update

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

@@ -2,7 +2,7 @@ package a8k.a8k_can_protocol;
 
 import a8k.utils.ByteArray;
 
-public class Packet {
+public class A8kPacket {
 	/**
 	 * typedef struct {
 	 * uint16_t packetindex; // 0:
@@ -35,24 +35,28 @@ public class Packet {
 	public static final int PACKET_TYPE_ERROR_ACK = 2;
 	public static final int PACKET_TYPE_EVENT     = 3;
 
-	public Packet(byte[] cmd) {
+	public static final int CMD_OVERTIME = 100;
+
+	public A8kPacket(byte[] cmd) {
 		raw = new byte[cmd.length];
 		System.arraycopy(cmd, 0, raw, 0, cmd.length);
 	}
-
-	public Integer getPacketIndex() {
+	public void setPacketIndex(int packetIndex) {
+		ByteArray.setU16bit(raw,0,packetIndex);
+	}
+	public int getPacketIndex() {
 		return ByteArray.readU16bit(raw, 0);
 	}
 
-	public Integer getCmdId() {
+	public int getCmdId() {
 		return ByteArray.readU16bit((raw), 2) * 256 + ByteArray.readU8bit(raw, 4);
 	}
 
-	public Integer getPacketType() {
+	public int getPacketType() {
 		return ByteArray.readU8bit(raw, 5);
 	}
 
-	public Integer getModuleId() {
+	public int getModuleId() {
 		return ByteArray.readU16bit(raw, 6);
 	}
 
@@ -62,7 +66,7 @@ public class Packet {
 		return cmdcontent;
 	}
 
-	public Integer getContentI32(int index) {
+	public int getContentI32(int index) {
 		return ByteArray.readU16bit(raw, 8 + index * 4);
 	}
 
@@ -70,7 +74,6 @@ public class Packet {
 		return ByteArray.toByteString(raw);
 	}
 
-
 	public String toString() {
 		int    packetType = getPacketType();
 		String ret        = "";

src/main/java/a8k/a8k_can_protocol/Errorcode.java

@@ -20,7 +20,7 @@ public class Errorcode {
     public static final int kcmd_param_num_error = (100 + 14);
     public static final int kcheckcode_is_error = (100 + 15);
     public static final int killegal_operation = (100 + 16);
-
+    public static final int kaction_overtime = (100 + 17);
     /***********************************************************************************************************************
      * 模块错误码 *
      ***********************************************************************************************************************/
@@ -98,138 +98,74 @@ public class Errorcode {
     public static final int kwater_cooling_pelter_is_error = (900 + 4); //
 
