Merge remote-tracking branch 'origin/master'

src/main/java/a8k/A8kApplication.java

@@ -1,23 +1,24 @@
 package a8k;
+
+import a8k.appbean.ecode.AppRet;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.web.bind.annotation.ControllerAdvice;
 import org.springframework.web.bind.annotation.ExceptionHandler;
 import org.springframework.web.bind.annotation.ResponseBody;
+
 import java.util.HashMap;
 import java.util.Map;
+
 @ControllerAdvice
 public class A8kApplication {
+
+	Logger logger = LoggerFactory.getLogger(A8kApplication.class);
+
 	@ResponseBody
-	@ExceptionHandler(value=Exception.class)
-	public Map<String,Object> controllerExceptionHandler(Exception e){
-		StringBuilder traceSb = new StringBuilder();
-		for ( var trace : e.getStackTrace() ) {
-			traceSb.append(trace.toString()).append("\n");
-		}
-		String trace = traceSb.toString();
-		Map<String,Object> map = new HashMap<>();
-		map.put("success",false);
-		map.put("message",String.format("%s\n\nStack Trace : \n%s",e.getMessage(), trace));
-		map.put("data", null);
-		return map;
+	@ExceptionHandler(value = Exception.class)
+	public AppRet controllerExceptionHandler(Exception e) {
+		logger.info("捕获到异常 : ", e);
+		return AppRet.fail(e);
 	}
 }

src/main/java/a8k/a8k_can_protocol/A8kEcode.java

@@ -21,6 +21,7 @@ public enum A8kEcode {
 	RecycleBinOverflow(15, "回收仓满"),//
 	MotorLostStep(16, "电机丢步"),//
 	ActionOvertime(17, "动作执行超时"),//
+	CodeException(18, "代码异常"),//
 
 
 	//

src/main/java/a8k/appbean/HardwareException.java

@@ -1,6 +1,7 @@
 package a8k.appbean;
 
 import a8k.a8k_can_protocol.A8kEcode;
+import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.MId;
 
 public class HardwareException extends Exception {
@@ -8,6 +9,7 @@ public class HardwareException extends Exception {
 
 	A8kEcode errorCode;
 	MId      moduleId;
+	CmdId    cmdId;
 
 	public HardwareException() {
 		super();
@@ -17,6 +19,14 @@ public class HardwareException extends Exception {
 		super(String.format("Module ID %s has error code %s", mid, ecode));
 		this.errorCode = ecode;
 		this.moduleId  = mid;
+		this.cmdId     = null;
+	}
+
+	public HardwareException(MId mid, A8kEcode ecode, CmdId cmd) {
+		super(String.format("Module ID %s has error code %s", mid, ecode));
+		this.errorCode = ecode;
+		this.moduleId  = mid;
+		this.cmdId     = cmd;
 	}
 
 	public MId getModuleId() {
@@ -27,4 +37,8 @@ public class HardwareException extends Exception {
 		return errorCode;
 	}
 
+	public CmdId getCmdId() {
+		return cmdId;
+	}
+
 }

src/main/java/a8k/appbean/ecode/AppEcode.java

@@ -1,51 +0,0 @@
-package a8k.appbean.ecode;
-
-import a8k.a8k_can_protocol.CmdId;
-import a8k.a8k_can_protocol.MId;
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.appbean.HardwareException;
-
-public class AppEcode {
-	public A8kEcode errorCode;
-	public MId      mid;
-	public CmdId    cmd;
-
-	public AppEcode(A8kEcode errorCode, MId mid) {
-		this.errorCode = errorCode;
-		this.mid       = mid;
-		this.cmd       = CmdId.NotSet;
-	}
-
-	public AppEcode(A8kEcode errorCode) {
-		this.errorCode = errorCode;
-		this.mid       = MId.NotSet;
-		this.cmd       = CmdId.NotSet;
-	}
-
-	public AppEcode(HardwareException e) {
-		this.errorCode = e.getErrorCode();
-		this.mid       = e.getModuleId();
-	}
-
-
-	public boolean isOk() {
-		return errorCode == A8kEcode.Success;
-	}
-
-	public String getEcodeChName() {
-		return errorCode.getChname();
-	}
-
-	public MId getMid() {
-		return mid;
-	}
-
-	public String getMidChName() {
-		return mid.chname;
-	}
-
-	public String getCmdChName() {
-		return cmd.chName;
-	}
-
-}

