将错误码和应用错误码统一为A8kEcode

src/main/java/a8k/a8k_can_protocol/A8kEcode.java

@@ -0,0 +1,126 @@
+package a8k.a8k_can_protocol;
+
+public enum A8kEcode {
+	//
+	//	FOR APP
+	//
+	Success(0, "成功"), //
+	TubeNotHasHat(1, "全血试管未盖帽"), //
+	SampleLiquidLevelWasNotDetected(2, "取样时未探测到液面"),//
+	LargeBufferNotEnough(3, "大瓶缓冲液不足"), //
+	PasswdError(4, "密码错误"), //
+	UserDoesNotExist(5, "用户不存在"), //
+	GripperMPosError(6, "抓手舵机位置异常"), //
+	GripperZMPosError(8, "抓手升降电机位置异常"), //
+	GripperYMPosError(9, "抓手前后移动舵机位置异常"),//
+	TubesInShakeModule(10, "摇匀模组位置有试管"),//
+	PlateStuckDetectorSensorTrigger(11, "卡板检查光电触发"),//
+	PlateBoxNotCover(12, "板夹仓盖子未关闭"),//
+	PullerMInitPosError(13, "板夹钩爪电机没有处于转盘中央"),//
+	PusherMInitPosError(14, "板夹仓推杆电机没有处于零点位置"),//
+	RecycleBinOverflow(15, "回收仓满"),//
+	MotorLostStep(16,"电机丢步"),//
+
+	//
+	//	FOR HARDWARE
+	//
+
+	HardwareError(1001, "HardwareError"),//
+	ParamOutOfRange(1102, "ParamOutOfRange"),//
+	CmdNotSupport(1103, "CmdNotSupport"),//
+	DeviceIsBusy(1104, "DeviceIsBusy"),//
+	DeviceIsOffline(1105, "DeviceIsOffline"),//
+	Overtime(1106, "Overtime"),//
+	Noack(1107, "Noack"),//
+	Errorack(1108, "Errorack"),//
+	DeviceOffline(1109, "DeviceOffline"),//
+	SubdeviceOvertime(1111, "SubdeviceOvertime"),//
+	BufferNotEnough(1112, "BufferNotEnough"),//
+	CmdParamNumError(1114, "CmdParamNumError"),//
+	CheckcodeIsError(1115, "CheckcodeIsError"),//
+	IllegalOperation(1116, "IllegalOperation"),//
+	ActionOvertime(1117, "ActionOvertime"),//
+	ModuleOpeationBreakByUser(1202, "ModuleOpeationBreakByUser"),//
+	ModuleNotFindReg(1207, "ModuleNotFindReg"),//
+	XYMotorXFindZeroEdgeFail(1306, "XYMotorXFindZeroEdgeFail"),//
+	XYMotorYFindZeroEdgeFail(1307, "XYMotorYFindZeroEdgeFail"),//
+	XYMotorNotEnable(1308, "XYMotorNotEnable"),//
+	XYMotorTargetPosOutofRange(1309, "XYMotorTargetPosOutofRange"),//
+	PipetteErrorNoerror(1400, "PipetteErrorNoerror"),//
+	PipetteErrorInitfail(1401, "PipetteErrorInitfail"),//
+	PipetteErrorInvalidcmd(1402, "PipetteErrorInvalidcmd"),//
+	PipetteErrorInvalidarg(1403, "PipetteErrorInvalidarg"),//
+	PipetteErrorPressuresensorerror(1404, "PipetteErrorPressuresensorerror"),//
+	PipetteErrorOverpressure(1405, "PipetteErrorOverpressure"),//
+	PipetteErrorLlderror(1406, "PipetteErrorLlderror"),//
+	PipetteErrorDevicenotinit(1407, "PipetteErrorDevicenotinit"),//
+	PipetteErrorTippoperror(1408, "PipetteErrorTippoperror"),//
+	PipetteErrorPumpoverload(1409, "PipetteErrorPumpoverload"),//
+	PipetteErrorTipdrop(1410, "PipetteErrorTipdrop"),//
+	PipetteErrorCanbuserror(1411, "PipetteErrorCanbuserror"),//
