diff --git a/README.md b/README.md index 9aa560e..a74a834 100644 --- a/README.md +++ b/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 ``` diff --git a/src/main/java/a8k/service/A8kDebugTaskExecutorService.java b/src/main/java/a8k/app_eventbus/A8kDebugTaskExecutorService.java similarity index 96% rename from src/main/java/a8k/service/A8kDebugTaskExecutorService.java rename to src/main/java/a8k/app_eventbus/A8kDebugTaskExecutorService.java index 9603e1e..4f2339b 100644 --- a/src/main/java/a8k/service/A8kDebugTaskExecutorService.java +++ b/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; diff --git a/src/main/java/a8k/service/AppEventBusService.java b/src/main/java/a8k/app_eventbus/AppEventBusService.java similarity index 95% rename from src/main/java/a8k/service/AppEventBusService.java rename to src/main/java/a8k/app_eventbus/AppEventBusService.java index bb25ec9..7448d6f 100644 --- a/src/main/java/a8k/service/AppEventBusService.java +++ b/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; diff --git a/src/main/java/a8k/appbean/appevent/A8kHardwareReport.java b/src/main/java/a8k/app_eventbus/appevent/A8kHardwareReport.java similarity index 84% rename from src/main/java/a8k/appbean/appevent/A8kHardwareReport.java rename to src/main/java/a8k/app_eventbus/appevent/A8kHardwareReport.java index c5fc697..f7e41ef 100644 --- a/src/main/java/a8k/appbean/appevent/A8kHardwareReport.java +++ b/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; /** diff --git a/src/main/java/a8k/app_eventbus/appevent/AppEvent.java b/src/main/java/a8k/app_eventbus/appevent/AppEvent.java new file mode 100644 index 0000000..72fb054 --- /dev/null +++ b/src/main/java/a8k/app_eventbus/appevent/AppEvent.java @@ -0,0 +1,6 @@ +package a8k.app_eventbus.appevent; + +public class AppEvent { + + +} diff --git a/src/main/java/a8k/appbean/appevent/AppStepNotifyEvent.java b/src/main/java/a8k/app_eventbus/appevent/AppStepNotifyEvent.java similarity index 86% rename from src/main/java/a8k/appbean/appevent/AppStepNotifyEvent.java rename to src/main/java/a8k/app_eventbus/appevent/AppStepNotifyEvent.java index d17f708..f0107c9 100644 --- a/src/main/java/a8k/appbean/appevent/AppStepNotifyEvent.java +++ b/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; diff --git a/src/main/java/a8k/appbean/appevent/AppWarningNotifyEvent.java b/src/main/java/a8k/app_eventbus/appevent/AppWarningNotifyEvent.java similarity index 86% rename from src/main/java/a8k/appbean/appevent/AppWarningNotifyEvent.java rename to src/main/java/a8k/app_eventbus/appevent/AppWarningNotifyEvent.java index a9084d2..f0b3dc9 100644 --- a/src/main/java/a8k/appbean/appevent/AppWarningNotifyEvent.java +++ b/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; diff --git a/src/main/java/a8k/appbean/AppEventListener.java b/src/main/java/a8k/appbean/AppEventListener.java index b28c6e7..bbd36b8 100644 --- a/src/main/java/a8k/appbean/AppEventListener.java +++ b/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); diff --git a/src/main/java/a8k/appbean/HardwareException.java b/src/main/java/a8k/appbean/HardwareException.java index 45bef87..bd0019b 100644 --- a/src/main/java/a8k/appbean/HardwareException.java +++ b/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 diff --git a/src/main/java/a8k/appbean/appevent/AppEvent.java b/src/main/java/a8k/appbean/appevent/AppEvent.java deleted file mode 100644 index 80d77f1..0000000 --- a/src/main/java/a8k/appbean/appevent/AppEvent.java +++ /dev/null @@ -1,6 +0,0 @@ -package a8k.appbean.appevent; - -public class AppEvent { - - -} diff --git a/src/main/java/a8k/appbean/ecode/AppRet.java b/src/main/java/a8k/appbean/ecode/AppRet.java index 9c215d8..a7fa13b 100644 --- a/src/main/java/a8k/appbean/ecode/AppRet.java +++ b/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 { diff --git a/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java b/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java index 7d09018..7c42975 100644 --- a/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java +++ b/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; diff --git a/src/main/java/a8k/base_hardware/A8kCanBusService.java b/src/main/java/a8k/canbus/A8kCanBusService.java similarity index 89% rename from src/main/java/a8k/base_hardware/A8kCanBusService.java rename to src/main/java/a8k/canbus/A8kCanBusService.java index 46fec5e..915d403 100644 --- a/src/main/java/a8k/base_hardware/A8kCanBusService.java +++ b/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 { diff --git a/src/main/java/a8k/canbus/A8kModParamInitializer.java b/src/main/java/a8k/canbus/A8kModParamInitializer.java new file mode 100644 index 0000000..f60f2d7 --- /dev/null +++ b/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"); + } + + +} diff --git a/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java b/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java new file mode 100644 index 0000000..484cde6 --- /dev/null +++ b/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; + +} diff --git a/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamId.java b/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamId.java new file mode 100644 index 0000000..e4efea0 --- /dev/null +++ b/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; + } +} diff --git a/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java