update

README.md

@@ -33,7 +33,11 @@
         4. 出料口没有试管架
         5. 进出料位置没有试管
     
-逻辑漏洞         
+逻辑漏洞     
+        1.高试管如果脱帽，会被识别成低试管。
+          
+TODO:
+        1.想办法解决  
 
 ```
 

src/main/java/a8k/service/A8kDebugTaskExecutorService.java → src/main/java/a8k/app_eventbus/A8kDebugTaskExecutorService.java

@@ -1,4 +1,4 @@
-package a8k.service;
+package a8k.app_eventbus;
 
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/service/AppEventBusService.java → src/main/java/a8k/app_eventbus/AppEventBusService.java

@@ -1,7 +1,7 @@
-package a8k.service;
+package a8k.app_eventbus;
 
 import a8k.appbean.AppEventListener;
-import a8k.appbean.appevent.AppEvent;
+import a8k.app_eventbus.appevent.AppEvent;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/appbean/appevent/A8kHardwareReport.java → src/main/java/a8k/app_eventbus/appevent/A8kHardwareReport.java

@@ -1,6 +1,6 @@
-package a8k.appbean.appevent;
+package a8k.app_eventbus.appevent;
 
-import a8k.a8k_can_protocol.A8kPacket;
+import a8k.canbus.protocol.A8kPacket;
 import org.springframework.lang.NonNull;
 
 /**

src/main/java/a8k/app_eventbus/appevent/AppEvent.java

@@ -0,0 +1,6 @@
+package a8k.app_eventbus.appevent;
+
+public class AppEvent {
+
+
+}

src/main/java/a8k/appbean/appevent/AppStepNotifyEvent.java → src/main/java/a8k/app_eventbus/appevent/AppStepNotifyEvent.java

@@ -1,4 +1,4 @@
-package a8k.appbean.appevent;
+package a8k.app_eventbus.appevent;
 
 public class AppStepNotifyEvent extends AppEvent {
 	String displayInfo;

src/main/java/a8k/appbean/appevent/AppWarningNotifyEvent.java → src/main/java/a8k/app_eventbus/appevent/AppWarningNotifyEvent.java

@@ -1,4 +1,4 @@
-package a8k.appbean.appevent;
+package a8k.app_eventbus.appevent;
 
 public class AppWarningNotifyEvent extends AppEvent {
 	String displayInfo;

src/main/java/a8k/appbean/AppEventListener.java

@@ -1,6 +1,6 @@
 package a8k.appbean;
 
-import a8k.appbean.appevent.AppEvent;
+import a8k.app_eventbus.appevent.AppEvent;
 
 public interface AppEventListener {
 	public void onAppEvent(AppEvent event);

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

@@ -1,8 +1,8 @@
 package a8k.appbean;
 
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.a8k_can_protocol.CmdId;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
+import a8k.canbus.protocol.CmdId;
+import a8k.canbus.protocol.MId;
 
 public class HardwareException extends Exception {
 	// 构造函数

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

@@ -1,6 +0,0 @@
-package a8k.appbean.appevent;
-
-public class AppEvent {
-
-
-}

src/main/java/a8k/appbean/ecode/AppRet.java

@@ -1,8 +1,8 @@
 package a8k.appbean.ecode;
 
-import a8k.a8k_can_protocol.CmdId;
-import a8k.a8k_can_protocol.MId;
-import a8k.a8k_can_protocol.A8kEcode;
+import a8k.canbus.protocol.CmdId;
+import a8k.canbus.protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
 import a8k.appbean.HardwareException;
 
 public class AppRet<T> {

src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java

@@ -1,8 +1,8 @@
 package a8k.appbean.ecode;
 
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.a8k_can_protocol.CmdId;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
+import a8k.canbus.protocol.CmdId;
+import a8k.canbus.protocol.MId;
 
 public class AppRetEcodeInfo {
 	A8kEcode errorCode;

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

@@ -1,11 +1,11 @@
-package a8k.base_hardware;
+package a8k.canbus;
 
-import a8k.a8k_can_protocol.*;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.*;
+import a8k.canbus.protocol.MId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.cfg.Pos2d;
-import a8k.appbean.appevent.A8kHardwareReport;
-import a8k.service.AppEventBusService;
+import a8k.app_eventbus.appevent.A8kHardwareReport;
+import a8k.app_eventbus.AppEventBusService;
 import a8k.utils.ByteArray;
 import jakarta.annotation.PostConstruct;
 import org.java_websocket.client.WebSocketClient;
@@ -300,14 +300,29 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.step_motor_easy_move_by.toInt(), dpos);
 	}
 