+	PipetteErrorInvalidchecksum(1412, "PipetteErrorInvalidchecksum"),//
+	PipetteErrorEepromerror(1413, "PipetteErrorEepromerror"),//
+	PipetteErrorCmdbufferempty(1414, "PipetteErrorCmdbufferempty"),//
+	PipetteErrorCmdbufferoverflow(1415, "PipetteErrorCmdbufferoverflow"),//
+	PipetteErrorTipblock(1416, "PipetteErrorTipblock"),//
+	PipetteErrorAirsuction(1417, "PipetteErrorAirsuction"),//
+	PipetteErrorBubble(1418, "PipetteErrorBubble"),//
+	PipetteErrorVolumeerror(1419, "PipetteErrorVolumeerror"),//
+	PipetteErrorTipalreadyload(1420, "PipetteErrorTipalreadyload"),//
+	PipetteErrorTiploadfail(1421, "PipetteErrorTiploadfail"),//
+	PipetteErrorUninited(1501, "PipetteErrorUninited"),//
+	PipetteErrorNotLldPrepare(1502, "PipetteErrorNotLldPrepare"),//
+	PipetteErrorTipisloadWhenLldPrepare(1500, "PipetteErrorTipisloadWhenLldPrepare"),//
+	PipetteErrorPumpLoadValIsNotEmpty(1503, "PipetteErrorPumpLoadValIsNotEmpty"),//
+	StepMotorNotFoundZeroPoint(1600, "StepMotorNotFoundZeroPoint"),//
+	StepMotorNotGoZero(1601, "StepMotorNotGoZero"),//
+	StepMotorOverTemperature(1602, "StepMotorOverTemperature"),//
+	StepMotorOverVoltage(1603, "StepMotorOverVoltage"),//
+	StepMotorRunOvertime(1604, "StepMotorRunOvertime"),//
+	StepMotorNotEnable(1605, "StepMotorNotEnable"),//
+	StepMotorIoindexOutOfRange(1606, "StepMotorIoindexOutOfRange"),//
+	StepMotorSubicReset(1607, "StepMotorSubicReset"),//
+	StepMotorDrvErr(1608, "StepMotorDrvErr"),//
+	StepMotorUvCp(1609, "StepMotorUvCp"),//
+	StepMotorNotFoundPointEdge(1610, "StepMotorNotFoundPointEdge"),//
+	StepMotorLostStep(1611, "StepMotorLostStep"),//
+	MiniServoNotEnable(1700, "MiniServoNotEnable"),//
+	MiniServoModeNotSupport(1701, "MiniServoModeNotSupport"),//
+	FanHardwareFault(1800, "FanHardwareFault"),//
+	WaterCoolingFanError(1900, "WaterCoolingFanError"),//
+	WaterCoolingTemperatureSensorError(1902, "WaterCoolingTemperatureSensorError"),//
+	WaterCoolingPumpIsError(1903, "WaterCoolingPumpIsError"),//
+	WaterCoolingPelterIsError(1904, "WaterCoolingPelterIsError"),
+	;
+
+	public int    index;
+	public String chname;
+
+	A8kEcode(int index, String chname) {
+		this.index  = index;
+		this.chname = chname;
+	}
+
+	public int toInt() {
+		return index;
+	}
+
+	public static A8kEcode valueOf(int val) {
+		A8kEcode[] values = A8kEcode.values();
+		for (A8kEcode e : values) {
+			if (e.toInt() == val)
+				return e;
+		}
+		return null;
+	}
+
+	public static String toString(int val) {
+		A8kEcode[] values = A8kEcode.values();
+		for (A8kEcode e : values) {
+			if(e.toInt() == val){
+				return e.toString();
+			}
+		}
+		return "unkown("+val+")";
+	}
+}