b/src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java new file mode 100644 index 0000000..3b703f3 --- /dev/null +++ b/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 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); + } +} diff --git a/src/main/java/a8k/a8k_can_protocol/A8kEcode.java b/src/main/java/a8k/canbus/protocol/A8kEcode.java similarity index 99% rename from src/main/java/a8k/a8k_can_protocol/A8kEcode.java rename to src/main/java/a8k/canbus/protocol/A8kEcode.java index 1c00edf..609374b 100644 --- a/src/main/java/a8k/a8k_can_protocol/A8kEcode.java +++ b/src/main/java/a8k/canbus/protocol/A8kEcode.java @@ -1,4 +1,4 @@ -package a8k.a8k_can_protocol; +package a8k.canbus.protocol; public enum A8kEcode { // diff --git a/src/main/java/a8k/a8k_can_protocol/A8kPacket.java b/src/main/java/a8k/canbus/protocol/A8kPacket.java similarity index 99% rename from src/main/java/a8k/a8k_can_protocol/A8kPacket.java rename to src/main/java/a8k/canbus/protocol/A8kPacket.java index a68c118..e90a980 100644 --- a/src/main/java/a8k/a8k_can_protocol/A8kPacket.java +++ b/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; diff --git a/src/main/java/a8k/a8k_can_protocol/CmdId.java b/src/main/java/a8k/canbus/protocol/CmdId.java similarity index 98% rename from src/main/java/a8k/a8k_can_protocol/CmdId.java rename to src/main/java/a8k/canbus/protocol/CmdId.java index 05f1570..1964d5c 100644 --- a/src/main/java/a8k/a8k_can_protocol/CmdId.java +++ b/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"),// diff --git a/src/main/java/a8k/a8k_can_protocol/IOId.java b/src/main/java/a8k/canbus/protocol/IOId.java similarity index 98% rename from src/main/java/a8k/a8k_can_protocol/IOId.java rename to src/main/java/a8k/canbus/protocol/IOId.java index d35ad28..e619741 100644 --- a/src/main/java/a8k/a8k_can_protocol/IOId.java +++ b/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 diff --git a/src/main/java/a8k/a8k_can_protocol/MId.java b/src/main/java/a8k/canbus/protocol/MId.java similarity index 98% rename from src/main/java/a8k/a8k_can_protocol/MId.java rename to src/main/java/a8k/canbus/protocol/MId.java index 8b02e4b..bbd800a 100644 --- a/src/main/java/a8k/a8k_can_protocol/MId.java +++ b/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"),// diff --git a/src/main/java/a8k/a8k_can_protocol/ModuleStatus.java b/src/main/java/a8k/canbus/protocol/ModuleStatus.java similarity index 92% rename from src/main/java/a8k/a8k_can_protocol/ModuleStatus.java rename to src/main/java/a8k/canbus/protocol/ModuleStatus.java index ff301d0..8f95d20 100644 --- a/src/main/java/a8k/a8k_can_protocol/ModuleStatus.java +++ b/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), // diff --git a/src/main/java/a8k/a8k_can_protocol/ModuleType.java b/src/main/java/a8k/canbus/protocol/ModuleType.java similarity index 95% rename from src/main/java/a8k/a8k_can_protocol/ModuleType.java rename to src/main/java/a8k/canbus/protocol/ModuleType.java index 053057c..94cf400 100644 --- a/src/main/java/a8k/a8k_can_protocol/ModuleType.java +++ b/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 diff --git a/src/main/java/a8k/a8k_can_protocol/RegIndex.java b/src/main/java/a8k/canbus/protocol/RegIndex.java similarity index 99% rename from src/main/java/a8k/a8k_can_protocol/RegIndex.java rename to src/main/java/a8k/canbus/protocol/RegIndex.java index 3c8dc37..b9f8514 100644 --- a/src/main/java/a8k/a8k_can_protocol/RegIndex.java +++ b/src/main/java/a8k/canbus/protocol/RegIndex.java @@ -1,4 +1,4 @@ -package a8k.a8k_can_protocol; +package a8k.canbus.protocol; public enum RegIndex { diff --git a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java index 3f29c9e..bf99325 100644 --- a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java +++ b/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; diff --git a/src/main/java/a8k/service/data_service/UsrMgrService.java b/src/main/java/a8k/service/data_service/UsrMgrService.java index 5a6a8a3..c5919ab 100644 --- a/src/main/java/a8k/service/data_service/UsrMgrService.java +++ b/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; diff --git a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java b/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java index 184540a..44b0887 100644 --- a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java +++ b/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; diff --git a/src/main/java/a8k/service/hardware/HbotControlService.java b/src/main/java/a8k/service/hardware/HbotControlService.java index 6f82194..5003133 100644 --- a/src/main/java/a8k/service/hardware/HbotControlService.java +++ b/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; diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java index f9a3721..88c2ef6 100644 --- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java +++ b/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()); } diff --git a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java b/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java index 87bfe1b..8610fa6 100644 --- a/src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java +++ b/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; diff --git a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java index 7eb3ae5..1487ffa 100644 --- a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java +++ b/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")