+	public void stepMotorEasyMoveByBlock(MId id, int dpos, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyMoveBy(id, dpos);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void stepMotorEasyMoveTo(MId id, int pos) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_easy_move_to.toInt(), pos);
 	}
 
+	public void stepMotorEasyMoveToBlock(MId id, int pos, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyMoveTo(id, pos);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void stepMotorEasyMoveToZero(MId id) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_easy_move_to_zero.toInt());
 	}
 
+	public void stepMotorEasyMoveToZeroBlock(MId id, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyMoveToZero(id);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void stepMotorEasySetCurrentPos(MId id, int pos) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_easy_set_current_pos.toInt(), pos);
 	}
@@ -316,6 +331,17 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.step_motor_easy_move_to_io.toInt(), io);
 	}
 
+	//	step_motor_easy_move_to_zero_point_quick
+
+	public void stepMotorEasyMoveToZeroPointQuick(MId id) throws HardwareException {
+		callcmd(id.toInt(), CmdId.step_motor_easy_move_to_zero_point_quick.toInt());
+	}
+
+	public void stepMotorEasyMoveToZeroPointQuickBlock(MId id, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyMoveToZeroPointQuick(id);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void stepMotorStop(MId id) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_stop.toInt());
 	}
@@ -333,10 +359,19 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.step_motor_easy_move_to_end_point.toInt());
 	}
 
+	public void stepMotorEasyMoveToEndPointBlock(MId id, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyMoveToEndPoint(id);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void stepMotorEasyReciprocatingMotion(MId id, int startpos, int endpos, int times) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_easy_reciprocating_motion.toInt(), startpos, endpos, times);
 	}
 
+	public void stepMotorEasyReciprocatingMotionBlock(MId id, int startpos, int endpos, int times, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEasyReciprocatingMotion(id, startpos, endpos, times);
+		waitForMod(id, actionOvertime);
+	}
 	//
 	// MINI_SERVO
 	//
@@ -350,6 +385,7 @@ public class A8kCanBusService {
 		return packet.getContentI32(0);
 	}
 
+
 	public void miniServoActiveCfg(MId id) throws HardwareException {
 		callcmd(id.toInt(), CmdId.mini_servo_active_cfg.toInt());
 	}
@@ -371,14 +407,29 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.mini_servo_move_to.toInt(), pos);
 	}
 
+	public void miniServoMoveToBlock(MId id, int pos, Integer actionOvertime) throws HardwareException, InterruptedException {
+		miniServoMoveTo(id, pos);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void miniServoRotate(MId id, int direction) throws HardwareException {
 		callcmd(id.toInt(), CmdId.mini_servo_rotate.toInt(), direction);
 	}
 
+	public void miniServoRotateBlock(MId id, int direction, Integer actionOvertime) throws HardwareException, InterruptedException {
+		miniServoRotate(id, direction);
+		waitForMod(id, actionOvertime);
+	}
+
 	public void miniServoRotateWithTorque(MId id, int torque) throws HardwareException {
 		callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque);
 	}
 
+	public void miniServoRotateWithTorqueBlock(MId id, int torque, Integer actionOvertime) throws HardwareException, InterruptedException {
+		miniServoRotateWithTorque(id, torque);
+		miniServoWaitIsNotMove(id, actionOvertime);
+	}
+
 	public void miniServoWaitIsNotMove(MId id, int acitionOvertime) throws HardwareException, InterruptedException {
 		long startedAt = System.currentTimeMillis();
 		do {
@@ -414,27 +465,6 @@ public class A8kCanBusService {
 		}
 	}
 
-	public void waitForAction(MId mid, int cmdId, Integer acitionOvertime) throws InterruptedException, HardwareException {
-		long startedAt = System.currentTimeMillis();
-		do {
-			try {
-				var status = getModuleStatus(mid);
-				if (status == ModuleStatus.IDLE) {
-					break;
-				} else if (status == ModuleStatus.ERROR) {