src/main/java/a8k/a8k_can_protocol/A8kPacket.java

@@ -41,9 +41,11 @@ public class A8kPacket {
 		raw = new byte[cmd.length];
 		System.arraycopy(cmd, 0, raw, 0, cmd.length);
 	}
+
 	public void setPacketIndex(int packetIndex) {
 		ByteArray.setU16bit(raw, 0, packetIndex);
 	}
+
 	public int getPacketIndex() {
 		return ByteArray.readU16bit(raw, 0);
 	}
@@ -93,7 +95,7 @@ public class A8kPacket {
 				ret = String.format("[ACK  ] PI:0x%x (cmd:%s mid:%d :[%s])", getPacketIndex(), cmdIdInfo.name, getModuleId(), ByteArray.toByteString(getCmdContent()));
 			}
 		} else if (packetType == PACKET_TYPE_ERROR_ACK) {
-			ret = String.format("[EACK ] PI:0x%x (cmd:%s mid:%d :[%s])", getPacketIndex(), cmdIdInfo.name, getModuleId(), Errorcode.toString(getContentI32(0)));
+			ret = String.format("[EACK ] PI:0x%x (cmd:%s mid:%d :[%s])", getPacketIndex(), cmdIdInfo.name, getModuleId(), A8kEcode.toString(getContentI32(0)));
 		} else if (packetType == PACKET_TYPE_EVENT) {
 			if (cmdIdInfo.cmdAttachType == CmdIdInfo.ATTACH_IS_INT32) {
 				ret = String.format("[EVENT] PI:0x%x (cmd:%s mid:%d :[%s])", getPacketIndex(), cmdIdInfo.name, getModuleId(), formatInt32ATTACH(getCmdContent()));

