v1.2.1| MiniServoDriver 支持重发(为了解决舵机电压不稳短时间掉电的问题)

src/main/java/a8k/app/constant/AppConstant.java

@@ -5,7 +5,7 @@ public class AppConstant {
 	public static final int    CONSUMABLE_COL_NUM = 5;
 	public static final int    CONSUMABLE_ROW_NUM = 5;
 	public static final int    TIP_NUM            = 120;
-	public static final String APP_VERSION        = "1.2.0";
+	public static final String APP_VERSION        = "1.2.1";
 
 	public static final int CONSUMABLE_CHANNEL_NUM = 6;
 

src/main/java/a8k/app/hardware/driver/MiniServoDriver.java

@@ -53,19 +53,32 @@ public class MiniServoDriver {
 		miniServoMoveToBlock(id, MiniServoConstant.getZeroPos(id));
 	}
 
-	public void miniServoMoveToZero(MiniServoMId id) throws AppException {
-		log.debug("{} miniServoMoveToZero", id.mid);
-		miniServoMoveTo(id, MiniServoConstant.getZeroPos(id));
-	}
 
-	public void miniServoMoveTo(MiniServoMId id, int pos) throws AppException {
+	private void miniServoMoveTo(MiniServoMId id, int pos) throws AppException {
 		callcmd(id.mid, CmdId.mini_servo_move_to, pos);
 	}
 
 	public void miniServoMoveToBlock(MiniServoMId id, int pos) throws AppException {
 		log.debug("{} miniServoMoveTo {}", id.mid, pos);
-		miniServoMoveTo(id, pos);
-		canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime);
+		int retry = 0;
+		do {
+			try {
+				miniServoMoveTo(id, pos);
+				canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime);
+				return;
+			} catch (AppException e) {
+				if (e.getError().code.equals(A8kEcode.LOW_ERROR_SUBDEVICE_OVERTIME)) {
+					log.warn("CALL miniServoMoveToBlock {} FAIL, SUB DEVICE OVERTIME", id);
+					if (retry > 3) {
+						throw e;
+					}
+				} else {
+					throw e;
+				}
+			}
+			OS.hsleep(1000);
+			retry++;
+		} while (true);
 	}
 
 

src/main/java/a8k/app/service/lowerctrl/TubeFeedingExCtrlService.java

@@ -87,8 +87,7 @@ public class TubeFeedingExCtrlService {
 
 		logger.info("扫描夹紧机构复位");
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV));
-		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, actionOvertimeConstant.get(MId.ShakeModTubeScanerClampingSV, CmdId.mini_servo_move_to));
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV));
 	}
 
 }

src/main/java/a8k/extui/page/driver/MiniServoCtrlPage.java

@@ -79,7 +79,7 @@ public class MiniServoCtrlPage {
 	}
 
 	public void moveToZero() throws AppException {
-		miniServoDriver.miniServoMoveToZero(id);
+		miniServoDriver.miniServoMoveToZeroBlock(id);
 	}
 
 

src/main/java/a8k/extui/page/extapp/TemporaryTestPage.java

@@ -24,8 +24,7 @@ public class TemporaryTestPage {
 	//
 	public void shakeModGripperYSVMoveTo(Integer pos) throws AppException {
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModGripperYSV, pos);
-		miniServoDriver.waitForMod(MiniServoMId.ShakeModGripperYSV);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, pos);
 	}
 
 	public Integer shakeModGripperYSVReadPos() throws AppException {
@@ -34,8 +33,7 @@ public class TemporaryTestPage {
 
 	public void shakeModGripperSVMoveTo(Integer pos) throws AppException {
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModGripperSV, pos);
-		miniServoDriver.waitForMod(MiniServoMId.ShakeModGripperSV);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, pos);
 	}
 
 	public Integer shakeModGripperSVReadPos() throws AppException {
@@ -44,8 +42,7 @@ public class TemporaryTestPage {
 
 	public void shakeModTubeScanerClampingSVMoveTo(Integer pos) throws AppException {
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, pos);
-		miniServoDriver.waitForMod(MiniServoMId.ShakeModTubeScanerClampingSV);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModTubeScanerClampingSV, pos);
 	}
 
 	public Integer shakeModTubeScanerClampingSVReadPos() throws AppException {
@@ -53,9 +50,9 @@ public class TemporaryTestPage {
 	}
 
 	public void moveTo(Integer shakeModGripperYSPos, Integer shakeModGripperPos, Integer shakeModTubeScanerClampingPos) throws AppException {
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModGripperYSV, shakeModGripperYSPos);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModGripperSV, shakeModGripperPos);
-		miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, shakeModTubeScanerClampingPos);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, shakeModGripperYSPos);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, shakeModGripperPos);
+		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModTubeScanerClampingSV, shakeModTubeScanerClampingPos);
 	}