     static public String toString(Integer ecode) {
-        switch (ecode) {
-            case ksucc:
-                return "ksucc";
-            case kfail:
-                return "kfail";
-            case kparam_out_of_range:
-                return "kparam_out_of_range";
-            case kcmd_not_support:
-                return "kcmd_not_support";
-            case kdevice_is_busy:
-                return "kdevice_is_busy";
-            case kdevice_is_offline:
-                return "kdevice_is_offline";
-            case kovertime:
-                return "kovertime";
-            case knoack:
-                return "knoack";
-            case kerrorack:
-                return "kerrorack";
-            case kdevice_offline:
-                return "kdevice_offline";
-            case ksubdevice_overtime:
-                return "ksubdevice_overtime";
-            case kbuffer_not_enough:
-                return "kbuffer_not_enough";
-            case kcmd_param_num_error:
-                return "kcmd_param_num_error";
-            case kcheckcode_is_error:
-                return "kcheckcode_is_error";
-            case killegal_operation:
-                return "killegal_operation";
-            case kmodule_opeation_break_by_user:
-                return "kmodule_opeation_break_by_user";
-            case kmodule_not_find_reg:
-                return "kmodule_not_find_reg";
-            case kxymotor_x_find_zero_edge_fail:
-                return "kxymotor_x_find_zero_edge_fail";
-            case kxymotor_y_find_zero_edge_fail:
-                return "kxymotor_y_find_zero_edge_fail";
-            case kxymotor_not_enable:
-                return "kxymotor_not_enable";
-            case kxymotor_target_pos_outof_range:
-                return "kxymotor_target_pos_outof_range";
-            case kpipette_error_NoError:
-                return "kpipette_error_NoError";
-            case kpipette_error_InitFail:
-                return "kpipette_error_InitFail";
-            case kpipette_error_InvalidCmd:
-                return "kpipette_error_InvalidCmd";
-            case kpipette_error_InvalidArg:
-                return "kpipette_error_InvalidArg";
-            case kpipette_error_PressureSensorError:
-                return "kpipette_error_PressureSensorError";
-            case kpipette_error_OverPressure:
-                return "kpipette_error_OverPressure";
-            case kpipette_error_LLDError:
-                return "kpipette_error_LLDError";
-            case kpipette_error_DeviceNotInit:
-                return "kpipette_error_DeviceNotInit";
-            case kpipette_error_TipPopError:
-                return "kpipette_error_TipPopError";
-            case kpipette_error_PumpOverload:
-                return "kpipette_error_PumpOverload";
-            case kpipette_error_TipDrop:
-                return "kpipette_error_TipDrop";
-            case kpipette_error_CanBusError:
-                return "kpipette_error_CanBusError";
-            case kpipette_error_InvalidChecksum:
-                return "kpipette_error_InvalidChecksum";
-            case kpipette_error_EEPROMError:
-                return "kpipette_error_EEPROMError";
-            case kpipette_error_CmdBufferEmpty:
-                return "kpipette_error_CmdBufferEmpty";
-            case kpipette_error_CmdBufferOverflow:
-                return "kpipette_error_CmdBufferOverflow";
-            case kpipette_error_TipBlock:
-                return "kpipette_error_TipBlock";
-            case kpipette_error_AirSuction:
-                return "kpipette_error_AirSuction";
-            case kpipette_error_Bubble:
-                return "kpipette_error_Bubble";
-            case kpipette_error_VolumeError:
-                return "kpipette_error_VolumeError";
-            case kpipette_error_TipAlreadyLoad:
-                return "kpipette_error_TipAlreadyLoad";
-            case kpipette_error_TipLoadFail:
-                return "kpipette_error_TipLoadFail";
-            case kpipette_error_tipisload_when_lld_prepare:
-                return "kpipette_error_tipisload_when_lld_prepare";
-            case kpipette_error_uninited:
-                return "kpipette_error_uninited";
-            case kpipette_error_not_lld_prepare:
-                return "kpipette_error_not_lld_prepare";
-            case kpipette_error_pump_load_val_is_not_empty:
-                return "kpipette_error_pump_load_val_is_not_empty";
-            case kstep_motor_not_found_zero_point:
-                return "kstep_motor_not_found_zero_point";
-            case kstep_motor_not_go_zero:
-                return "kstep_motor_not_go_zero";
-            case kstep_motor_over_temperature:
-                return "kstep_motor_over_temperature";
-            case kstep_motor_over_voltage:
-                return "kstep_motor_over_voltage";
-            case kstep_motor_run_overtime:
-                return "kstep_motor_run_overtime";
-            case kstep_motor_not_enable:
-                return "kstep_motor_not_enable";
-            case kstep_motor_ioindex_out_of_range:
-                return "kstep_motor_ioindex_out_of_range";
-            case kstep_motor_subic_reset:
-                return "kstep_motor_subic_reset";
-            case kstep_motor_drv_err:
-                return "kstep_motor_drv_err";
-            case kstep_motor_uv_cp:
-                return "kstep_motor_uv_cp";
-            case kstep_motor_not_found_point_edge:
-                return "kstep_motor_not_found_point_edge";
-            case kmini_servo_not_enable:
-                return "kmini_servo_not_enable";
-            case kmini_servo_mode_not_support:
-                return "kmini_servo_mode_not_support";
-            case kfan_hardware_fault:
-                return "kfan_hardware_fault";
-            case kwater_cooling_fan_error:
-                return "kwater_cooling_fan_error";
-            case kwater_cooling_temperature_sensor_error:
-                return "kwater_cooling_temperature_sensor_error";
-            case kwater_cooling_pump_is_error:
-                return "kwater_cooling_pump_is_error";
-            case kwater_cooling_pelter_is_error:
-                return "kwater_cooling_pelter_is_error";
-        }
-        return "unkown" + "(" + ecode + ")";
-    }
+		return switch (ecode) {
+			case ksucc -> "ksucc";
+			case kfail -> "kfail";
+			case kparam_out_of_range -> "kparam_out_of_range";
+			case kcmd_not_support -> "kcmd_not_support";
+			case kdevice_is_busy -> "kdevice_is_busy";
+			case kdevice_is_offline -> "kdevice_is_offline";
+			case kovertime -> "kovertime";
+			case knoack -> "knoack";
+			case kerrorack -> "kerrorack";
+			case kdevice_offline -> "kdevice_offline";
+			case ksubdevice_overtime -> "ksubdevice_overtime";
+			case kbuffer_not_enough -> "kbuffer_not_enough";
+			case kcmd_param_num_error -> "kcmd_param_num_error";
+			case kcheckcode_is_error -> "kcheckcode_is_error";
+			case killegal_operation -> "killegal_operation";
+			case kaction_overtime -> "kaction_overtime";
+			case kmodule_opeation_break_by_user -> "kmodule_opeation_break_by_user";
+			case kmodule_not_find_reg -> "kmodule_not_find_reg";
+			case kxymotor_x_find_zero_edge_fail -> "kxymotor_x_find_zero_edge_fail";
+			case kxymotor_y_find_zero_edge_fail -> "kxymotor_y_find_zero_edge_fail";
+			case kxymotor_not_enable -> "kxymotor_not_enable";
+			case kxymotor_target_pos_outof_range -> "kxymotor_target_pos_outof_range";
+			case kpipette_error_NoError -> "kpipette_error_NoError";
+			case kpipette_error_InitFail -> "kpipette_error_InitFail";
+			case kpipette_error_InvalidCmd -> "kpipette_error_InvalidCmd";
+			case kpipette_error_InvalidArg -> "kpipette_error_InvalidArg";
+			case kpipette_error_PressureSensorError -> "kpipette_error_PressureSensorError";
+			case kpipette_error_OverPressure -> "kpipette_error_OverPressure";
+			case kpipette_error_LLDError -> "kpipette_error_LLDError";
+			case kpipette_error_DeviceNotInit -> "kpipette_error_DeviceNotInit";
+			case kpipette_error_TipPopError -> "kpipette_error_TipPopError";
+			case kpipette_error_PumpOverload -> "kpipette_error_PumpOverload";
+			case kpipette_error_TipDrop -> "kpipette_error_TipDrop";
+			case kpipette_error_CanBusError -> "kpipette_error_CanBusError";
+			case kpipette_error_InvalidChecksum -> "kpipette_error_InvalidChecksum";
+			case kpipette_error_EEPROMError -> "kpipette_error_EEPROMError";
+			case kpipette_error_CmdBufferEmpty -> "kpipette_error_CmdBufferEmpty";
+			case kpipette_error_CmdBufferOverflow -> "kpipette_error_CmdBufferOverflow";
+			case kpipette_error_TipBlock -> "kpipette_error_TipBlock";
+			case kpipette_error_AirSuction -> "kpipette_error_AirSuction";
+			case kpipette_error_Bubble -> "kpipette_error_Bubble";
+			case kpipette_error_VolumeError -> "kpipette_error_VolumeError";
+			case kpipette_error_TipAlreadyLoad -> "kpipette_error_TipAlreadyLoad";
+			case kpipette_error_TipLoadFail -> "kpipette_error_TipLoadFail";
+			case kpipette_error_tipisload_when_lld_prepare -> "kpipette_error_tipisload_when_lld_prepare";
+			case kpipette_error_uninited -> "kpipette_error_uninited";
+			case kpipette_error_not_lld_prepare -> "kpipette_error_not_lld_prepare";
+			case kpipette_error_pump_load_val_is_not_empty -> "kpipette_error_pump_load_val_is_not_empty";
+			case kstep_motor_not_found_zero_point -> "kstep_motor_not_found_zero_point";
+			case kstep_motor_not_go_zero -> "kstep_motor_not_go_zero";
+			case kstep_motor_over_temperature -> "kstep_motor_over_temperature";
+			case kstep_motor_over_voltage -> "kstep_motor_over_voltage";
+			case kstep_motor_run_overtime -> "kstep_motor_run_overtime";
+			case kstep_motor_not_enable -> "kstep_motor_not_enable";
+			case kstep_motor_ioindex_out_of_range -> "kstep_motor_ioindex_out_of_range";
+			case kstep_motor_subic_reset -> "kstep_motor_subic_reset";
+			case kstep_motor_drv_err -> "kstep_motor_drv_err";
+			case kstep_motor_uv_cp -> "kstep_motor_uv_cp";
+			case kstep_motor_not_found_point_edge -> "kstep_motor_not_found_point_edge";
+			case kmini_servo_not_enable -> "kmini_servo_not_enable";
+			case kmini_servo_mode_not_support -> "kmini_servo_mode_not_support";
+			case kfan_hardware_fault -> "kfan_hardware_fault";
+			case kwater_cooling_fan_error -> "kwater_cooling_fan_error";
+			case kwater_cooling_temperature_sensor_error -> "kwater_cooling_temperature_sensor_error";
+			case kwater_cooling_pump_is_error -> "kwater_cooling_pump_is_error";
+			case kwater_cooling_pelter_is_error -> "kwater_cooling_pelter_is_error";
+			default -> "unkown" + "(" + ecode + ")";
+		};
+	}
 }

