiPageGroupCfgMgr.java b/src/main/java/iflytop/app/menu/ExtApiPageGroupCfgMgr.java
index 8de19a3..11b4a30 100644
--- a/src/main/java/iflytop/app/menu/ExtApiPageGroupCfgMgr.java
+++ b/src/main/java/iflytop/app/menu/ExtApiPageGroupCfgMgr.java
@@ -70,7 +70,9 @@ public class ExtApiPageGroupCfgMgr {
 				new Menu(MotorCtrlPage.class, "电机驱动"),
 				new Menu(LiquidArmPage.class, "加液臂驱动"),
 				new Menu(LeisaiServoPage.class, "雷赛伺服电机驱动"),
-				new Menu(OutputIOCtrlPage.class, "输出IO控制")
+				new Menu(OutputIOCtrlPage.class, "输出IO控制"),
+				new Menu(MotorParameterQuickConfigPage.class, "电机参数快速配置")
+
 		)));
 
 
diff --git a/src/main/java/iflytop/app/page/MotorCtrlPage.java b/src/main/java/iflytop/app/page/MotorCtrlPage.java
index 32684ab..406c0ef 100644
--- a/src/main/java/iflytop/app/page/MotorCtrlPage.java
+++ b/src/main/java/iflytop/app/page/MotorCtrlPage.java
@@ -54,7 +54,7 @@ public class MotorCtrlPage {
 
 
 	public void stepMotorEasyMoveToZero() throws HardwareException {
-		stepMotorCtrlDriver.stepMotorEasyMoveToZero(id);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(id);
 	}
 
 	public void stepMotorEasyMoveToZeroPointQuickBlock() throws HardwareException {
diff --git a/src/main/java/iflytop/app/page/MotorParameterQuickConfigPage.java b/src/main/java/iflytop/app/page/MotorParameterQuickConfigPage.java
new file mode 100644
index 0000000..c30c942
--- /dev/null
+++ b/src/main/java/iflytop/app/page/MotorParameterQuickConfigPage.java
@@ -0,0 +1,74 @@
+package iflytop.app.page;
+
+import iflytop.app.config.A8kSubModuleInitRegConfig;
+import iflytop.app.hardware.channel.A8kCanBusService;
+import iflytop.app.hardware.driver.StepMotorCtrlDriver;
+import iflytop.app.hardware.type.*;
+import iflytop.app.service.appsetup.A8kSubModuleRegInitService;
+import iflytop.app.type.exception.HardwareException;
+import iflytop.app.utils.ZJsonNode;
+import iflytop.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component
+@Slf4j
+public class MotorParameterQuickConfigPage {
+	@Resource
+	A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig;
+
+	@Resource
+	A8kCanBusService a8kCanBusService;
+
+	@Resource
+	ExtApiPageMgr extApiPageMgr;
+
+	StepMotorMId        id         = StepMotorMId.DoorM;
+	Integer             dpos       = 10;
+	StepMotorSpeedLevel speedLevel = StepMotorSpeedLevel.DEFAULT;
+
+
+	public void cpyHeaterElevatorMRegValFromM1() throws HardwareException {
+		List<RegIndex> reglist = a8kSubModuleInitRegConfig.findRegIndexByModuleType(ModuleType.TMCStepMotor);
+		for (RegIndex regIndex : reglist) {
+			Integer regVal = a8kCanBusService.moduleGetReg(MId.Heater1M, regIndex);
+			log.info("cpyHeaterElevator regIndex: {}, regVal: {}", regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.Heater2M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.Heater3M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.Heater4M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.Heater5M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.Heater6M, regIndex, regVal);
+		}
+	}
+
+	public void cpyPumpMRegValFromM1() throws HardwareException {
+		List<RegIndex> reglist = a8kSubModuleInitRegConfig.findRegIndexByModuleType(ModuleType.TMCStepMotor);
+		for (RegIndex regIndex : reglist) {
+			Integer regVal = a8kCanBusService.moduleGetReg(MId.AcidPump1M, regIndex);
+			log.info("cpyPumpReg regIndex: {}, regVal: {}", regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.AcidPump2M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.AcidPump3M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.AcidPump4M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.AcidPump5M, regIndex, regVal);
+			a8kCanBusService.moduleSetReg(MId.AcidPump6M, regIndex, regVal);
+		}
+	}
+
+
+	@PostConstruct
+	void init() {
+		var page = extApiPageMgr.newPage(this);
+		page.addFunction("拷贝Heater1M电机参数到其他加热升降电机", this::cpyHeaterElevatorMRegValFromM1);
+		page.addFunction("拷贝AcidPump1M电机参数到其他泵机", this::cpyPumpMRegValFromM1);
+
+		extApiPageMgr.addPage(page);
+
+
+	}
+}