From 19e56a7f5e41cfc02dc429859ecb6fdcb0b0bcc3 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 30 Oct 2024 16:46:08 +0800 Subject: [PATCH] update --- .../mainflowctrl/MainFlowCtrlScheduler.java | 12 ++++------- .../ctrlservice/TubePreProcesCtrlService.java | 8 +++++--- src/main/java/a8k/test/TestBeforeRun.java | 22 +++++++++++---------- src/main/java/a8k/type/exception/AppException.java | 11 ++++++----- src/main/java/a8k/utils/ZJsonHelper.java | 8 +++++++- src/main/resources/app.db | Bin 225280 -> 225280 bytes 6 files changed, 34 insertions(+), 27 deletions(-) diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java index 5e8eee2..209b7e4 100644 --- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java +++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java @@ -44,8 +44,8 @@ public class MainFlowCtrlScheduler { @Resource ResourceMgrService resourceMgrService; - DeviceWorkState state = null; - Thread workThread; + DeviceWorkState state = null; + Thread workThread; ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 5, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10)); Runnable checkBeforeGuess; A8kEcodePostProcesser ecodePostProcesser; @@ -131,7 +131,7 @@ public class MainFlowCtrlScheduler { for (AppException appe : appExceptions) { appe.print(); } - if(appExceptions.size() > 1){ + if (appExceptions.size() > 1) { logger.warn("发生多个错误，只报告第一个错误"); } return new A8kErrorContext(key.step, appExceptions.get(0).error); @@ -140,11 +140,7 @@ public class MainFlowCtrlScheduler { appe.print(); return new A8kErrorContext(key.step, appe.error); } catch (Exception exception) { - logger.error("Catch unkown exception "); - logger.error("{}", exception.toString()); - for (StackTraceElement stackTraceElement : exception.getStackTrace()) { - logger.error("{}", stackTraceElement); - } + logger.error("error {}", exception.getMessage(), exception); return new A8kErrorContext(key.step, new AEUnkownExceptionError(exception)); } finally { logger.info("{}------<", ZStringUtils.leftAlignStr(key.step.name(), '-', 35)); diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java index 30c3e52..4689b39 100644 --- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java +++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java @@ -63,10 +63,12 @@ public class TubePreProcesCtrlService { throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV); } + tubePreProcesModuleExDriver.clampingMReleaseTube(); + //夹爪没有零位置 - if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) { - throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV); - } +// if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) { +// throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV); +// } // // 