-					throw new HardwareException(mid, moduleGetError(mid));
-				}
-			} catch (HardwareException ignored) {
-			}
-			long now = System.currentTimeMillis();
-			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(mid, A8kEcode.Overtime);
-			}
-
-			Thread.sleep(100);
-		} while (true);
-
-	}
 
 	public void waitForMods(MId[] mids, Integer acitionOvertime) throws InterruptedException, HardwareException {
 		for (MId mid : mids) {
@@ -444,7 +474,7 @@ public class A8kCanBusService {
 
 	public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
 		long startedAt = System.currentTimeMillis();
-//			Thread.sleep(300);
+		//			Thread.sleep(300);
 		//		CmdId action = lastCmdMap.get(mid);
 		CmdId action = lastCmdMapGet(mid);
 		do {

src/main/java/a8k/canbus/A8kModParamInitializer.java

@@ -0,0 +1,16 @@
+package a8k.canbus;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+@Component
+public class A8kModParamInitializer {
+	static Logger logger = LoggerFactory.getLogger(A8kModParamInitializer.class);
+
+	public void init() {
+		logger.info("A8kModInitializer init");
+	}
+
+
+}

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java

@@ -0,0 +1,7 @@
+package a8k.canbus.custom_param_mgr;
+
+public class A8kModCustomParam {
+	public A8kModCustomParamId id;
+	public Integer             value;
+
+}

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamId.java

@@ -0,0 +1,14 @@
+package a8k.canbus.custom_param_mgr;
+
+public enum A8kModCustomParamId {
+
+	MOTOR_STANDY_POS_COMPENSATE("电机待机位置零点补偿"),//待机位置 = 零点- 零点补偿
+	;
+	public final String  desc;
+	public final Integer defaultVal;
+
+	A8kModCustomParamId(String desc) {
+		this.desc       = desc;
+		this.defaultVal = 0;
+	}
+}

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java

@@ -0,0 +1,25 @@
+package a8k.canbus.custom_param_mgr;
+
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@Component
+public class A8kModCustomParamMgr {
+
+	Map<A8kModCustomParamId, A8kModCustomParam> customParamMap;
+
+	public Integer getCustomParam(A8kModCustomParamId id) {
+		var vaule = customParamMap.get(id);
+		if (vaule != null) {
+			return vaule.value;
+		} else {
+			return id.defaultVal;
+		}
+
+	}
+
+	public void setCustomParam(A8kModCustomParam param) {
+		customParamMap.put(param.id, param);
+	}
+}

src/main/java/a8k/a8k_can_protocol/A8kEcode.java → src/main/java/a8k/canbus/protocol/A8kEcode.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum A8kEcode {
 	//

src/main/java/a8k/a8k_can_protocol/A8kPacket.java → src/main/java/a8k/canbus/protocol/A8kPacket.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 import a8k.utils.ByteArray;
 import org.slf4j.Logger;

src/main/java/a8k/a8k_can_protocol/CmdId.java → src/main/java/a8k/canbus/protocol/CmdId.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum CmdId {
 
@@ -86,6 +86,7 @@ public enum CmdId {
 	step_motor_set_subdevice_reg(0x0239, "step_motor_set_subdevice_reg"),//
 	step_motor_get_subdevice_reg(0x023a, "step_motor_get_subdevice_reg"),//
 	step_motor_easy_reciprocating_motion(0x022d, "step_motor_easy_reciprocating_motion"),//
+	step_motor_easy_move_to_zero_point_quick(0x022e, "step_motor_easy_move_to_zero_point_quick"),//
 	//
 	mini_servo_enable(0x6601, "mini_servo_enable"),//
 	mini_servo_read_pos(0x6602, "mini_servo_read_pos"),//

src/main/java/a8k/a8k_can_protocol/IOId.java → src/main/java/a8k/canbus/protocol/IOId.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum IOId {
 	TubeHeightPPS(ModuleType.kboard, MId.FeedingModBoard, 0), //高低试管检测IO

src/main/java/a8k/a8k_can_protocol/MId.java → src/main/java/a8k/canbus/protocol/MId.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum MId {
 	NotSet(0, "未设置"),//

src/main/java/a8k/a8k_can_protocol/ModuleStatus.java → src/main/java/a8k/canbus/protocol/ModuleStatus.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum ModuleStatus {
 	IDLE(0), //

src/main/java/a8k/a8k_can_protocol/ModuleType.java → src/main/java/a8k/canbus/protocol/ModuleType.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum ModuleType {
 	khbot_module(1),  // hbot模块