src/main/java/a8k/a8k_can_protocol/ModuleId.java

@@ -1,5 +1,64 @@
 package a8k.a8k_can_protocol;
 
 public class ModuleId {
+	public static final int ArmXYId                   = 11;//机械臂XY
+	public static final int ArmZId                    = 81;//机械臂Z
+	public static final int FeederId                  = 60;//出入料模块
+	public static final int IdCardReaderId            = 101; //A8K读卡器
+	public static final int IncubatorTempCtrlId       = 51;//温度控制
+	public static final int MaterialScannerId         = 83;//物料扫码器
+	public static final int MotorCardWarehouseMoveId  = 21;//板夹仓移动电机
+	public static final int MotorCardWarehousePushId  = 22;//板夹仓推杆电机
+	public static final int MotorIncubatorRotateId    = 71;//孵育盘旋转
+	public static final int MotorTestCardPullId       = 92;//板卡推杆电机
+	public static final int MotorTestCardScanId       = 91;//板卡扫描电机
+	public static final int MotorTubeBodyClipId       = 31;//试管固定夹爪电机
+	public static final int MotorTubeMoveUpDownId     = 32;//摇匀升降电机
+	public static final int MotorTubeRackExitId       = 63;//出料电机
+	public static final int MotorTubeRackFeedId       = 61;//入料电机
+	public static final int MotorTubeRackMoveId       = 62;//试管架平移电机
+	public static final int MotorTubeShakeId          = 33;//试管摇匀电机
+	public static final int PipetteId                 = 82;//移液枪
+	public static final int ScannerId                 = 93;//扫描仪
+	public static final int ServoTubeCapClipId        = 35;//摇匀试管帽夹爪
+	public static final int ServoTubeMoveFrontBackId  = 34;//摇匀前后电机
+	public static final int ServoTubeRackTubePushId   = 36;//试管架旋转固定舵机
+	public static final int ServoTubeRackTubeRotateId = 37;//试管架旋转舵机
+	public static final int TestCardWarehouseId       = 41;//测试板仓
+	public static final int TrashBoxId                = 40;//废料盒
+	public static final int TubeRackScannerId         = 64;//试管架扫码器
+	public static final int WbTubeFanId               = 42;//气溶胶风扇
 
