update

src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java

@@ -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));

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)) {

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");
 	}
 
 }

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());
+//		}
 	}
 
 }

src/main/java/a8k/utils/ZJsonHelper.java

@@ -22,7 +22,7 @@ public class ZJsonHelper {
 
 	public static <T> T objectFromJson(ObjectNode node, Class<T> 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<Enum>) tClass, node.get("value").asText());
+		}
+
 
 		try {
 			return (T) mapper.treeToValue(node, tClass);