1

pom.xml

@@ -20,7 +20,7 @@
         <dependency>
             <groupId>com.iflytop</groupId>
             <artifactId>uf</artifactId>
-            <version>0.0.63</version>
+            <version>0.0.64</version>
         </dependency>
         <dependency>
             <groupId>org.jetbrains</groupId>

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

@@ -35,7 +35,7 @@ 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 = 1000;
 
 	public A8kPacket(byte[] cmd) {
 		raw = new byte[cmd.length];

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

@@ -15,6 +15,8 @@ public class HardwareException extends Exception {
 
 	public HardwareException(int moduleId, int HardwareErrorCode) {
 		super(String.format("Module ID %s has error code %s", ModuleId.ModuleId2Name(moduleId), Errorcode.toString(HardwareErrorCode)));
+		this.moduleId = moduleId;
+		this.errorCode = HardwareErrorCode;
 	}
 
 	int getModuleId() {

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

@@ -64,7 +64,7 @@ public class A8kCanBusService {
 	int packetIndex = 0;//
 
 	// 调试标志位
-	boolean debugFlag = false;//
+	boolean debugFlag = true;//
 	// websocket自动重连时间
 	Timer autoConnectTimer = new Timer();//
 

src/main/java/a8k/controller/SamplesPreProcessModuleCtrlController.java

@@ -9,6 +9,8 @@ import org.springframework.stereotype.Controller;
 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;
 @Controller
@@ -20,7 +22,8 @@ public class SamplesPreProcessModuleCtrlController extends UfApiControllerBase {
 
 	@PostMapping("/api/sample-pre-process-module-ctrl/execute-service-method")
 	@ResponseBody
-	public UfApiResponse executeServiceMethod( @RequestBody Map<String,Object> params ) throws NoSuchMethodException {
+	public UfApiResponse executeServiceMethod( @RequestBody Map<String,Object> params )
+	throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
 		Object service = this.samplesPreProcessModuleCtrlService;
 		String methodName = (String)params.get("method");
 		List<Object> methodArgs = (List<Object>)params.get("params");

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

@@ -16,6 +16,7 @@ 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;
 
@@ -33,7 +34,8 @@ public class TmpTestController {
 
 	@PostMapping("/api/tmp-test/execute-service-method")
 	@ResponseBody
-	public String executeServiceMethod(@RequestBody Map<String, Object> params) throws NoSuchMethodException {
+	public String executeServiceMethod(@RequestBody Map<String, Object> params)
+	throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
 		Object       service    = this.motorTubeRackMoveCtrlService;
 		String       methodName = (String) params.get("method");
 		List<Object> methodArgs = (List<Object>) params.get("params");

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

@@ -8,6 +8,7 @@ import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
+import com.iflytop.uf.util.UfCommon;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
@@ -104,6 +105,17 @@ public class SamplesPreProcessModuleCtrlService {
 		);
 	}
 
+	/**
+	 * 使能模组
+	 */
+	public void stop() throws HardwareException {
+		this.a8kCanBusService.callcmd(ModuleId.ShakeModShakeM, CmdId.kstep_motor_stop);
+		this.a8kCanBusService.callcmd(ModuleId.ShakeModClampingM, CmdId.kstep_motor_stop);
+		this.a8kCanBusService.callcmd(ModuleId.ShakeModClampingM, CmdId.kstep_motor_stop);
+		this.a8kCanBusService.callcmd(ModuleId.ShakeModGripperYM, CmdId.kmini_servo_stop);
+		this.a8kCanBusService.callcmd(ModuleId.ShakeModGripperSV, CmdId.kmini_servo_stop);
+	}
+
 
 
 
@@ -118,11 +130,11 @@ public class SamplesPreProcessModuleCtrlService {
 	 * @param tubeType TubeType_HighBlood,TubeType_ShortBlood,TubeType_Mini,TubeType_MiniBlood,TubeType_BulletTube1P5,TubeType_BulletTube0P5
 	 * @param judgeCapExist 是否判断试管帽子存在与否
 	 */
-	public AppErrorCode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
+	public AppErrorCode takeTube(String tubeType, Boolean judgeCapExist) throws HardwareException, InterruptedException {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_takeCapPos(),
 			params.getActionOvertime()
 		);
@@ -140,16 +152,18 @@ public class SamplesPreProcessModuleCtrlService {
 		);
 