+	public static String ModuleId2Name(int moduleId) {
+		return switch (moduleId) {
+			case ArmXYId -> "ArmXYId";
+			case ArmZId -> "ArmZId";
+			case FeederId -> "FeederId";
+			case IdCardReaderId -> "IdCardReaderId";
+			case IncubatorTempCtrlId -> "IncubatorTempCtrlId";
+			case MaterialScannerId -> "MaterialScannerId";
+			case MotorCardWarehouseMoveId -> "MotorCardWarehouseMoveId";
+			case MotorCardWarehousePushId -> "MotorCardWarehousePushId";
+			case MotorIncubatorRotateId -> "MotorIncubatorRotateId";
+			case MotorTestCardPullId -> "MotorTestCardPullId";
+			case MotorTestCardScanId -> "MotorTestCardScanId";
+			case MotorTubeBodyClipId -> "MotorTubeBodyClipId";
+			case MotorTubeMoveUpDownId -> "MotorTubeMoveUpDownId";
+			case MotorTubeRackExitId -> "MotorTubeRackExitId";
+			case MotorTubeRackFeedId -> "MotorTubeRackFeedId";
+			case MotorTubeRackMoveId -> "MotorTubeRackMoveId";
+			case MotorTubeShakeId -> "MotorTubeShakeId";
+			case PipetteId -> "PipetteId";
+			case ScannerId -> "ScannerId";
+			case ServoTubeCapClipId -> "ServoTubeCapClipId";
+			case ServoTubeMoveFrontBackId -> "ServoTubeMoveFrontBackId";
+			case ServoTubeRackTubePushId -> "ServoTubeRackTubePushId";
+			case ServoTubeRackTubeRotateId -> "ServoTubeRackTubeRotateId";
+			case TestCardWarehouseId -> "TestCardWarehouseId";
+			case TrashBoxId -> "TrashBoxId";
+			case TubeRackScannerId -> "TubeRackScannerId";
+			case WbTubeFanId -> "WbTubeFanId";
+			default -> "UnknownModuleId(" + moduleId + ")";
+		};
+	}
 }

src/main/java/a8k/appbean/AppEvent.java

@@ -0,0 +1,4 @@
+package a8k.appbean;
+
+public class AppEvent {
+}

src/main/java/a8k/appbean/AppEventBus.java

@@ -0,0 +1,4 @@
+package a8k.appbean;
+
+public class AppEventBus {
+}

src/main/java/a8k/appbean/AppException.java

@@ -0,0 +1,4 @@
+package a8k.appbean;
+
+public class AppException {
+}

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

@@ -0,0 +1,27 @@
+package a8k.appbean;
+
+import a8k.a8k_can_protocol.Errorcode;
+import a8k.a8k_can_protocol.ModuleId;
+
+public class HardwareException extends Exception {
+	// 构造函数
+
+	int errorCode;
+	int moduleId;
+
+	public HardwareException() {
+		super();
+	}
+
+	public HardwareException(int moduleId, int HardwareErrorCode) {
+		super(String.format("Module ID %s has error code %s", ModuleId.ModuleId2Name(moduleId), Errorcode.toString(HardwareErrorCode)));
+	}
+
+	int getModuleId() {
+		return moduleId;
+	}
+
+	int getErrorCode() {
+		return errorCode;
+	}
+}

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

@@ -1,6 +1,9 @@
 package a8k.base_hardware;
 
-import a8k.a8k_can_protocol.Packet;
+import a8k.a8k_can_protocol.A8kPacket;
+import a8k.a8k_can_protocol.CmdId;
+import a8k.a8k_can_protocol.Errorcode;
+import a8k.appbean.HardwareException;
 import a8k.utils.ByteArray;
 import jakarta.annotation.PostConstruct;
 import org.java_websocket.client.WebSocketClient;
@@ -14,6 +17,9 @@ import java.net.URI;
 import java.net.URISyntaxException;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
 
 @Component
 public class A8kCanBusService {
@@ -39,19 +45,31 @@ public class A8kCanBusService {
 	 *            }
 	 *
 	 */
-	public  String          uri;   //assign by application.yml
-	private WebSocketClient client;
-	Timer   timer          = new Timer();
-	boolean need_reconnect = false;
+	public  String                   uri;   //assign by application.yml
+	private WebSocketClient          client;
+	public  BlockingQueue<A8kPacket> receiptQueue;
+	public  BlockingQueue<A8kPacket> eventQueue;
+	boolean isWaitingReceipt    = false;
+	int     waitingReceiptIndex = 0;
+	int     packetIndex;
+
+	boolean debugFlag = false;
+
+	Timer autoConnectTimer = new Timer();
 
 
 	@PostConstruct
 	public void init() throws URISyntaxException {
+
+
 		logger.info("BaseHardwareService initilized");
+		packetIndex = 0;
 		if (this.uri == null) {
 			//this.uri = "ws://127.0.0.1:19005";
 			this.uri = "ws://192.168.8.10:19005";
 		}
+		receiptQueue = new LinkedBlockingQueue<A8kPacket>();
+		eventQueue   = new LinkedBlockingQueue<>();
 
