From efaffaa03749634b60e94dbcb5cb05e81cdc8939 Mon Sep 17 00:00:00 2001
From: HSZ_HeSongZhen <210202959@qq.com>
Date: Mon, 12 May 2025 07:21:12 +0800
Subject: [PATCH] update

---
 .../java/iflytop/app/config/A8kSubModuleInitRegConfig.java |  2 +-
 .../iflytop/app/hardware/driver/StepMotorCtrlDriver.java   |  4 ++++
 src/main/java/iflytop/app/page/MotorCtrlPage.java          |  7 +++++++
 .../app/service/appsetup/A8kSubModuleRegInitService.java   | 14 +++++++-------
 src/main/java/iflytop/app/utils/ZSqlite.java               |  4 ++--
 5 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/src/main/java/iflytop/app/config/A8kSubModuleInitRegConfig.java b/src/main/java/iflytop/app/config/A8kSubModuleInitRegConfig.java
index 1df5d9b..73b3f62 100644
--- a/src/main/java/iflytop/app/config/A8kSubModuleInitRegConfig.java
+++ b/src/main/java/iflytop/app/config/A8kSubModuleInitRegConfig.java
@@ -103,7 +103,7 @@ public class A8kSubModuleInitRegConfig {
 		addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_overload_torque);    // 过载扭矩
 		addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_acc);    // 加速度
 
-		addRegMarker(ModuleType.LiquidDistributionArm, RegIndex.kreg_liquid_distribution_arm_enable);
+//		addRegMarker(ModuleType.LiquidDistributionArm, RegIndex.kreg_liquid_distribution_arm_enable);
 		addRegMarker(ModuleType.LiquidDistributionArm, RegIndex.kreg_liquid_distribution_arm_pos0_d0);
 		addRegMarker(ModuleType.LiquidDistributionArm, RegIndex.kreg_liquid_distribution_arm_pos0_d1);
 		addRegMarker(ModuleType.LiquidDistributionArm, RegIndex.kreg_liquid_distribution_arm_pos1_d0);
diff --git a/src/main/java/iflytop/app/hardware/driver/StepMotorCtrlDriver.java b/src/main/java/iflytop/app/hardware/driver/StepMotorCtrlDriver.java
index fe815aa..80f4e91 100644
--- a/src/main/java/iflytop/app/hardware/driver/StepMotorCtrlDriver.java
+++ b/src/main/java/iflytop/app/hardware/driver/StepMotorCtrlDriver.java
@@ -162,6 +162,10 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.module_reset_reg);
 	}
 
+	public ModuleStatus readStatus(StepMotorMId id) throws HardwareException {
+		return canBus.moduleGetStatus(id.mid);
+	}
+
 	public Object getAllReg(StepMotorMId id) throws HardwareException {
 		ObjectNode node = ZJsonHelper.createObjectNode();
 		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
diff --git a/src/main/java/iflytop/app/page/MotorCtrlPage.java b/src/main/java/iflytop/app/page/MotorCtrlPage.java
index bcaa196..32684ab 100644
--- a/src/main/java/iflytop/app/page/MotorCtrlPage.java
+++ b/src/main/java/iflytop/app/page/MotorCtrlPage.java
@@ -1,6 +1,7 @@
 package iflytop.app.page;
 
 import iflytop.app.hardware.driver.StepMotorCtrlDriver;
+import iflytop.app.hardware.type.ModuleStatus;
 import iflytop.app.hardware.type.StepMotorMId;
 import iflytop.app.hardware.type.StepMotorRegIndex;
 import iflytop.app.hardware.type.StepMotorSpeedLevel;
@@ -13,6 +14,8 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
+import java.io.IOException;
+
 @Component
 public class MotorCtrlPage {
 	private static final Logger log = LoggerFactory.getLogger(MotorCtrlPage.class);
@@ -90,6 +93,10 @@ public class MotorCtrlPage {
 		return stepMotorCtrlDriver.stepMotorReadEncPos(id);
 	}
 
+	public ModuleStatus readModuleStatus() throws HardwareException {
+		return stepMotorCtrlDriver.readStatus(id);
+	}
+
 	public Integer readPos() throws HardwareException {
 		return stepMotorCtrlDriver.stepMotorReadPos(id);
 	}
diff --git a/src/main/java/iflytop/app/service/appsetup/A8kSubModuleRegInitService.java b/src/main/java/iflytop/app/service/appsetup/A8kSubModuleRegInitService.java
index 7ea270f..49a8637 100644
--- a/src/main/java/iflytop/app/service/appsetup/A8kSubModuleRegInitService.java
+++ b/src/main/java/iflytop/app/service/appsetup/A8kSubModuleRegInitService.java
@@ -58,20 +58,20 @@ public class A8kSubModuleRegInitService {
 	private void initModuleRegVal() {
 
 		do {
-//			try {
+			try {
 				log.info("forceInitA8kModParams");
-//				dumpAllSubBoardVersion();
-//				initA8kModParams();
+				dumpAllSubBoardVersion();
+				initA8kModParams();
 				isInited = true;
 
 				log.info("======================================================");
 				log.info("=         init hardware param success......          =");
 				log.info("======================================================");
 				break;
-//			} catch (HardwareException e) {
-//				log.error("init hardware param fail......, try init it after 5s", e);
-////				OS.forceSleep(5000);
-//			}
+			} catch (HardwareException e) {
+				log.error("init hardware param fail......, try init it after 5s", e);
+				OS.forceSleep(5000);
+			}
 		} while (true);
 	}
 
diff --git a/src/main/java/iflytop/app/utils/ZSqlite.java b/src/main/java/iflytop/app/utils/ZSqlite.java
index 6403ab5..e9a91de 100644
--- a/src/main/java/iflytop/app/utils/ZSqlite.java
+++ b/src/main/java/iflytop/app/utils/ZSqlite.java
@@ -164,10 +164,10 @@ public class ZSqlite<T> {
 	public void importFromCSV(String csvcontent, boolean forceDelete) {
 		if (forceDelete) {
 			deleteAll();
-			List<T> list = ZCSVUtils.readCSV(csvcontent, tClass);
+			List<T> list = ZCSVUtils.readCSVContent(csvcontent, tClass);
 			list.forEach(this::add);
 		} else {
-			List<T> list = ZCSVUtils.readCSV(csvcontent, tClass);
+			List<T> list = ZCSVUtils.readCSVContent(csvcontent, tClass);
 			for (var val : list) {
 				var obj = tClass.cast(val);
 				try {