检查摇匀夹紧是否在零位 // if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) { diff --git a/src/main/java/a8k/test/TestBeforeRun.java b/src/main/java/a8k/test/TestBeforeRun.java index 03d7e24..7a29b0c 100644 --- a/src/main/java/a8k/test/TestBeforeRun.java +++ b/src/main/java/a8k/test/TestBeforeRun.java @@ -1,22 +1,24 @@ package a8k.test; +import a8k.hardware.type.LldType; +import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam; +import jakarta.annotation.PostConstruct; +import jakarta.annotation.Resource; import org.springframework.stereotype.Component; +import org.springframework.util.Assert; @Component public class TestBeforeRun { + @Resource + PipetteGunLLDParamMgr pipetteGunLLDParamMgr; - - void testA8kOPTType(){ - - - - - - - - + @PostConstruct + void init() { + LldType lddType = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE); + Assert.isTrue(lddType != null, "LldType is null"); } } diff --git a/src/main/java/a8k/type/exception/AppException.java b/src/main/java/a8k/type/exception/AppException.java index c6c0a66..ca10783 100644 --- a/src/main/java/a8k/type/exception/AppException.java +++ b/src/main/java/a8k/type/exception/AppException.java @@ -46,11 +46,12 @@ public class AppException extends Exception { public void print() { - log.error("Apperror: {}", error); - log.error("exception {}", this.toString()); - for (StackTraceElement ste : this.getStackTrace()) { - log.error(ste.toString()); - } +// printStackTrace(); + log.error("error {}",this.getMessage(), this); +// log.error("exception {}", this.toString()); +// for (StackTraceElement ste : this.getStackTrace()) { +// log.error(ste.toString()); +// } } } diff --git a/src/main/java/a8k/utils/ZJsonHelper.java b/src/main/java/a8k/utils/ZJsonHelper.java index 1c908a9..1bbcf77 100644 --- a/src/main/java/a8k/utils/ZJsonHelper.java +++ b/src/main/java/a8k/utils/ZJsonHelper.java @@ -22,7 +22,7 @@ public class ZJsonHelper { public static T objectFromJson(ObjectNode node, Class tClass) { ObjectMapper mapper = new ObjectMapper(); - if(node == null) { + if (node == null) { return null; } @@ -53,6 +53,12 @@ public class ZJsonHelper { return (T) Float.valueOf(node.get("value").floatValue()); } + if (tClass.isEnum()) { + if (node.get("value") == null) + return null; + return (T) Enum.valueOf((Class) tClass, node.get("value").asText()); + } + try { return (T) mapper.treeToValue(node, tClass); diff --git a/src/main/resources/app.db b/src/main/resources/app.db index 5a9d84567e2031c09924817c54e081d9b8d98bd6..254f762ac5298ff48ab358cc399a80abccd37872 100644 GIT binary patch delta 2134 zcmeHHZA@EL7(VCR+xyY>_S`~{6@<1FS33r~ZJ`%T7MMdE5ou)u47jjDyN|4)xD~Rv z5MdKDHq(z>x0~$OVzQB-EV>#l!Ns^_Ci9DB=wA}1bpF|t%q&q{hNpvNDl^geLrwhg zoRjn9dGC30-uJmf^TN=)kSxfVc>@3-6Zi;h0EpkDHhM}4TQP84M<|Gw$O_DO$#~M> z)0c6r>lo=|d=nb!