 
 		URI uri = new URI(this.uri);
@@ -79,7 +97,7 @@ public class A8kCanBusService {
 		client.connect();
 
 
-		timer.schedule(new TimerTask() {
+		autoConnectTimer.schedule(new TimerTask() {
 			@Override
 			public void run() {
 				if (!client.isOpen()) {
@@ -97,23 +115,63 @@ public class A8kCanBusService {
 	}
 
 
-
-
-	// cmdId,
-	public void callcmd(Integer moduleId, Integer cmdId, Integer param0) {
-
+	//TODO
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer[] params) {
+		return null;
 	}
 
-	public void callcmd(Integer moduleId, Integer cmdId, Integer param0, Integer param1) {
+	//TODO
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params,int acitionOvertime) {
+		//调用sendCmdAutoResend
+		// 	  通过kmodule_get_status判断指令是否完成,超时未完成则报错,则调用module_stop,同时抛出异常
+		//
 
+		return;
+	}
+	//TODO
+	public  A8kPacket sendCmdAutoResend(A8kPacket pack, int overtime) throws HardwareException {
+		//调用sendCmd,
+		// 如果捕获到超时异常，则重发，最多重发三次
+		// 如果是其他异常，则直接抛出异常。
+		return null;
 	}
 
-	public void callcmd(Integer moduleId, Integer cmdId, Integer param0, Integer param1, Integer param2) {
 
-	}
+	private   A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException {
+		pack.setPacketIndex(packetIndex);
+		waitingReceiptIndex = packetIndex;
+		packetIndex         = packetIndex + 1;
+		if (packetIndex > 10000) {
+			packetIndex = 1;
+		}
+		receiptQueue.clear();
+		isWaitingReceipt = true;
+		String txpacket = pack.toByteString();
 
-	public void callcmd(Integer moduleId, Integer cmdId, Integer param0, Integer param1, Integer param2, Integer param3) {
+		if (debugFlag && pack.getCmdId() != CmdId.kmodule_get_status) {
+			logger.info("tx:{}:({})", pack, txpacket);
+		}
+		client.send(txpacket);
+		A8kPacket receipt;
+		try {
+			receipt = receiptQueue.poll(overtime, TimeUnit.MILLISECONDS);
+		} catch (InterruptedException e) {
+			isWaitingReceipt = false;
+			throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
+		}
+		isWaitingReceipt = false;
+		if (receipt == null) {
+			throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
+		}
 
+		if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
+			throw new HardwareException(pack.getModuleId(), receipt.getContentI32(0));
+		}
+		try {
+			Thread.sleep(10);
+		} catch (InterruptedException ignored) {
+		}
+		return receipt;
 	}
 
 	/**
@@ -126,17 +184,31 @@ public class A8kCanBusService {
 			return;
 		}
 
-		if (rx.length < Packet.PACKET_MIN_LEN) {
+		if (rx.length < A8kPacket.PACKET_MIN_LEN) {
 			logger.warn("rx is too short");
 			return;
 		}
 
-		Packet packet = new Packet(rx);
-		logger.info("RX {}", packet);
+		A8kPacket packet = new A8kPacket(rx);
 
+		if (debugFlag && packet.getCmdId() != CmdId.kmodule_get_status) {
+			logger.info("RX {}:({})", packet, rx);
+		}
 
+		if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
+			if (isWaitingReceipt) {
+				if (waitingReceiptIndex == packet.getPacketIndex()) {
+					receiptQueue.add(packet);
+				}
+			}
+		}
+
+		if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) {
+			eventQueue.add(packet);
+		}
 	}
 
+
 	public static void main(String[] args) {
 		A8kCanBusService service = new A8kCanBusService();
 		try {
@@ -144,6 +216,19 @@ public class A8kCanBusService {
 		} catch (URISyntaxException e) {
 			logger.error(e.getMessage());
 		}
+
+		Thread thread = new Thread(() -> {
+			while (true) {
+				A8kPacket packet = null;
+				try {
+					packet = service.receiptQueue.take();
+					logger.info("poll receipt {}", packet);
+				} catch (InterruptedException e) {
+					throw new RuntimeException(e);
+				}
+			}
+		});
+		thread.run();
 	}
 