src/main/java/a8k/a8k_can_protocol/Errorcode.java

@@ -1,172 +0,0 @@
-package a8k.a8k_can_protocol;
-
-public class Errorcode {
-
-    public static final int ksucc = (0 + 0);
-    public static final int kfail = (0 + 1);
-    /***********************************************************************************************************************
-     * 协议错误码 *
-     ***********************************************************************************************************************/
-    public static final int kparam_out_of_range = (100 + 2); // 参数超出范围
-    public static final int kcmd_not_support = (100 + 3); // 操作不支持
-    public static final int kdevice_is_busy = (100 + 4); // 设备忙
-    public static final int kdevice_is_offline = (100 + 5); // 设备离线
-    public static final int kovertime = (100 + 6);
-    public static final int knoack = (100 + 7);
-    public static final int kerrorack = (100 + 8);
-    public static final int kdevice_offline = (100 + 9);
-    public static final int ksubdevice_overtime = (100 + 11);
-    public static final int kbuffer_not_enough = (100 + 12);
-    public static final int kcmd_param_num_error = (100 + 14);
-    public static final int kcheckcode_is_error = (100 + 15);
-    public static final int killegal_operation = (100 + 16);
-    public static final int kaction_overtime = (100 + 17);
-    /***********************************************************************************************************************
-     * 模块错误码 *
-     ***********************************************************************************************************************/
-    public static final int kmodule_opeation_break_by_user = (200 + 2); // 用户中断
-    public static final int kmodule_not_find_reg = (200 + 7); // et 未找到配置索引
-
-    /***********************************************************************************************************************
-     * XY电机驱动错误码 *
-     ***********************************************************************************************************************/
-    public static final int kxymotor_x_find_zero_edge_fail = (300 + 6); // 离开零点失败
-    public static final int kxymotor_y_find_zero_edge_fail = (300 + 7); // 离开零点失败
-    public static final int kxymotor_not_enable = (300 + 8);
-    public static final int kxymotor_target_pos_outof_range = (300 + 9);
-    /***********************************************************************************************************************
-     * 移液枪错误码 *
-     ***********************************************************************************************************************/
-    public static final int kpipette_error_NoError = (400 + 0); // 无错误
-    public static final int kpipette_error_InitFail = (400 + 1); // 初始化失败
-    public static final int kpipette_error_InvalidCmd = (400 + 2); // 无效命令
-    public static final int kpipette_error_InvalidArg = (400 + 3); // 无效参数
-    public static final int kpipette_error_PressureSensorError = (400 + 4); // 压力传感器故障
-    public static final int kpipette_error_OverPressure = (400 + 5); // 超过压力
-    public static final int kpipette_error_LLDError = (400 + 6); // LLD 错误
-    public static final int kpipette_error_DeviceNotInit = (400 + 7); // 设备未初始化
-    public static final int kpipette_error_TipPopError = (400 + 8); // Tip 弹出错误
-    public static final int kpipette_error_PumpOverload = (400 + 9); // 泵过载
-    public static final int kpipette_error_TipDrop = (400 + 10); // Tip 脱落
-    public static final int kpipette_error_CanBusError = (400 + 11); // CAN 总线故障
-    public static final int kpipette_error_InvalidChecksum = (400 + 12); // 无效校验和
-    public static final int kpipette_error_EEPROMError = (400 + 13); // EEPROM 故障
-    public static final int kpipette_error_CmdBufferEmpty = (400 + 14); // 命令缓冲区为空
-    public static final int kpipette_error_CmdBufferOverflow = (400 + 15); // 命令溢出
-    public static final int kpipette_error_TipBlock = (400 + 16); // Tip 堵塞
-    public static final int kpipette_error_AirSuction = (400 + 17); // 吸入空气
-    public static final int kpipette_error_Bubble = (400 + 18); // 液体中有气泡/泡沫
-    public static final int kpipette_error_VolumeError = (400 + 19); // 吸取/分配量不准确
-    public static final int kpipette_error_TipAlreadyLoad = (400 + 20); // Tip已经装载
-    public static final int kpipette_error_TipLoadFail = (400 + 21);
-    public static final int kpipette_error_tipisload_when_lld_prepare = (500 + 0); // 未卸载Tip就进行LLD准备
-    public static final int kpipette_error_uninited = (500 + 1); // 泵机未初始化
-    public static final int kpipette_error_not_lld_prepare = (500 + 2); // 为执行lld_prepare
-    public static final int kpipette_error_pump_load_val_is_not_empty = (500 + 3); // 为执行lld_prepare
-
-    /***********************************************************************************************************************
-     * 步进电机错误码 *
-     ***********************************************************************************************************************/
-    public static final int kstep_motor_not_found_zero_point = (600 + 0); // 未找到零点
-    public static final int kstep_motor_not_go_zero = (600 + 1); // 设备未归零
-    public static final int kstep_motor_over_temperature = (600 + 2); // 过温
-    public static final int kstep_motor_over_voltage = (600 + 3); // 过压
-    public static final int kstep_motor_run_overtime = (600 + 4); // 运行超时
-    public static final int kstep_motor_not_enable = (600 + 5); // 电机未使能
-    public static final int kstep_motor_ioindex_out_of_range = (600 + 6); // IO超出范围
-    public static final int kstep_motor_subic_reset = (600 + 7); // 子IC复位
-    public static final int kstep_motor_drv_err = (600 + 8); // 驱动器异常
-    public static final int kstep_motor_uv_cp = (600 + 9); // 驱动器异常
-    public static final int kstep_motor_not_found_point_edge = (600 + 10); // 未找到零点
