update

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

@@ -139,6 +139,10 @@ public class A8kCanBusService {
 		return new A8kPacket(buffer.array());
 	}
 
+
+
+
+
 	//
 	// module opeation
 	//
@@ -178,6 +182,26 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.kmodule_active_cfg);
 	}
 
+//	public static final int kxymotor_enable                               = 0x0301;
+//	public static final int kxymotor_move_by                              = 0x0302;
+//	public static final int kxymotor_move_to                              = 0x0303;
+//	public static final int kxymotor_move_to_zero                         = 0x0304;
+//	public static final int kxymotor_read_pos                             = 0x0306;
+//	public static final int kxymotor_read_inio_index_in_stm32             = 0x0307;
+//	public static final int kxymotor_read_inio                            = 0x0308;
+//	public static final int kxymotor_set_pos                              = 0x0309;
+//	public static final int kxymotor_motor_move_by_direct                 = 0x030a;
+//	public static final int kxymotor_read_enc_direct                      = 0x030b;
+
+	public void hbotEnable(MId mid, int enable) throws HardwareException {
+		callcmd(mid.toInt(), CmdId.kxymotor_enable, enable);
+	}
+
+	
+
+	
+
+
 	//
 	// stepMotor
 	//

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

@@ -25,12 +25,64 @@ public class DeviceInitializationCtrlService {
 	A8kCanBusService canBus;
 
 	@Resource
-	CommonHardwareOpeartion hardwareOpeartion;
+	CommonHardwareOpeartion commonHardOpera;
 
 	@Resource
 	SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams;
 
 
+	public AppEcode initializeDevice() {
+		logger.info("Initializing device ...");
+		try {
+			/*
+			 *	复位思路
+			 * 		硬件初始化:
+			 *		检查
+			 * 		复位
+			 * 		清空耗材
+			 */
+
+			AppEcode ecode;
+			//硬件光电初始化
+			ecode = hardwareStaticInit();
+			if (!ecode.isOk()) {
+				return ecode;
+			}
+
+			//检查设备状态
+			ecode = checkDeviceState();
+			if (!ecode.isOk()) {
+				return ecode;
+			}
+
+			//复位设备
+//			ecode = moveMotorToZero();
+//			if (!ecode.isOk()) {
+//				return ecode;
+//			}
+			//清空耗材
+
+
+		} catch (HardwareException e) {
+			logger.error("HardwareException %s", e);
+			throw new RuntimeException(e);
+		} catch (InterruptedException e) {
+			logger.error("InterruptedException", e);
+			throw new RuntimeException(e);
+		} finally {
+			try {
+				canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+				canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
+				canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
+				commonHardOpera.forceStopAndDisableAllMOtor();
+			} catch (HardwareException | InterruptedException ignored) {
+			}
+		}
+
+		return new AppEcode(A8kEcode.Success);
+	}
+
+
 	private AppEcode hardwareStaticInit() throws HardwareException, InterruptedException {
 		/*
 		 * 		硬件初始化:
@@ -39,7 +91,7 @@ public class DeviceInitializationCtrlService {
 		 * 			3.使能所有电机
 		 */
 
-		hardwareOpeartion.enableAllMotor();
+		commonHardOpera.enableAllMotor();
 
 		//打开必要的电源
 		canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true);
@@ -145,56 +197,4 @@ public class DeviceInitializationCtrlService {
 	}
 
 
-	public AppEcode initializeDevice() {
-		logger.info("Initializing device ...");
-		try {
-			/*
-			 *	复位思路
-			 * 		硬件初始化:
-			 *		检查
-			 * 		复位
-			 * 		清空耗材
-			 */
-
-			AppEcode ecode;
-			//硬件光电初始化
-			ecode = hardwareStaticInit();
-			if (!ecode.isOk()) {
-				return ecode;
-			}
-
-			//检查设备状态
-			ecode = checkDeviceState();
-			if (!ecode.isOk()) {
-				return ecode;
-			}
-
-			//复位设备
-			ecode = moveMotorToZero();
-			if (!ecode.isOk()) {
-				return ecode;
-			}
-
-			//清空耗材
-
-
-		} catch (HardwareException e) {
-			logger.error("HardwareException %s", e);
-			throw new RuntimeException(e);
-		} catch (InterruptedException e) {
-			logger.error("InterruptedException", e);
-			throw new RuntimeException(e);
-		} finally {
-			try {
-				canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
-				canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
-				canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
-			} catch (HardwareException | InterruptedException ignored) {
-			}
-		}
-
-		return new AppEcode(A8kEcode.Success);
-	}
-
-
 }

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

@@ -97,7 +97,8 @@ public class CommonHardwareOpeartion {
 
 	}
 
-	public void stopAllMOtor() {
+	public void forceStopAndDisableAllMOtor() {
+		//StopAllMotor
 		//进出料初始化
 		try {canBus.moduleStop(MId.FeedingModInfeedM);} catch (HardwareException ignored) {}
 		try {canBus.moduleStop(MId.FeedingModXM);} catch (HardwareException ignored) {}
@@ -122,5 +123,37 @@ public class CommonHardwareOpeartion {
 		//转盘归零
 		try {canBus.moduleStop(MId.IncubatorRotateCtrlM);} catch (HardwareException ignored) {}
 
+		//Disable all motor
+		//进出料初始化
+		try {canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.FeedingModXM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);} catch (HardwareException ignored) {}
+
+		//摇匀模组初始化
+		try {canBus.stepMotorEnable(MId.ShakeModClampingM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.ShakeModGripperZM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.ShakeModShakeM, 0);} catch (HardwareException ignored) {}
+		try {canBus.miniServoEnable(MId.ShakeModGripperYM, 0);} catch (HardwareException ignored) {}
+		try {canBus.miniServoEnable(MId.ShakeModGripperSV, 0);} catch (HardwareException ignored) {}
+		try {canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);} catch (HardwareException ignored) {}
+		try {canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 0);} catch (HardwareException ignored) {}
+
+		//板夹仓初始化
+		try {canBus.stepMotorEnable(MId.PlatesBoxYM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);} catch (HardwareException ignored) {}
+
+		//光学模组初始化
+		try {canBus.stepMotorEnable(MId.OptModPullM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {}
+
+		//HBot初始化
+		try {canBus.stepMotorEnable(MId.HbotM, 0);} catch (HardwareException ignored) {}
+		try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {}
+
+		//转盘归零
+		try {canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);} catch (HardwareException ignored) {}
+
 	}
+
+
 }