add: 增加 Block 函数

src/main/java/iflytop/app/config/ActionOvertimeConstant.java

@@ -1,6 +1,7 @@
 package iflytop.app.config;
 
 import iflytop.app.hardware.type.CmdId;
+import iflytop.app.hardware.type.LeisaiServoMId;
 import iflytop.app.hardware.type.MId;
 import iflytop.app.hardware.type.StepMotorMId;
 import jakarta.annotation.PostConstruct;
@@ -27,6 +28,8 @@ public class ActionOvertimeConstant {
 		//	设置电机默认超时时间
 		//
 		pushNewConfig(StepMotorMId.DoorM, CmdId.step_motor_easy_move_to_zero, 10 * 1000);
+		pushNewConfig(LeisaiServoMId.MainXSV, CmdId.leisai_servo_move_to, 20 * 1000);
+		pushNewConfig(LeisaiServoMId.MainYSV, CmdId.leisai_servo_move_to, 20 * 1000);
 	}
 
 	public Integer get(MId mid, CmdId cmdId) {
@@ -42,6 +45,10 @@ public class ActionOvertimeConstant {
 		pushNewConfig(mid.mid, cmdId, overtime);
 	}
 
+	private void pushNewConfig(LeisaiServoMId mid, CmdId cmdId, Integer overtime) {
+		pushNewConfig(mid.mid, cmdId, overtime);
+	}
+
 	private void pushNewConfig(MId mid, CmdId cmdId, Integer overtime) {
 		OvertimeConfigItem item = new OvertimeConfigItem();
 		item.mid      = mid;

src/main/java/iflytop/app/hardware/driver/LeisaiServoDriver.java

@@ -1,6 +1,7 @@
 package iflytop.app.hardware.driver;
 
 import com.fasterxml.jackson.databind.node.ObjectNode;
+import iflytop.app.config.ActionOvertimeConstant;
 import iflytop.app.hardware.channel.A8kCanBusConnection;
 import iflytop.app.hardware.channel.A8kCanBusService;
 import iflytop.app.hardware.type.*;
@@ -15,7 +16,7 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 public class LeisaiServoDriver {
     final private A8kCanBusService canBus;
-    static public final Integer          actionOvertime = 10000;
+    private final ActionOvertimeConstant actionOvertimeConstant;
     
     public void moduleStop(LeisaiServoMId id) throws HardwareException {
         log.info("moduleStop called with id: {}", id);
@@ -64,6 +65,29 @@ public class LeisaiServoDriver {
         canBus.moduleSetReg(id.mid, regindex.regIndex, val);
     }
 
+    // ====== ===== ====== ===== ====== ===== Block ====== ===== ====== ===== ====== =====
+    public void moveToBlock(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer pos) throws HardwareException {
+        log.info("moveToBlock called with id: {}, speedLevel: {}, pos: {}", id, speedLevel, pos);
+        canBus.callcmd(id.mid, CmdId.leisai_servo_move_to, speedLevel.ordinal(), pos);
+        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_to));
+    }
+
+    public void moveByBlock(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer dpos) throws HardwareException {
+        log.info("moveByBlock called with id: {}, speedLevel: {}, dpos: {}", id, speedLevel, dpos);
+        canBus.callcmd(id.mid, CmdId.leisai_servo_move_by, speedLevel.ordinal(), dpos);
+        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_by));
+    }
+
+    public void moveToZeroBlock(LeisaiServoMId id) throws HardwareException {
+        log.info("moveToZeroBlock called with id: {}", id);
+        canBus.callcmd(id.mid, CmdId.leisai_servo_move_to_zero);
+        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_to_zero));
+    }
+
+    public void waitForMod(LeisaiServoMId id, Integer overtime) throws HardwareException {
+        canBus.waitForMod(id.mid, overtime);
+    }
+
 
     public Integer getReg(LeisaiServoMId id, LeisaiRegIndex regindex) throws HardwareException {
         log.info("getReg called with id: {}, regindex: {}", id, regindex);

src/main/java/iflytop/app/hardware/driver/LiquidDistributionArmDriver.java

@@ -1,6 +1,7 @@
 package iflytop.app.hardware.driver;
 
 import com.fasterxml.jackson.databind.node.ObjectNode;
+import iflytop.app.config.ActionOvertimeConstant;
 import iflytop.app.hardware.channel.A8kCanBusService;
 import iflytop.app.hardware.type.*;
 import iflytop.app.type.exception.HardwareException;
@@ -14,6 +15,7 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 public class LiquidDistributionArmDriver {
     final private A8kCanBusService canBus;
+    private final ActionOvertimeConstant actionOvertimeConstant;
 
     public void liquidDistributionArmEnable(LiquidArmMId id, int enable) throws HardwareException {
         log.info("liquidDistributionArmEnable called with id: {}, enable: {}", id, enable);
@@ -46,6 +48,17 @@ public class LiquidDistributionArmDriver {
         canBus.moduleStop(id.mid);
     }
 
+    // ====== ===== ====== ===== ====== ===== Block ====== ===== ====== ===== ====== =====
+    public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException {
+        liquidDistributionArmMoveTo(id, index);
+        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.liquid_distribution_arm_move_to));
+    }
+
+
+    public void waitForMod(LiquidArmMId id, Integer overtime) throws HardwareException {
+        canBus.waitForMod(id.mid, overtime);
+    }
+
     public void setReg(LiquidArmMId id, LiquidArmRegIndex regindex, int val) throws HardwareException {
         log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val);
         canBus.moduleSetReg(id.mid, regindex.regIndex, val);

src/main/java/iflytop/app/page/LeisaiServoPage.java

@@ -64,17 +64,17 @@ public class LeisaiServoPage {
 
     public void moveTo(Integer pos) throws Exception {
         log.info("moveTo called with pos: {}", pos);
-        driver.moveTo(id, speedLevel, pos);
+        driver.moveToBlock(id, speedLevel, pos);
     }
 
     public void moveByForward() throws Exception {
         log.info("moveByForward called with dpos: {}", dpos);
-        driver.moveBy(id, speedLevel, dpos);
+        driver.moveByBlock(id, speedLevel, dpos);
     }
 
     public void moveByBackward() throws Exception {
         log.info("moveByBackward called with dpos: {}", dpos);
-        driver.moveBy(id, speedLevel, -dpos);
+        driver.moveByBlock(id, speedLevel, -dpos);
     }
 
     public void rotateForward() throws Exception {

src/main/java/iflytop/app/page/LiquidArmPage.java

@@ -38,7 +38,7 @@ public class LiquidArmPage {
 
     public void moveTo(Integer index) throws HardwareException {
         log.info("moveTo called with index: {}", index);
-        liquidDistributionArmCtrlDriver.liquidDistributionArmMoveTo(id, index);
+        liquidDistributionArmCtrlDriver.liquidDistributionArmMoveToBlock(id, index);
     }
 
     public void setCurPosAsPresetPos(Integer index) throws HardwareException {