-    public static final int kstep_motor_lost_step = (600 + 11); // 电机丢步
-    /***********************************************************************************************************************
-     * 舵机错误码 *
-     ***********************************************************************************************************************/
-    public static final int kmini_servo_not_enable = (700 + 0); //
-    public static final int kmini_servo_mode_not_support = (700 + 1); //
-    /***********************************************************************************************************************
-     * 风扇错误码 *
-     ***********************************************************************************************************************/
-    public static final int kfan_hardware_fault = (800 + 0); //
-
-    /***********************************************************************************************************************
-     * 水冷错误码 *
-     ***********************************************************************************************************************/
-    public static final int kwater_cooling_fan_error = (900 + 0); //
-    public static final int kwater_cooling_temperature_sensor_error = (900 + 2); //
-    public static final int kwater_cooling_pump_is_error = (900 + 3); //
-    public static final int kwater_cooling_pelter_is_error = (900 + 4); //
-
-    static public String toString(Integer ecode) {
-		return switch (ecode) {
-			case ksucc -> "ksucc";
-			case kfail -> "kfail";
-			case kparam_out_of_range -> "kparam_out_of_range";
-			case kcmd_not_support -> "kcmd_not_support";
-			case kdevice_is_busy -> "kdevice_is_busy";
-			case kdevice_is_offline -> "kdevice_is_offline";
-			case kovertime -> "kovertime";
-			case knoack -> "knoack";
-			case kerrorack -> "kerrorack";
-			case kdevice_offline -> "kdevice_offline";
-			case ksubdevice_overtime -> "ksubdevice_overtime";
-			case kbuffer_not_enough -> "kbuffer_not_enough";
-			case kcmd_param_num_error -> "kcmd_param_num_error";
-			case kcheckcode_is_error -> "kcheckcode_is_error";
-			case killegal_operation -> "killegal_operation";
-			case kaction_overtime -> "kaction_overtime";
-			case kmodule_opeation_break_by_user -> "kmodule_opeation_break_by_user";
-			case kmodule_not_find_reg -> "kmodule_not_find_reg";
-			case kxymotor_x_find_zero_edge_fail -> "kxymotor_x_find_zero_edge_fail";
-			case kxymotor_y_find_zero_edge_fail -> "kxymotor_y_find_zero_edge_fail";
-			case kxymotor_not_enable -> "kxymotor_not_enable";
-			case kxymotor_target_pos_outof_range -> "kxymotor_target_pos_outof_range";
-			case kpipette_error_NoError -> "kpipette_error_NoError";
-			case kpipette_error_InitFail -> "kpipette_error_InitFail";
-			case kpipette_error_InvalidCmd -> "kpipette_error_InvalidCmd";
-			case kpipette_error_InvalidArg -> "kpipette_error_InvalidArg";
-			case kpipette_error_PressureSensorError -> "kpipette_error_PressureSensorError";
-			case kpipette_error_OverPressure -> "kpipette_error_OverPressure";
-			case kpipette_error_LLDError -> "kpipette_error_LLDError";
-			case kpipette_error_DeviceNotInit -> "kpipette_error_DeviceNotInit";
-			case kpipette_error_TipPopError -> "kpipette_error_TipPopError";
-			case kpipette_error_PumpOverload -> "kpipette_error_PumpOverload";
-			case kpipette_error_TipDrop -> "kpipette_error_TipDrop";
-			case kpipette_error_CanBusError -> "kpipette_error_CanBusError";
-			case kpipette_error_InvalidChecksum -> "kpipette_error_InvalidChecksum";
-			case kpipette_error_EEPROMError -> "kpipette_error_EEPROMError";
-			case kpipette_error_CmdBufferEmpty -> "kpipette_error_CmdBufferEmpty";
-			case kpipette_error_CmdBufferOverflow -> "kpipette_error_CmdBufferOverflow";
-			case kpipette_error_TipBlock -> "kpipette_error_TipBlock";
-			case kpipette_error_AirSuction -> "kpipette_error_AirSuction";
-			case kpipette_error_Bubble -> "kpipette_error_Bubble";
-			case kpipette_error_VolumeError -> "kpipette_error_VolumeError";
-			case kpipette_error_TipAlreadyLoad -> "kpipette_error_TipAlreadyLoad";
-			case kpipette_error_TipLoadFail -> "kpipette_error_TipLoadFail";
-			case kpipette_error_tipisload_when_lld_prepare -> "kpipette_error_tipisload_when_lld_prepare";
-			case kpipette_error_uninited -> "kpipette_error_uninited";
-			case kpipette_error_not_lld_prepare -> "kpipette_error_not_lld_prepare";
-			case kpipette_error_pump_load_val_is_not_empty -> "kpipette_error_pump_load_val_is_not_empty";
-			case kstep_motor_not_found_zero_point -> "kstep_motor_not_found_zero_point";
-			case kstep_motor_not_go_zero -> "kstep_motor_not_go_zero";
-			case kstep_motor_over_temperature -> "kstep_motor_over_temperature";
-			case kstep_motor_over_voltage -> "kstep_motor_over_voltage";
-			case kstep_motor_run_overtime -> "kstep_motor_run_overtime";
-			case kstep_motor_not_enable -> "kstep_motor_not_enable";
-			case kstep_motor_ioindex_out_of_range -> "kstep_motor_ioindex_out_of_range";
-			case kstep_motor_subic_reset -> "kstep_motor_subic_reset";
-			case kstep_motor_drv_err -> "kstep_motor_drv_err";
-			case kstep_motor_uv_cp -> "kstep_motor_uv_cp";
-			case kstep_motor_not_found_point_edge -> "kstep_motor_not_found_point_edge";
-			case kstep_motor_lost_step -> "kstep_motor_lost_step";
-			case kmini_servo_not_enable -> "kmini_servo_not_enable";
-			case kmini_servo_mode_not_support -> "kmini_servo_mode_not_support";
-			case kfan_hardware_fault -> "kfan_hardware_fault";
-			case kwater_cooling_fan_error -> "kwater_cooling_fan_error";
-			case kwater_cooling_temperature_sensor_error -> "kwater_cooling_temperature_sensor_error";
-			case kwater_cooling_pump_is_error -> "kwater_cooling_pump_is_error";
-			case kwater_cooling_pelter_is_error -> "kwater_cooling_pelter_is_error";
-			default -> "unkown" + "(" + ecode + ")";
-		};
-	}
-}