src/main/java/a8k/appbean/ecode/AppRet.java

@@ -0,0 +1,104 @@
+package a8k.appbean.ecode;
+
+import a8k.a8k_can_protocol.CmdId;
+import a8k.a8k_can_protocol.MId;
+import a8k.a8k_can_protocol.A8kEcode;
+import a8k.appbean.HardwareException;
+
+public class AppRet<T> {
+
+	boolean         suc;
+	AppRetEcodeInfo ecode;
+	T               data;
+	long            timestamp;//接口请求时间
+	String          traceInfo;
+
+	public AppRet() {
+		this.timestamp = System.currentTimeMillis();
+	}
+
+	public boolean isSuc() {
+		return suc;
+	}
+
+	public long getTimestamp() {
+		return timestamp;
+	}
+
+	public AppRetEcodeInfo getEcode() {
+		return ecode;
+	}
+
+	public T getData() {
+		return data;
+	}
+
+	public String getTraceInfo() {
+		return traceInfo;
+	}
+
+
+	public static <T> AppRet<T> success(T data) {
+		AppRet<T> r = new AppRet<>();
+		r.suc   = true;
+		r.ecode = null;
+		r.data  = data;
+		return r;
+	}
+
+	public static <T> AppRet<T> success() {
+		AppRet<T> r = new AppRet<>();
+		r.suc   = true;
+		r.ecode = null;
+		r.data  = null;
+		return r;
+	}
+
+	public static <T> AppRet<T> fail(A8kEcode errorCode, MId mid, CmdId cmd) {
+		AppRet<T> r = new AppRet<>();
+		r.suc   = false;
+		r.ecode = new AppRetEcodeInfo(errorCode, mid, cmd);
+		r.data  = null;
+		return r;
+	}
+
+	public static <T> AppRet<T> fail(A8kEcode errorCode, MId mid) {
+		AppRet<T> r = new AppRet<>();
+		r.suc   = false;
+		r.ecode = new AppRetEcodeInfo(errorCode, mid, null);
+		r.data  = null;
+		return r;
+	}
+
+	public static <T> AppRet<T> fail(A8kEcode errorCode) {
+		AppRet<T> r = new AppRet<>();
+		r.suc   = false;
+		r.ecode = new AppRetEcodeInfo(errorCode, null, null);
+		r.data  = null;
+		return r;
+	}
+
+	public static <T> AppRet<T> fail(Exception e) {
+		StringBuilder traceSb = new StringBuilder();
+		for (var trace : e.getStackTrace()) {
+			traceSb.append(trace.toString()).append("\n");
+		}
+		String    trace = traceSb.toString();
+		AppRet<T> r     = new AppRet<>();
+
+		if (e instanceof HardwareException hexcep) {
+			r.suc       = false;
+			r.ecode     = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
+			r.data      = null;
+			r.traceInfo = trace;
+		} else {
+			r.suc       = false;
+			r.ecode     = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);
+			r.data      = null;
+			r.traceInfo = trace;
+		}
+		return r;
+	}
+
+
+}

src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java

@@ -0,0 +1,77 @@
+package a8k.appbean.ecode;
+
+import a8k.a8k_can_protocol.A8kEcode;
+import a8k.a8k_can_protocol.CmdId;
+import a8k.a8k_can_protocol.MId;
+
+public class AppRetEcodeInfo {
+	A8kEcode errorCode;
+	MId      mid;
+	CmdId    cmd;
+
+	AppRetEcodeInfo(A8kEcode errorCode, MId mid, CmdId cmd) {
+		this.errorCode = errorCode;
+		this.mid       = mid;
+		this.cmd       = cmd;
+	}
+
+	//code
+
+	public Integer getCode() {
+		return errorCode.index;
+	}
+
+	public String getCodeChName() {
+		return errorCode.getChname();
+	}
+
+	public String getCodeName() {
+		return errorCode.toString();
+	}
+
+	//mid code
+
+	public Integer getMidCode() {
+		if (mid == null) {
+			return null;
+		}
+		return mid.toInt();
+	}
+
+	public String getMidChName() {
+		if (mid == null) {
+			return null;
+		}
+		return mid.chname;
+	}
+
+	public String getMidCodeName() {
+		if (mid == null) {
+			return null;
+		}
+		return mid.toString();
+	}
+
+	//cmd code
+
+	public Integer getCmdCode() {
+		if (cmd == null) {
+			return null;
+		}
+		return cmd.toInt();
+	}
+
+	public String getCmdChName() {
+		if (cmd == null) {
+			return null;
+		}
+		return cmd.chName;
+	}
+
+	public String getCmdCodeName() {
+		if (cmd == null) {
+			return null;
+		}
+		return cmd.toString();
+	}
+}

