update

README.md

@@ -32,7 +32,8 @@
         3. 试管架通道中没有试管架
         4. 出料口没有试管架
         5. 进出料位置没有试管
-         
+    
+逻辑漏洞         
 
 ```
 

src/main/java/a8k/a8k_can_protocol/A8kPacket.java

@@ -39,7 +39,7 @@ public class A8kPacket {
 	public static final int PACKET_TYPE_ERROR_ACK = 2;
 	public static final int PACKET_TYPE_EVENT     = 3;
 
-	public static final int CMD_OVERTIME = 100;
+	public static final int CMD_OVERTIME = 2000;
 
 	public A8kPacket(byte[] cmd) {
 		raw = new byte[cmd.length];

src/main/java/a8k/a8k_can_protocol/IOId.java

@@ -5,7 +5,7 @@ public enum IOId {
 	THChOuterPPS(ModuleType.kboard, MId.FeedingModBoard, 1),//试管架转移通道有无检测 外
 	THChInterPPS(ModuleType.kboard, MId.FeedingModBoard, 2),//试管架转移通道有无检测 内
 	OutfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 3),//试管出料位置 试管架有无检测
-	TubeExitPPS(ModuleType.kboard, MId.FeedingModBoard, 4),//试管有无光电
+	TubeExistPPS(ModuleType.kboard, MId.FeedingModBoard, 4),//试管有无光电
 	InfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 5),//试管架入料位置 试管架有无检测
 
 	RecycleBinOverflowPPS(ModuleType.kboard, MId.PlatesBoxTCMBoard, 2),//废料桶满溢检测

src/main/java/a8k/base_hardware/A8kCanBusService.java

@@ -489,36 +489,6 @@ public class A8kCanBusService {
 		return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3});
 	}
 
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer acitionOvertime) throws HardwareException, InterruptedException {
-		this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3}, acitionOvertime);
-	}
-
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer acitionOvertime) throws HardwareException, InterruptedException {
-		this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2}, acitionOvertime);
-	}
-
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) throws HardwareException, InterruptedException {
-		this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1}, acitionOvertime);
-	}
-
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) throws HardwareException, InterruptedException {
-		this.callblockcmd(moduleId, cmdId, new Integer[]{p0}, acitionOvertime);
-	}
-
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException {
-		this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime);
-	}
-
-
-	// TODO
-	public Integer module_read_reg(Integer moduleId, RegIndex regindex) {
-		return 0;
-	}
-
-	// TODO
-	public void module_write_reg(Integer moduleId, RegIndex regindex, Integer reg) {
-
-	}
 
 	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer[] params) throws HardwareException {
 		var packet = packParamsToPacket(moduleId, cmdId, params);
@@ -538,11 +508,9 @@ public class A8kCanBusService {
 				}
 			}
 			try {
-				Thread.sleep(300);
+				Thread.sleep(100);
 			} catch (InterruptedException ignore) {
 			}
-
-
 		}
 		throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
 	}

src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

@@ -52,42 +52,46 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "出料X位置", group = "试管架位置信息")
 	public Integer getTRExitXPos() {
-		return 0;
+		return 4001;
 	}
 
 	@HardwareServiceParam(name = "试管架扫码X位置", group = "试管架位置信息")
 	public Integer getTRScanXPos() {
-		return 0;
+		return 2202;
 	}
 
 	@HardwareServiceParam(name = "试管扫码位置", group = "试管位置信息")
 	public Integer getTScanXPos() {
-		return 0;
+		//运动方向:  ->
+		return 505;
 	}
 
 	@HardwareServiceParam(name = "试管高度判断位置", group = "试管位置信息")
 	public Integer getTAltitJudgXPos() {
-		return 0;
+		//运动方向:  ->
+		return 505;
 	}
 
 	@HardwareServiceParam(name = "试管是否存在判断位置", group = "试管位置信息")
 	public Integer getTExistJudgXPos() {
-		return 0;
+		//运动方向:  <-
+		return 300;
 	}
 
 	@HardwareServiceParam(name = "试管预处理位置", group = "试管位置信息")
 	public Integer getTPreProcessXPos() {
-		return 0;
+		//运动方向:  <-
+		return 1244;
 	}
 
 	@HardwareServiceParam(name = "试管架孔间距", group = "其他")
 	public Integer getTubeSpacing() {
-		return 0;
+		return 200;
 	}
 
 	@HardwareServiceParam(name = "扫码舵机转速(0..900)", group = "其他")
 	public Integer getTubeScanServoTorque() {
-		return 300;
+		return 500;
 	}
 
 	@HardwareServiceParam(name = "试管扫码超时时间", group = "其他")
@@ -191,7 +195,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	@HardwareServiceAction(name = "入料", group = "模块基础动作")
 	public void tryEnterTubeRack(Integer time) throws HardwareException, InterruptedException {
 		try {
-			canBus.stepMotorEasyRotate(MId.FeedingModInfeedM, 1);
+			canBus.stepMotorEasyRotate(MId.FeedingModInfeedM, -1);
 			Thread.sleep(time);
 		} finally {
 			canBus.moduleStop(MId.FeedingModInfeedM);
@@ -307,7 +311,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	 * 移动试管到试管高低判断位置
 	 * @param tubeIndex 试管索引
 	 */
-	@HardwareServiceAction(name = "判断<试管N>位置", group = "片段")
+	@HardwareServiceAction(name = "判断<试管N>高低", group = "片段")
 	public AppRet<Boolean> moveTubeToAltitJudgXPos(Integer tubeIndex) throws HardwareException, InterruptedException {
 		moveTubeRackTo(getTAltitJudgXPos() + tubeIndex * getTubeSpacing());
 		return AppRet.success(isHighTube());
@@ -329,13 +333,17 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	@HardwareServiceAction(name = "判断<试管N>是否存在", group = "片段")
 	public AppRet<Boolean> judgeTubeExist(Integer tubeIndex) throws HardwareException, InterruptedException {
 		moveTubeRackTo(getTExistJudgXPos() + tubeIndex * getTubeSpacing());
-		return AppRet.success(isTubeRackInEnterPos());
+		return AppRet.success(isTubeExist());
 	}
 
-
 	//
 	//	状态
 	//
+	@HardwareServiceStatus(name = "试管架存在")
+	public Boolean isTubeExist() throws HardwareException {
+		return canBus.getIOState(IOId.TubeExistPPS);
+	}
+
 	@HardwareServiceStatus(name = "入口光电")
 	public Boolean isTubeRackInEnterPos() throws HardwareException {
 		return canBus.getIOState(IOId.InfeedPPS);