src/main/java/a8k/a8k_can_protocol/RegIndex.java → src/main/java/a8k/canbus/protocol/RegIndex.java

@@ -1,4 +1,4 @@
-package a8k.a8k_can_protocol;
+package a8k.canbus.protocol;
 
 public enum RegIndex {
 

src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java

@@ -1,11 +1,11 @@
 package a8k.service.ctrl_service;
 
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.a8k_can_protocol.IOId;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
+import a8k.canbus.protocol.IOId;
+import a8k.canbus.protocol.MId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
-import a8k.base_hardware.A8kCanBusService;
+import a8k.canbus.A8kCanBusService;
 import a8k.service.hardware.CommonHardwareOpeartion;
 import a8k.service.hardware.SamplesPreProcessModuleCtrlService;
 import jakarta.annotation.Resource;

src/main/java/a8k/service/data_service/UsrMgrService.java

@@ -1,6 +1,6 @@
 package a8k.service.data_service;
 
-import a8k.a8k_can_protocol.A8kEcode;
+import a8k.canbus.protocol.A8kEcode;
 import a8k.service.appdb.dao.AppUsrDao;
 import a8k.service.appdb.entity.AppUsr;
 import a8k.service.state_service.A8kStateMgrService;

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

@@ -1,9 +1,9 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.MId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
-import a8k.base_hardware.A8kCanBusService;
+import a8k.canbus.A8kCanBusService;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;

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

@@ -1,6 +1,6 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.A8kEcode;
+import a8k.canbus.protocol.A8kEcode;
 import a8k.utils.HardwareService;
 import org.springframework.stereotype.Component;
 

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

@@ -1,9 +1,9 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.*;
+import a8k.canbus.protocol.*;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
-import a8k.base_hardware.A8kCanBusService;
+import a8k.canbus.A8kCanBusService;
 import a8k.utils.*;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -160,9 +160,9 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	 */
 	@HardwareServiceAction(name = "移动到X", group = "模块基础动作")
 	public void moveTubeRackTo(Integer pos) throws HardwareException, InterruptedException {
-		//		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
-		//			throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
-		//		}
+		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
+			throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
+		}
 		scanClampModRelease();
 		canBus.stepMotorEnable(MId.FeedingModXM, 1);
 		canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
@@ -238,6 +238,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	 */
 	@HardwareServiceAction(name = "移动<试管架>到入口位置", group = "片段")
 	public void tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
+
 		moveTubeRackTo(getTREnterXPos());
 	}
 

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

@@ -1,11 +1,11 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.a8k_can_protocol.IOId;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
+import a8k.canbus.protocol.IOId;
+import a8k.canbus.protocol.MId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
-import a8k.base_hardware.A8kCanBusService;
+import a8k.canbus.A8kCanBusService;
 import a8k.service.db.dao.ReactionPlatesTransmitCtrlParamDao;
 import a8k.utils.HardwareService;
 import jakarta.annotation.Resource;

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

@@ -1,20 +1,16 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.A8kEcode;
-import a8k.a8k_can_protocol.MId;
+import a8k.canbus.protocol.A8kEcode;
+import a8k.canbus.protocol.MId;
 import a8k.appbean.A8kTubeType;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
-import a8k.base_hardware.A8kCanBusService;
+import a8k.canbus.A8kCanBusService;
 import a8k.utils.*;
-import com.iflytop.uf.util.UfCommon;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
-import org.springframework.stereotype.Controller;
-import org.springframework.web.bind.annotation.*;
 
 @Component
 @HardwareService(name = "样本预处理模块")