update

src/main/java/a8k/OS.java

@@ -13,12 +13,17 @@ public class OS {
 	}
 
 	public static void forceSleep(Integer mills) {
-		int end = mills + (int) System.currentTimeMillis();
-		while (System.currentTimeMillis() < end) {
-			try {
-				threadSleep(50);
-			} catch (InterruptedException ignored) {
-			}
+//		int end = mills + (int) System.currentTimeMillis();
+//		while (System.currentTimeMillis() < end) {
+//			try {
+//				threadSleep(50);
+//			} catch (InterruptedException ignored) {
+//			}
+//		}
+		try {
+			threadSleep(mills);
+		} catch (InterruptedException e) {
+			throw new RuntimeException(e);
 		}
 	}
 

src/main/java/a8k/hardware/A8kCanBusService.java

@@ -719,7 +719,7 @@ public class A8kCanBusService {
 		}
 		if (debugFlag && pack.isTrace()) {
 			String packstr = pack.toString();
-			logger.info("Tx:|RAW:{}| {}", txpacket, packstr);
+			logger.debug("Tx:|RAW:{}| {}", txpacket, packstr);
 		}
 
 		if (cmdid.actionCmd) {
@@ -774,11 +774,11 @@ public class A8kCanBusService {
 			if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK) {
 				if (tpCxt != null && tpCxt.getPacketIndex() == packet.getPacketIndex()) {
 					if (tpCxt.isTrace()) {
-						logger.info("RX-ACK |RAW:{}| {}", s, packet);
+						logger.debug("RX-ACK |RAW:{}| {}", s, packet);
 					}
 				}
 			} else {
-				logger.info("RX |RAW:{}| {}", s, packet);
+				logger.debug("RX |RAW:{}| {}", s, packet);
 			}
 		}
 

src/main/java/a8k/service/appdevicectrl/AppDeviceCtrlService.java

@@ -83,7 +83,7 @@ public class AppDeviceCtrlService {
 	@ExtApiFn(name = "设备是否正在切换状态中", group = "设备状态")
 	public Boolean deviceWorkStateIsChanging() {
 		A8kWorkState workState = gstate.getWorkState();
-		A8kWorkState sampleScanServiceWorkState = mainFlowCtrlSampleScanService.getWorkState();
+		A8kWorkState sampleScanServiceWorkState = gstate.mainFlowCtrlState.workState;
 		if (!workState.equals(sampleScanServiceWorkState)) {
 			return true;
 		}

src/main/java/a8k/service/appdevicectrl/MainFlowCtrlService.java

@@ -30,15 +30,6 @@ public class MainFlowCtrlService {
 	@Resource
 	SpringBootBeanUtil springBoot;
 
-	A8kWorkState workState = A8kWorkState.IDLE; //
-
-	//
-	//	CommonCode
-	//
-
-	synchronized public A8kWorkState getWorkState() {
-		return workState;
-	}
 
 	//
 	//	Init
@@ -51,12 +42,12 @@ public class MainFlowCtrlService {
 		scheduler.regClearErrorProcesser(this::DO_CLEAR_ERROR);
 		scheduler.regEcodePostProcesser(this::postPorcessA8kEcode);
 
-		scheduler.regFn(A8kActionStep.DO_START, this::DO_START, () -> !workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.WORKING));
-		scheduler.regFn(A8kActionStep.DO_STOP, this::DO_STOP, () -> !workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.IDLE));
-		scheduler.regFn(A8kActionStep.DO_PAUSE, this::DO_PAUSE, () -> !workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.PAUSE));
+		scheduler.regFn(A8kActionStep.DO_START, this::DO_START, () -> !gstate.mainFlowCtrlState.workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.WORKING));
+		scheduler.regFn(A8kActionStep.DO_STOP, this::DO_STOP, () -> !gstate.mainFlowCtrlState.workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.IDLE));
+		scheduler.regFn(A8kActionStep.DO_PAUSE, this::DO_PAUSE, () -> !gstate.mainFlowCtrlState.workState.equals(gstate.getWorkState()) && gstate.getWorkState().equals(A8kWorkState.PAUSE));
 
-		scheduler.regFn( SpringBootBeanUtil.getBean(DO_ENTER_TUBEHOLDER_AND_SCAN.class));
-		scheduler.regFn( SpringBootBeanUtil.getBean(DO_EJECT_TUBEHOLDER.class));
+		scheduler.regFn(SpringBootBeanUtil.getBean(DO_ENTER_TUBEHOLDER_AND_SCAN.class));
+		scheduler.regFn(SpringBootBeanUtil.getBean(DO_EJECT_TUBEHOLDER.class));
 
 		//启动调度
 		scheduler.startScheduler();
@@ -83,15 +74,15 @@ public class MainFlowCtrlService {
 	}
 
 	void DO_START() {
-		workState = A8kWorkState.WORKING;
+		gstate.mainFlowCtrlState.workState = A8kWorkState.WORKING;
 	}
 
 	void DO_PAUSE() {
-		workState = A8kWorkState.PAUSE;
+		gstate.mainFlowCtrlState.workState = A8kWorkState.PAUSE;
 	}
 
 	void DO_STOP() {
-		workState = A8kWorkState.IDLE;
+		gstate.mainFlowCtrlState.workState = A8kWorkState.IDLE;
 	}
 
 }

src/main/java/a8k/service/appdevicectrl/action/DO_EJECT_TUBEHOLDER.java

@@ -48,7 +48,7 @@ public class DO_EJECT_TUBEHOLDER implements A8kStepAction {
 
 
 	@Override public A8kActionStep getDowhat() {
-		return A8kActionStep.DO_ENTER_TUBEHOLDER_AND_SCAN;
+		return A8kActionStep.DO_EJECT_TUBEHOLDER;
 	}
 