+&_Q+H3T^2HW{OIGXEH@f5&QggTFz2Dly+0_DSKO`g~1^?GHw+9wbV z!YP11#VMj1!LQ1Q2X?1}6YOSBrCah!T^`Bpmc5ckmZciG+9S7b^EW-y^>mZpU;j|i zxw8_k7Fu#wY4?LdUyaXKRVn?duwhGUW4+Yr-nnAnGQijIO>85k%c6)e{ZOt(x`!r7vxqG<~ z6N@xE4Gf>~KXAv{>9oCWoTZ1G;@ioHd`=$;$6K@?^Wa_x|MYwvqckYNP zK{~0?L+CCZBeZy`j?y7`^CXK(%FptxJjIQ39UQ|>upzd9`HbmhMBRk0k^Y(|an`DrI8;>dY;a$1TQE`|?I&Y=xMUz0=?|AY z<*twh)h-TMxR$*{E*Co0Ar6(f8hc~mJ>dfnb&@o=Ba=vF-hC}|aXK@7u6YlUI}07^ zM;vlgtdSG($Y^Hb+>Ozlp3ojs;@@F?%ewf8mr#$0H{oL9}>q@L!HQ2wZrH5S`??iae$;h&I04V^|gl)HLR z%eauO?f-@h{(Bn2qsJKyCegAro1n#7MXD2D5|}$+14sfqipx#cO#6kq!dby@{Mq=X z(QUYDi0YU13B8lQ$nWQ^+zdCst!KYt4}%4eWJ{QLm~JLlH>rD(zC)+z4b&AXLJ8X((P<^$q%PoE(2gCyW(m@{#v5>|8U-TRLE%8?x9Wg zG16Y!WF5tdIxBeuxwr1Ax^-{h9$$oKn|E-D=`i2S5H}De z6Y=flW`g)P@FiUEb;9=>1aZUf!|w|CWnAhWWTRT#Uo+Qkwz%D< z$J(^DDAAE$hnm#tLT?o6Uy~=V{;KBIN`Al3H@8NVyPwg@jdRIRJe&aDc{ZVVg(kIJ zU#=!ko?LKusO^U%|Mw}(5<>7Et<2G=toEx7~JAo08kB!c`rPk1;wdcBR4MOt> zOmPWbO;3wX8`1PiU%m!%-<->AVHnfwc5TH%GfuKRABjyWUYbj4)OXQbhC=_0hGUbd z@MO+G!zrHgC!mj0cQ8VtkDKIDnpEFFK;yq~3_S+VjdM9a_6_t6>`=TKa&!ZfcUK&0 zP%QvX1fX9GM|;Al3Fx?T`oNhXmLG_#F(AR82f(w_Vvm(18Ls3e&o0%k)Xt&0EO-)$Jd?tXFx^yTfduDAWF%wDptZ!+a#kN5+*p zQBrF3>p?lM!+jP^bLCVDXncEI(;$re>Kb3ygzJkq1W^qr#DNN{v1qJdfD%c1r`g0L z8yknKk^L9d;(TbFi|vTy z`m(}PRr=Lhn6a>aRhs5(6cRPp4tYRRFsPE#_3{>8fWQ=uyTEZ^JRBQ=-c{WnwaDpy zHoS8vHLd0z&WNcn1nEvDCnK>Dc1K}0Bd%c}u-a^Kxl9KJ^tq12c5q6Y$&x1|Ru<=1 z$ntra6~q)$mE~1yes;hT)a}Px;F6*m%Vsn8MY%^bv_B$_#RFoSxR;BL!gVND^Wes* zX`^#f;hk(SGR-E{CB`C?J*gc#*o0I{3zt>GABD@+Kx{lU23->u6F>$dFpSO#*5vF> za1b-_`Pvy(tWhWz(!IVwbBgb#a`mhp)n>0|Ql2_ZwcAQ5A_uBsjG8r0h)!+tHB5?J z#emf&#;RiXAm)%qy6PN|q&}3!yQ&loA)?G)F9f$Y%(;ZvysYWBLZnMJ{ja9qHvVDb zfyVyE>V|*Q@I=F=hWh%S)jwT7Qh#&ZpVu9$o2+xz{(rT9Qu}1>rrNTai#73@71h6} zezJO``Zn{QnP2t z;JwU;@6EqByJhkDvkT{rZ*c<527=gH0*oU>k|c7%zUU3_Z( z;+ZXu(vj^YAUkr%_R^7=5|HgVWTtdvx&&k6jVXC;ol##-#N>Nw=*HKuFEGay67hu9| z&VF4I;NlZeT?S;NbyX3njL4P%>rd$4@Q1y7$t>IYa$? zD*+a|eEo{ZhZXBq7gJX9n@cLW(Ll+?w~rYsxnfBrRj@fF^D!kQM{IxwU68)XN>ovx zXJ+r~3-3Gu7&?u5;10=fegD(J6qL*dl+?2~n+Zn?L97%ix-YVe75cwy2Pq7_e39>@ zB0^&3{8_l}N~K)4n~4o8pp>9?AIna_?Uh0C7JjyX6$I>sKN*_9zdG53fW-SS< zJIY7$!N7;opZrJ-=J^JItz6PbA$Ss%N*_6=;Y%FJ^e>Z`auqdiBNv^3p*tXL0Vo;e zhabwsi$LqYE&&y{!1zk&qxv?z~iqg0MxDEuXl(5 ziI^CFuAxHzfy@s69J*m8qnez+=wG*Ynb_-B%| zj+=@WNKT0bz?N)*bzd_R?q%`-nC|t!vk$Qv<>84hoahNS(kI_g2E9-d^C$L6(j4n< zT)MQ~sI-0E4NI41j7l@>nwBn28=xBGkKF3bV#BYpDYOEBJ6yL(qIdrnuI}Z!zS_U3eX+K; 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