src/main/java/a8k/appbean/AppErrorCode.java

@@ -1,38 +0,0 @@
-package a8k.appbean;
-
-public enum AppErrorCode {
-	Success("成功", 0), //
-	TubeNotHasHat("全血试管未盖帽", 1), //
-	SampleLiquidLevelWasNotDetected("取样时未探测到液面", 2),//
-	LargeBufferNotEnough("大瓶缓冲液不足", 3), //
-	PasswdError("密码错误", 4), //
-	UserDoesNotExist("用户不存在", 5), //
-	GripperMPosError("抓手舵机位置异常", 6), //
-	GripperZMPosError("抓手升降电机位置异常", 8), //
-	GripperYMPosError("抓手前后移动舵机位置异常", 9),//
-	TubesInShakeModule("摇匀模组位置有试管", 10),//
-	PlateStuckDetectorSensorTrigger("卡板检查光电触发", 11),//
-	PlateBoxNotCover("板夹仓盖子未关闭", 12),//
-
-	PullerMInitPosError("板夹钩爪电机没有处于转盘中央", 13),//
-	PusherMInitPosError("板夹仓推杆电机没有处于零点位置", 14),//
-	RecycleBinOverflow("回收仓满", 15),//
-	;
-
-	final private String chName;
-	final private int    errorIndex;
-
-	private AppErrorCode(String chname, int errorIndex) {
-		this.chName     = chname;
-		this.errorIndex = errorIndex;
-	}
-
-	public String getChName() {
-		return chName;
-	}
-
-	public int getErrorCode() {
-		return errorIndex;
-	}
-
-}

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

@@ -1,6 +1,6 @@
 package a8k.appbean;
 
-import a8k.a8k_can_protocol.Errorcode;
+import a8k.a8k_can_protocol.A8kEcode;
 import a8k.a8k_can_protocol.ModId;
 
 public class HardwareException extends Exception {
@@ -14,7 +14,7 @@ public class HardwareException extends Exception {
 	}
 
 	public HardwareException(int moduleId, int HardwareErrorCode) {
-		super(String.format("Module ID %s has error code %s", ModId.ModuleId2Name(moduleId), Errorcode.toString(HardwareErrorCode)));
+		super(String.format("Module ID %s has error code %s", ModId.ModuleId2Name(moduleId), A8kEcode.toString(HardwareErrorCode)));
 		this.errorCode = HardwareErrorCode;
 		this.moduleId  = moduleId;
 	}

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

@@ -1,25 +1,25 @@
 package a8k.appbean.ecode;
 
 import a8k.a8k_can_protocol.MId;
-import a8k.appbean.AppErrorCode;
+import a8k.a8k_can_protocol.A8kEcode;
 
 public class AppEcode {
-	public AppErrorCode errorCode;
+	public A8kEcode errorCode;
 	public MId          mid;
 
 
-	public AppEcode(AppErrorCode errorCode, MId mid) {
+	public AppEcode(A8kEcode errorCode, MId mid) {
 		this.errorCode = errorCode;
 		this.mid       = mid;
 	}
 
-	public AppEcode(AppErrorCode errorCode) {
+	public AppEcode(A8kEcode errorCode) {
 		this.errorCode = errorCode;
 		this.mid       = MId.NotSet;
 	}
 
 	public boolean isOk() {
-		return errorCode == AppErrorCode.Success;
+		return errorCode == A8kEcode.Success;
 	}
 
 	public MId getMid() {

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

@@ -285,7 +285,7 @@ public class A8kCanBusService {
 		} else if (ioid.mtype == ModuleType.kmini_servo_motor_module) {
 			return callcmd(ioid.mid, CmdId.kmini_servo_read_io_state, ioid.ioIndex).getContentI32(0) != 0;
 		} else {
-			throw new HardwareException(ioid.mid, Errorcode.killegal_operation);
+			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation.toInt());
 		}
 	}
 
@@ -293,7 +293,7 @@ public class A8kCanBusService {
 		if (ioid.mtype == ModuleType.kboard) {
 			callcmd(ioid.mid, CmdId.kextboard_write_outio, ioid.ioIndex, val ? 1 : 0);
 		} else {
-			throw new HardwareException(ioid.mid, Errorcode.killegal_operation);
+			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation.toInt());
 		}
 	}
 
@@ -311,7 +311,7 @@ public class A8kCanBusService {
 			}
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(mid.toInt(), Errorcode.kovertime);
+				throw new HardwareException(mid.toInt(), A8kEcode.Overtime.toInt());
 			}
 