 	@Override public void doaction() throws AppException {

src/main/java/a8k/service/appdevicectrl/action/DO_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -141,10 +141,10 @@ public class DO_ENTER_TUBEHOLDER_AND_SCAN implements A8kStepAction {
 
 	@Override public Boolean check() {
 		//处于工作状态，试管架已经处于空闲状态，入料光电被触发
-		return mfcs.workState.equals(A8kWorkState.WORKING) //
-				&& gstate.getTubeHolderState().processState.equals(TubeHolderProcessState.IDLE)//
-				&& getTubeholderEnterPosPPS()
-				;
+		Boolean cond1 = mfcs.workState.equals(A8kWorkState.WORKING);
+		Boolean cond2 = gstate.getTubeHolderState().processState.equals(TubeHolderProcessState.IDLE);
+		Boolean cond3 = getTubeholderEnterPosPPS();
+		return cond1 && cond2 && cond3;
 	}
 
 	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
@@ -181,7 +181,7 @@ public class DO_ENTER_TUBEHOLDER_AND_SCAN implements A8kStepAction {
 
 	Boolean getTubeholderEnterPosPPS() { //入料通道是否为空
 		try {
-			return canBus.getIOState(IOId.THChInterPPS);
+			return canBus.getIOState(IOId.InfeedPPS);
 		} catch (AppException e) {
 			logger.error("getTubeholderEnterPosPPS error", e);
 			return false;

src/main/java/a8k/service/appdevicectrl/scheduler/MainFlowCtrlScheduler.java

@@ -145,9 +145,15 @@ public class MainFlowCtrlScheduler {
 	List<A8kActionStep> guessWhatToDo() {
 		List<A8kActionStep> dowhatList = new ArrayList<>();
 		for (ConditionItem item : conditionItems) {
-			if (item.fn.check() && appResourceMgrService.applyForResources(this, item.relayResourceList)) {
+			Boolean cond             = item.fn.check();
+			Boolean relayResourceSuc = appResourceMgrService.applyForResources(this, item.relayResourceList);
+
+
+			logger.info("step {} resoure:{},conditon {},resource {}", item.key, item.relayResourceList, cond, relayResourceSuc);
+			if (cond && relayResourceSuc) {
 				dowhatList.add(item.key);
 			}
+
 		}
 		return dowhatList;
 	}
@@ -196,6 +202,9 @@ public class MainFlowCtrlScheduler {
 				throw new RuntimeException(e);
 			}
 		}
+
+		//清空NoError
+		ecodeList.removeIf(ecode -> ecode.ecode == A8kEcode.NoError);
 		return ecodeList;
 	}
 
@@ -219,6 +228,7 @@ public class MainFlowCtrlScheduler {
 			ecodePostProcesser.process(ecodeList);
 		}
 
+
 		ebus.pushEvent(new A8kEcodeContextListPromptEvent(ecodeList));
 		state.errorFlag      = true;
 		this.state.ecodeList = ecodeList;
@@ -228,7 +238,7 @@ public class MainFlowCtrlScheduler {
 	void threadLoopFn() {
 		while (workThread.isAlive()) {
 			if (state.fatalErrorFlag) {
-				OS.forceSleep(100);
+				OS.forceSleep(800);
 			} else if (clearErrorPendingFlag) {
 				/*
 				 * 清除错误
@@ -245,9 +255,9 @@ public class MainFlowCtrlScheduler {
 					A8kEcodeContext context = new A8kEcodeContext(A8kActionStep.DO_CLEAR_ERROR, A8kEcode.fromInt(appe.getErrorCode()));
 					a8kEcodePostProcesser(List.of(context));
 				}
-				OS.forceSleep(100);
+				OS.forceSleep(800);
 			} else if (state.errorFlag) {
-				OS.forceSleep(100);
+				OS.forceSleep(800);
 			} else {
 
 				List<A8kActionStep>           dowhatList = guessWhatToDo();
@@ -260,8 +270,11 @@ public class MainFlowCtrlScheduler {
 				List<A8kEcodeContext> ecodeList = waitAllActionIsDone(futureList);
 
 				appResourceMgrService.releaseAllResource(this);
-				a8kEcodePostProcesser(ecodeList);
-				OS.forceSleep(100);
+				if (!ecodeList.isEmpty()) {
+					a8kEcodePostProcesser(ecodeList);
+				}
+
+				OS.forceSleep(800);
 			}
 		}
 	}

src/main/java/a8k/service/appstate/AppResourceMgrService.java

@@ -3,6 +3,8 @@ package a8k.service.appstate;
 
 import a8k.service.appstate.resource.A8kPublicResourceType;
 import jakarta.annotation.PostConstruct;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -10,10 +12,11 @@ import java.util.Vector;
 
 @Component
 public class AppResourceMgrService {
+	static Logger logger = LoggerFactory.getLogger(AppResourceMgrService.class);
 
 	static public class Resource {
 		public A8kPublicResourceType type;
-		public Boolean               rented   = true;//是否被租用
+		public Boolean               rented   = false;//是否被租用
 		public Object                ownerNow = null;
 
 		public Resource(A8kPublicResourceType type) {
@@ -68,6 +71,11 @@ public class AppResourceMgrService {
 	 * @return 是否申请成功
 	 */
 	synchronized public Boolean applyForResources(Object applyer, List<A8kPublicResourceType> types) {
+		//		logger.info("{} applyForResources: {}", applyer.getClass().getSimpleName(), types);
+		if (types == null || types.isEmpty()) {
+			return true;
+		}
+
 		//检查是否所有资源都可租用
 		for (A8kPublicResourceType type : types) {
 			if (!checkResourceRentable(type)) {