 		if ( judgeCapExist ) {
-			this.a8kCanBusService.callblockcmd(
-				ModuleId.ShakeModClampingM,
+			this.a8kCanBusService.callcmd(
+				ModuleId.ShakeModGripperSV,
 				CmdId.kmini_servo_rotate_with_torque,
-				params.getGripperServo_takeCapTorque(),
-				params.getActionOvertime()
+				params.getGripperServo_takeCapTorque()
 			);
+			UfCommon.delay(3000);
 			this.a8kCanBusService.callcmd(
 				ModuleId.ShakeModGripperSV,
-				CmdId.kmini_servo_stop
+				CmdId.kmini_servo_stop,
+				1
 			);
+			UfCommon.delay(1000);
 			var pos = this.a8kCanBusService.callcmd(
 				ModuleId.ShakeModGripperSV,
 				CmdId.kmini_servo_read_pos
@@ -159,12 +173,12 @@ public class SamplesPreProcessModuleCtrlService {
 			}
 		}
 
-		this.a8kCanBusService.callblockcmd(
+		this.a8kCanBusService.callcmd(
 			ModuleId.ShakeModGripperSV,
 			CmdId.kmini_servo_rotate_with_torque,
-			params.getGripperServo_takeCapTorque(),
-			params.getActionOvertime()
+			params.getGripperServo_takeCapTorque()
 		);
+		UfCommon.delay(3000);
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperZM,
@@ -181,6 +195,20 @@ public class SamplesPreProcessModuleCtrlService {
 		);
 
 		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModShakeM,
+			CmdId.kstep_motor_easy_move_to,
+			params.getShakeMotor_standbyPos(),
+			params.getActionOvertime()
+		);
+
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModClampingM,
+			CmdId.kstep_motor_easy_move_to,
+			params.getTubeClampMotor_standbyPos(),
+			params.getActionOvertime()
+		);
+
+		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperZM,
 			CmdId.kstep_motor_easy_move_to,
 			params.getZMotor_placeShakeHeight(),
@@ -189,7 +217,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperSV,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -203,7 +231,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -227,14 +255,14 @@ public class SamplesPreProcessModuleCtrlService {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_takePushCapPos(),
 			params.getActionOvertime()
 		);
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperSV,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -253,7 +281,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperSV,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -267,7 +295,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -281,14 +309,14 @@ public class SamplesPreProcessModuleCtrlService {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_takePushCapPos(),
 			params.getActionOvertime()
 		);
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperSV,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -307,7 +335,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperSV,
-			CmdId.kstep_motor_easy_move_to,
+			CmdId.kmini_servo_move_to,
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -319,9 +347,46 @@ public class SamplesPreProcessModuleCtrlService {
 			params.getActionOvertime()
 		);
 
+		// 前后移至试管架取试管位置
 		this.a8kCanBusService.callblockcmd(
 			ModuleId.ShakeModGripperYM,
+			CmdId.kmini_servo_move_to,
+			params.getHorizontalMotor_takeCapPos(),
+			params.getActionOvertime()
+		);
+
+		// 升降放入试管至试管架
+		var motorUdTubePutPos = params.getZMotor_ShortBloodTakeCapHeight();
+		if ( tubeTypeValue.equals(A8kTubeType.HighBlood) ) {
+			motorUdTubePutPos = params.getZMotor_HighBloodTakeCapHeight();
+		}
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModGripperZM,
 			CmdId.kstep_motor_easy_move_to,
+				motorUdTubePutPos,
+			params.getActionOvertime()
+		);
+
+		// 夹爪张开
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModGripperSV,
+			CmdId.kmini_servo_move_to,
+			params.getGripperServo_standbyPos(),
+			params.getActionOvertime()
+		);
+
+		// 升降电机复位
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModGripperZM,
+			CmdId.kstep_motor_easy_move_to,
+			0,
+			params.getActionOvertime()
+		);
+
+		// 前后电机复位
+		this.a8kCanBusService.callblockcmd(
+			ModuleId.ShakeModGripperYM,
+			CmdId.kmini_servo_move_to,
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -338,7 +403,7 @@ public class SamplesPreProcessModuleCtrlService {
 	 * @param times 摇匀次数
 	 * @param shakeDegree 摇匀角度
 	 */
-	public void ShakeTube(String tubeType, int times, int shakeDegree) throws HardwareException, InterruptedException {
+	public void ShakeTube(String tubeType, Integer times, Integer shakeDegree) throws HardwareException, InterruptedException {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		var standByPos = params.getShakeMotor_standbyPos();
 		var startPos = standByPos - shakeDegree/2;