 }

src/main/java/a8k/base_hardware/ReconnectingWebSocketClient.java

@@ -1,82 +0,0 @@
-package a8k.base_hardware;
-
-import org.java_websocket.client.WebSocketClient;
-import org.java_websocket.handshake.ServerHandshake;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-
-import java.net.URI;
-import java.net.URISyntaxException;
-import java.util.Timer;
-import java.util.TimerTask;
-
-
-public class ReconnectingWebSocketClient extends WebSocketClient {
-	public static final Logger logger = LoggerFactory.getLogger(A8kCanBusService.class);
-
-	private URI     serverUri;
-	private Timer   reconnectTimer;
-	private boolean reconnecting;
-
-	public ReconnectingWebSocketClient(URI serverUri) {
-		super(serverUri);
-		this.serverUri      = serverUri;
-		this.reconnectTimer = new Timer("ReconnectTimer");
-		this.reconnecting   = false;
-	}
-
-	@Override
-	public void onOpen(ServerHandshake handshakedata) {
-		System.out.println("WebSocket opened to: " + serverUri);
-		cancelReconnect();
-	}
-
-	@Override
-	public void onMessage(String message) {
-		System.out.println("Received message: " + message);
-	}
-
-	@Override
-	public void onClose(int code, String reason, boolean remote) {
-		System.out.println("WebSocket closed. Code: " + code + ", Reason: " + reason);
-		scheduleReconnect();
-	}
-
-	@Override
-	public void onError(Exception ex) {
-		System.err.println("WebSocket error: " + ex.getMessage());
-		scheduleReconnect();
-	}
-
-	private void scheduleReconnect() {
-		if (!reconnecting) {
-			reconnecting = true;
-			reconnectTimer.schedule(new TimerTask() {
-				@Override
-				public void run() {
-					if (!isOpen()) {
-						System.out.println("Attempting to reconnect to: " + serverUri);
-						reconnect();
-					}
-				}
-			}, 5000); // 5 seconds delay before attempting to reconnect
-		}
-	}
-
-	private void cancelReconnect() {
-		if (reconnecting) {
-			reconnecting = false;
-			reconnectTimer.cancel();
-			reconnectTimer.purge();
-		}
-	}
-
-
-	public static void main(String[] args) throws URISyntaxException, InterruptedException {
-		URI                         serverUri = new URI("ws://localhost:8080"); // Replace with your WebSocket server URI
-		ReconnectingWebSocketClient client    = new ReconnectingWebSocketClient(serverUri);
-		client.connect();
-		Thread.sleep(60000); // Example: Keep the program running for 1 minute
-		client.close();
-	}
-}

src/main/java/a8k/controler/ZhaoheTestControler.java

@@ -1,16 +0,0 @@
-package a8k.controler;
-import org.springframework.stereotype.Controller;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-@Controller
-public class ZhaoheTestControler {
-
-    @PostMapping("/test")
-    @ResponseBody
-    public String hello() {
-        return "Hello, welcome to the ultimate Spring Boot service!";
-    }
-}

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

@@ -0,0 +1,9 @@
+package a8k.service.hardware;
+
+import org.springframework.stereotype.Component;
+
+@Component
+public class MotorTubeRackExitService {
+
+
+}

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

@@ -0,0 +1,4 @@
+package a8k.service.hardware;
+
+public class MotorTubeRackMoveContrlService {
+}

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

@@ -0,0 +1,4 @@
+package a8k.service.hardware;
+
+public class MotorTubeRackMoveService {
+}

src/main/java/a8k/utils/ByteArray.java

@@ -26,6 +26,11 @@ public class ByteArray {
 		return (code[index + 1] & 255) << 8 | code[index] & 255;
 	}
 
+	public static void setU16bit(byte[] code, int index, int value) {
+		code[index+1] = (byte) (value >> 8);
+		code[index] = (byte) value;
+	}
+
 	public static int readS16bit(byte[] code, int index) {
 		if (index + 2 >= code.length)
 			return 0;