src/main/java/a8k/controller/TmpTestController.java

@@ -3,7 +3,7 @@ package a8k.controller;
 import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.MId;
 import a8k.appbean.HardwareException;
-import a8k.appbean.ecode.AppEcode;
+import a8k.appbean.ecode.AppRet;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.A8kDebugTaskExecutorService;
 import a8k.service.ctrl_service.DeviceInitializationCtrlService;
@@ -16,7 +16,6 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.ResponseBody;
 
-import java.lang.reflect.InvocationTargetException;
 import java.util.List;
 import java.util.Map;
 
@@ -64,7 +63,7 @@ public class TmpTestController {
 
 	@PostMapping("/api/zhaohe_test/initialize_device")
 	@ResponseBody
-	public AppEcode initialize_device() {
+	public AppRet initialize_device() throws HardwareException, InterruptedException {
 		return deviceInitializationCtrlService.initializeDevice();
 //		return "OK";
 	}

src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java

@@ -4,7 +4,7 @@ import a8k.a8k_can_protocol.A8kEcode;
 import a8k.a8k_can_protocol.IOId;
 import a8k.a8k_can_protocol.MId;
 import a8k.appbean.HardwareException;
-import a8k.appbean.ecode.AppEcode;
+import a8k.appbean.ecode.AppRet;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
 import a8k.service.hardware.CommonHardwareOpeartion;
@@ -35,7 +35,7 @@ public class DeviceInitializationCtrlService {
 
 	@PostMapping("/api/DeviceInitializationCtrlService/initializeDevice")
 	@ResponseBody
-	public AppEcode initializeDevice() {
+	public AppRet initializeDevice() throws HardwareException, InterruptedException {
 		logger.info("Initializing device ...");
 		boolean initSuc = false;
 		try {
@@ -47,35 +47,33 @@ public class DeviceInitializationCtrlService {
 			 * 		清空耗材
 			 */
 
-			AppEcode ecode;
+			AppRet ecode;
 			//硬件光电初始化
+			logger.info("hardwareStaticInit");
 			ecode = hardwareStaticInit();
-			if (!ecode.isOk()) {
+			if (!ecode.isSuc()) {
 				return ecode;
 			}
 
 			//检查设备状态
+			logger.info("checkDeviceState");
 			ecode = checkDeviceState();
-			if (!ecode.isOk()) {
+			if (!ecode.isSuc()) {
 				return ecode;
 			}
 
 			//			复位设备
+			logger.info("moveMotorToZero");
 			ecode = moveMotorToZero();
-			if (!ecode.isOk()) {
+			if (!ecode.isSuc()) {
 				return ecode;
 			}
 			//			清空耗材
 
 			initSuc = true;
+			//			throw new RuntimeException("test");
 
 
-		} catch (HardwareException e) {
-			logger.error("HardwareException ", e);
-			throw new RuntimeException(e);
-		} catch (InterruptedException e) {
-			logger.error("InterruptedException", e);
-			throw new RuntimeException(e);
 		} finally {
 			if (!initSuc) {
 				try {
@@ -88,11 +86,12 @@ public class DeviceInitializationCtrlService {
 			}
 		}
 
-		return new AppEcode(A8kEcode.Success);
+		logger.info("Device initialization completed");
+		return AppRet.success();
 	}
 
 
-	private AppEcode hardwareStaticInit() throws HardwareException, InterruptedException {
+	private AppRet hardwareStaticInit() throws HardwareException, InterruptedException {
 		/*
 		 * 		硬件初始化:
 		 * 			1.使能所有舵机
@@ -109,49 +108,50 @@ public class DeviceInitializationCtrlService {
 		//   试管夹紧电机打开一点，好方便有试管夹住的时，突然断电时，将试管取出
 		canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
 		canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
-		return new AppEcode(A8kEcode.Success);
+		return AppRet.success();
 	}
 
