From 30b885243134853ec535543d5f6a7c990c0396a0 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 22 Jul 2024 13:38:11 +0800 Subject: [PATCH] fix some bug --- src/main/java/a8k/a8k_can_protocol/A8kPacket.java | 14 +++--- .../java/a8k/base_hardware/A8kCanBusService.java | 48 ++++++++++----------- .../DeviceInitializationCtrlService.java | 12 +++--- .../service/hardware/CommonHardwareOpeartion.java | 2 +- zhaohe_app.db | Bin 479232 -> 479232 bytes 5 files changed, 38 insertions(+), 38 deletions(-) diff --git a/src/main/java/a8k/a8k_can_protocol/A8kPacket.java b/src/main/java/a8k/a8k_can_protocol/A8kPacket.java index 84a852f..97fddb2 100644 --- a/src/main/java/a8k/a8k_can_protocol/A8kPacket.java +++ b/src/main/java/a8k/a8k_can_protocol/A8kPacket.java @@ -85,23 +85,23 @@ public class A8kPacket { if (packetType == PACKET_TYPE_CMD) { if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) { - ret = String.format("[CMD ] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), formatInt32ATTACH(getCmdContent())); + ret = String.format("[CMD ] index:[%d] (%s %s :i32[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), formatInt32ATTACH(getCmdContent())); } else { - ret = String.format("[CMD ] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), ByteArray.toByteString(getCmdContent())); + ret = String.format("[CMD ] index:[%d] (%s %s(%d) :bytes[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent())); } } else if (packetType == PACKET_TYPE_ACK) { if (cmdId.receiptAttachType == CmdId.ATTACH_IS_INT32) { - ret = String.format("[ACK ] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), formatInt32ATTACH(getCmdContent())); + ret = String.format("[ACK ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent())); } else { - ret = String.format("[ACK ] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), ByteArray.toByteString(getCmdContent())); + ret = String.format("[ACK ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent())); } } else if (packetType == PACKET_TYPE_ERROR_ACK) { - ret = String.format("[EACK ] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), A8kEcode.toString(getContentI32(0))); + ret = String.format("[EACK ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), A8kEcode.toString(getContentI32(0))); } else if (packetType == PACKET_TYPE_EVENT) { if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) { - ret = String.format("[EVENT] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), formatInt32ATTACH(getCmdContent())); + ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent())); } else { - ret = String.format("[EVENT] [%x] (%s %d :[%s])", getPacketIndex(), cmdId, getModuleId(), ByteArray.toByteString(getCmdContent())); + ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent())); } } else { ret = String.format("Unknown packet type: %d", packetType); diff --git a/src/main/java/a8k/base_hardware/A8kCanBusService.java b/src/main/java/a8k/base_hardware/A8kCanBusService.java index c244e8b..f7393f8 100644 --- a/src/main/java/a8k/base_hardware/A8kCanBusService.java +++ b/src/main/java/a8k/base_hardware/A8kCanBusService.java @@ -502,7 +502,7 @@ public class A8kCanBusService { String txpacket = pack.toByteString(); if (debugFlag && pack.getCmdId() != CmdId.module_get_status.toInt()) { - logger.info("tx:{}:({})", pack, txpacket); + logger.info("Tx:|RAW:{}| {}", txpacket, pack); } client.send(txpacket); A8kPacket receipt; @@ -545,7 +545,7 @@ public class A8kCanBusService { A8kPacket packet = new A8kPacket(rx); if (debugFlag && packet.getCmdId() != CmdId.module_get_status.toInt()) { - logger.info("RX {}:({})", packet, rx); + logger.info("RX |RAW:{}| {}", s, packet); } if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { @@ -562,27 +562,27 @@ public class A8kCanBusService { } } } - - public static void main(String[] args) { - A8kCanBusService service = new A8kCanBusService(); - try { - service.init(); - } 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.start(); - } + // + // public static void main(String[] args) { + // A8kCanBusService service = new A8kCanBusService(); + // try { + // service.init(); + // } 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.start(); + // } } diff --git a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java index e677403..4ab01b0 100644 --- a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java +++ b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java @@ -64,7 +64,7 @@ public class DeviceInitializationCtrlService { } catch (HardwareException e) { - logger.error("HardwareException %s", e); + logger.error("HardwareException ", e); throw new RuntimeException(e); } catch (InterruptedException e) { logger.error("InterruptedException", e); @@ -145,12 +145,12 @@ public class DeviceInitializationCtrlService { private AppEcode moveMotorToZero() throws HardwareException, InterruptedException { //进出料初始化 - canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM); - canBus.waitForMod(MId.FeedingModInfeedM, actionOvertime); +// canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM); +// canBus.waitForMod(MId.FeedingModInfeedM, actionOvertime); canBus.stepMotorEasyMoveToZero(MId.FeedingModXM); canBus.waitForMod(MId.FeedingModXM, actionOvertime); - canBus.stepMotorEasyMoveToZero(MId.FeedingModOutfeedM); - canBus.waitForMod(MId.FeedingModOutfeedM, actionOvertime); +// canBus.stepMotorEasyMoveToZero(MId.FeedingModOutfeedM); +// canBus.waitForMod(MId.FeedingModOutfeedM, actionOvertime); //摇匀模组初始化 @@ -183,7 +183,7 @@ public class DeviceInitializationCtrlService { canBus.waitForMod(MId.OptModScannerM, actionOvertime); //HBot初始化 - canBus.stepMotorEasyMoveToZero(MId.HbotM); + canBus.hbotMoveToZero(MId.HbotM); canBus.waitForMod(MId.HbotM, actionOvertime); canBus.stepMotorEasyMoveToZero(MId.PipetteModZM); canBus.waitForMod(MId.PipetteModZM, actionOvertime); diff --git a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java b/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java index e42859b..cf6957f 100644 --- a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java +++ b/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java @@ -147,7 +147,7 @@ public class CommonHardwareOpeartion { try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {} //HBot初始化 - try {canBus.stepMotorEnable(MId.HbotM, 0);} catch (HardwareException ignored) {} + try {canBus.hbotEnable(MId.HbotM, 0);} catch (HardwareException ignored) {} try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {} //转盘归零 diff --git a/zhaohe_app.db b/zhaohe_app.db index a11d20049f2e3592cdf852be65cc5874b6797dbc..a7135d182cce149d8f974e4f46c8a16eecda630d 100644 GIT binary patch delta 40 vcmZozAltA&c7ilx-b5K^#=ORa)&$1Z1g6#m=GFw3)&$np1h%aS>7R(J( delta 40 vcmZozAltA&c7ilx%tRSy#+b&0)&$1Z1g6#m=GFw3)&$np1h%aS>63PuP