 			Thread.sleep(100);
@@ -389,7 +389,7 @@ public class A8kCanBusService {
 			try {
 				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
 			} catch (HardwareException e) {
-				if (e.getErrorCode() != Errorcode.kovertime) {
+				if (e.getErrorCode() != A8kEcode.Overtime.toInt()); {
 					throw e;
 				}
 			}
@@ -416,7 +416,7 @@ public class A8kCanBusService {
 
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
+				throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
 			}
 
 			Thread.sleep(100);
@@ -443,11 +443,11 @@ public class A8kCanBusService {
 			receipt = receiptQueue.poll(overtime, TimeUnit.MILLISECONDS);
 		} catch (InterruptedException e) {
 			isWaitingReceipt = false;
-			throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
+			throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
 		}
 		isWaitingReceipt = false;
 		if (receipt == null) {
-			throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
+			throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
 		}
 
 		if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {

src/main/java/a8k/controller/TmpTestController.java

@@ -2,7 +2,6 @@ package a8k.controller;
 
 import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.ModId;
-import a8k.appbean.AppErrorCode;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppEcode;
 import a8k.base_hardware.A8kCanBusService;

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

@@ -1,8 +1,8 @@
 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.appbean.AppErrorCode;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppEcode;
 import a8k.base_hardware.A8kCanBusService;
@@ -43,47 +43,46 @@ public class DeviceInitializationCtrlService {
 		//   试管夹紧电机打开一点，好方便有试管夹住的时，突然断电时，将试管取出
 		canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
 		canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
-
-		return new AppEcode(AppErrorCode.Success);
+		return new AppEcode(A8kEcode.Success);
 	}
 
 	private AppEcode checkDeviceState() throws HardwareException {
 		//试管平移通道是否有障碍
 		if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
 			logger.warn("THChInterPPS or THChOuterPPS is trigger");
-			return new AppEcode(AppErrorCode.PlateStuckDetectorSensorTrigger);
+			return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger);
 		}
 
 		//板夹仓盖子是否盖上
 		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
 			logger.warn("PlateBoxCoverClosure is open");
-			return new AppEcode(AppErrorCode.PlateBoxNotCover);
+			return new AppEcode(A8kEcode.PlateBoxNotCover);
 		}
 
 		//板夹仓卡板检测
 		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
 			logger.warn("PlateBoxPlateStuckPPS is trigger");
-			return new AppEcode(AppErrorCode.PlateStuckDetectorSensorTrigger);
+			return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger);
 		}
 
 		//检查钩板电机是否处于终点位置
 		if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
 			logger.warn("PullerM is not in zero pos");
-			return new AppEcode(AppErrorCode.PullerMInitPosError);
+			return new AppEcode(A8kEcode.PullerMInitPosError);
 		}
 
 		//检查板夹仓光电是否处于起点位置
 		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
 			logger.warn("PusherM is not in zero pos");
-			return new AppEcode(AppErrorCode.PusherMInitPosError);
+			return new AppEcode(A8kEcode.PusherMInitPosError);
 		}
 		//板夹仓光电
 		if (canBus.getIOState(IOId.RecycleBinOverflowPPS)) {
 			logger.warn("RecycleBinOverflow is trigger");
-			return new AppEcode(AppErrorCode.RecycleBinOverflow);
+			return new AppEcode(A8kEcode.RecycleBinOverflow);
 		}
 
-		return new AppEcode(AppErrorCode.Success);
+		return new AppEcode(A8kEcode.Success);
 	}
 
 	private AppEcode moveMotorToZero() throws HardwareException, InterruptedException {
@@ -137,7 +136,7 @@ public class DeviceInitializationCtrlService {
 
 		//canBus.waitForMod(MId.ShakeModGripperZM, actionOvertime);
 
-		return new AppEcode(AppErrorCode.Success);
+		return new AppEcode(A8kEcode.Success);
 	}
 
 
@@ -183,7 +182,7 @@ public class DeviceInitializationCtrlService {
 		}
 
 
-		return new AppEcode(AppErrorCode.Success);
+		return new AppEcode(A8kEcode.Success);
 	}
 
 

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

@@ -1,6 +1,6 @@
 package a8k.service.data_service;
 