-	private AppEcode checkDeviceState() throws HardwareException {
+	private AppRet checkDeviceState() throws HardwareException {
 		//试管平移通道是否有障碍
 		if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
 			logger.warn("THChInterPPS or THChOuterPPS is trigger");
-			return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger);
+			//			throw new HardwareException(MId.A8kIdCardReaderBoard, A8kEcode.PlateStuckDetectorSensorTrigger);
+			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
 		}
 
 		//板夹仓盖子是否盖上
 		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
 			logger.warn("PlateBoxCoverClosure is open");
-			return new AppEcode(A8kEcode.PlateBoxNotCover);
+			return AppRet.fail(A8kEcode.PlateBoxNotCover);
 		}
 
 		//板夹仓卡板检测
 		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
 			logger.warn("PlateBoxPlateStuckPPS is trigger");
-			return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger);
+			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
 		}
 
 		//检查钩板电机是否处于终点位置
 		if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
 			logger.warn("PullerM is not in zero pos");
-			return new AppEcode(A8kEcode.PullerMInitPosError);
+			return AppRet.fail(A8kEcode.PullerMInitPosError);
 		}
 
 		//检查板夹仓光电是否处于起点位置
 		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
 			logger.warn("PusherM is not in zero pos");
-			return new AppEcode(A8kEcode.PusherMInitPosError);
+			return AppRet.fail(A8kEcode.PusherMInitPosError);
 		}
 		//板夹仓光电
 		if (canBus.getIOState(IOId.RecycleBinOverflowPPS)) {
 			logger.warn("RecycleBinOverflow is trigger");
-			return new AppEcode(A8kEcode.RecycleBinOverflow);
+			return AppRet.fail(A8kEcode.RecycleBinOverflow);
 		}
 
-		return new AppEcode(A8kEcode.Success);
+		return AppRet.success();
 	}
 
-	private AppEcode moveMotorToZero() throws HardwareException, InterruptedException {
+	private AppRet moveMotorToZero() throws HardwareException, InterruptedException {
 
 		//进出料初始化
 		//		canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM);
@@ -204,7 +204,7 @@ public class DeviceInitializationCtrlService {
 
 		//canBus.waitForMod(MId.ShakeModGripperZM, actionOvertime);
 
-		return new AppEcode(A8kEcode.Success);
+		return AppRet.success();
 	}
 
 

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

@@ -3,7 +3,7 @@ package a8k.service.hardware;
 import a8k.a8k_can_protocol.A8kEcode;
 import a8k.a8k_can_protocol.MId;
 import a8k.appbean.HardwareException;
-import a8k.appbean.ecode.AppEcode;
+import a8k.appbean.ecode.AppRet;
 import a8k.base_hardware.A8kCanBusService;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Controller;
@@ -19,24 +19,24 @@ public class CommonHardwareOpeartion {
 
 	@PostMapping("/api/CommonHardwareOpeartion/enableAllMotorNoExcep")
 	@ResponseBody
-	public AppEcode enableAllMotorNoExcep() {
+	public AppRet enableAllMotorNoExcep() {
 		try {
 			enableAllMotor();
 		} catch (HardwareException e) {
-			return new AppEcode(e);
+			return AppRet.fail(e);
 		}
-		return new AppEcode(A8kEcode.Success);
+		return AppRet.success();
 	}
 
 	@PostMapping("/api/CommonHardwareOpeartion/disableAllMotorNoExcep")
 	@ResponseBody
-	public AppEcode disableAllMotorNoExcep() {
+	public AppRet disableAllMotorNoExcep() {
 		try {
 			enableAllMotor();
 		} catch (HardwareException e) {
-			return new AppEcode(e);
+			return AppRet.fail(e);
 		}
-		return new AppEcode(A8kEcode.Success);
+		return AppRet.success();
 	}
 
 	public void enableAllMotor(Boolean enable) throws HardwareException {
@@ -68,6 +68,7 @@ public class CommonHardwareOpeartion {
 
 		//转盘归零
 		canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, enable ? 1 : 0);
+
 	}
 
 	@PostMapping("/api/CommonHardwareOpeartion/enableAllMotor")