-import a8k.appbean.AppErrorCode;
+import a8k.a8k_can_protocol.A8kEcode;
 import a8k.service.appdb.dao.AppUsrDao;
 import a8k.service.appdb.entity.AppUsr;
 import a8k.service.state_service.A8kStateMgrService;
@@ -32,13 +32,13 @@ public class UsrMgrService {
 	}
 
 	//TODO
-	public AppErrorCode addUsr(AppUsr usr) {
-		return AppErrorCode.Success;
+	public A8kEcode addUsr(AppUsr usr) {
+		return A8kEcode.Success;
 	}
 
 	//TODO
-	public AppErrorCode updateUsr(String uname, String passwd) {
-		return AppErrorCode.Success;
+	public A8kEcode updateUsr(String uname, String passwd) {
+		return A8kEcode.Success;
 	}
 
 
@@ -51,13 +51,13 @@ public class UsrMgrService {
 	 *
 	 *
 	 */
-	public AppErrorCode verifyAndLoginAppUsr(Integer loginType, String uname, String passwd) {
+	public A8kEcode verifyAndLoginAppUsr(Integer loginType, String uname, String passwd) {
 		/*
 		 *TODO
 		 * 实现描述:
 		 * 		1. 校验成功,则调用A8kStateMgrService.loginAppUsr 或者 A8kStateMgrService.loginDebugPageUsr
 		 */
-		return AppErrorCode.UserDoesNotExist;
+		return A8kEcode.UserDoesNotExist;
 	}
 
 

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

@@ -1,6 +1,6 @@
 package a8k.service.hardware;
 
-import a8k.appbean.AppErrorCode;
+import a8k.a8k_can_protocol.A8kEcode;
 
 /**
  * Hbot控制服务
@@ -26,10 +26,11 @@ public class HbotControlService {
 	}
 
 	//丢tip
-	public AppErrorCode dropTip() {
-		return AppErrorCode.Success;
+	public A8kEcode dropTip() {
+		return A8kEcode.Success;
 	}
 
+
 	//扫描板夹仓二维码
 	public String scanPlatesCode(int index, int overtime) {
 		return "";

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

@@ -69,7 +69,7 @@ public class MotorTubeRackMoveCtrlService {
 		var dval = a8kCanBusService.module_read_reg(ModId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
 
 		if (Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal) {
-			throw new HardwareException(ModId.FeedingModXM, Errorcode.kstep_motor_lost_step);
+			throw new HardwareException(ModId.FeedingModXM, A8kEcode.MotorLostStep.toInt());
 		}
 
 		//先通过move_to 指令移动到零点

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

@@ -1,9 +1,9 @@
 package a8k.service.hardware;
 
+import a8k.a8k_can_protocol.A8kEcode;
 import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.ModId;
 import a8k.appbean.A8kTubeType;
-import a8k.appbean.AppErrorCode;
 import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kTubeInfoDao;
@@ -102,6 +102,7 @@ public class SamplesPreProcessModuleCtrlService {
 			CmdId.kmini_servo_enable,
 			enable ? 1 : 0
 		);
+
 	}
 
 
@@ -118,7 +119,7 @@ public class SamplesPreProcessModuleCtrlService {
 	 * @param tubeType TubeType_HighBlood,TubeType_ShortBlood,TubeType_Mini,TubeType_MiniBlood,TubeType_BulletTube1P5,TubeType_BulletTube0P5
 	 * @param judgeCapExist 是否判断试管帽子存在与否
 	 */
-	public AppErrorCode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
+	public A8kEcode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			ModId.ShakeModGripperYM,
@@ -155,7 +156,7 @@ public class SamplesPreProcessModuleCtrlService {
 				CmdId.kmini_servo_read_pos
 			);
 			if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) {
-				return AppErrorCode.TubeNotHasHat;
+				return A8kEcode.TubeNotHasHat;
 			}
 		}
 
@@ -217,13 +218,13 @@ public class SamplesPreProcessModuleCtrlService {
 		 		4. 无论是否抓取成功，只要不向外抛出异常，方法结束时，该模块涉及到组件均需要返回待机位置。
 		 */
 
-		return AppErrorCode.Success;
+		return A8kEcode.Success;
 	}
 
 	/**
 	 * 取试管帽
 	 */
-	public AppErrorCode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
+	public A8kEcode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			ModId.ShakeModGripperYM,
@@ -271,7 +272,7 @@ public class SamplesPreProcessModuleCtrlService {
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
-		return AppErrorCode.Success;
+		return A8kEcode.Success;
 	}
 
 	/**