From 4bebd7a7e2ec73d4950a51ec409bb48d542bb037 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 26 Oct 2024 19:21:22 +0800 Subject: [PATCH] update --- .../a8k/hardware/type/a8kcanprotocol/A8kEcode.java | 1 + .../ctrlservice/TubePreProcesCtrlService.java | 14 +-- .../app/devicectrl/driver/PipetteCtrlDriver.java | 19 ++-- .../calibration/HbotLittleBSPosCalibration.java | 1 - .../HbotProbeSubstancePosCalibration.java | 1 - .../calibration/PipetteGunLLDParamCalibration.java | 103 +++++++++++++++++++-- .../param/ext_param_mgr/PipetteGunParamExMgr.java | 16 ++-- .../param/param_mgr/PipetteGunLLDParamMgr.java | 21 +++-- .../devicectrl/param/type/PipetteGunLLDParam.java | 13 --- .../param/type/PipetteGunLLDThresholdParam.java | 12 +++ .../param/type/PipetteGunLLDTypeParam.java | 11 +++ .../app/devicectrl/script/DeviceCtrlScripter.java | 1 + src/main/java/a8k/type/ecode/AppCommonError.java | 14 +++ src/main/java/a8k/type/exception/AppException.java | 20 ++-- src/main/resources/app.db | Bin 225280 -> 225280 bytes 15 files changed, 184 insertions(+), 63 deletions(-) delete mode 100644 src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDParam.java create mode 100644 src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDThresholdParam.java create mode 100644 src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDTypeParam.java create mode 100644 src/main/java/a8k/type/ecode/AppCommonError.java diff --git a/src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java b/src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java index 4e259e9..72346f4 100644 --- a/src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java +++ b/src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java @@ -4,6 +4,7 @@ public enum A8kEcode { SUC(0), MUTI_APPEXCEPTIONS(1),//内置，无需关心 + COMMON_ERROR(2),//通用错误，只需显示携带错误信息 /* * 代码错误，代码没有BUG的情况下，不应该出现的错误 */ diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java index 79f866e..30c3e52 100644 --- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java +++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java @@ -55,23 +55,23 @@ public class TubePreProcesCtrlService { //Z轴在原点 if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModGripperZM, 0)) { - throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperZM); + throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperZM); } //Y轴在零点附近 if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperYSV), 30)) { - throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV); + throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV); } //夹爪没有零位置 if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) { - throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV); + throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV); } -// // 检查摇匀夹紧是否在零位 -// if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) { -// throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM); -// } + // // 检查摇匀夹紧是否在零位 + // if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) { + // throw AppException.of(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM); + // } // // Reset some motor diff --git a/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java b/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java index 00eac83..7542dc1 100644 --- a/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java +++ b/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java @@ -14,6 +14,8 @@ import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.databind.node.ObjectNode; import jakarta.annotation.PostConstruct; import jakarta.annotation.Resource; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import org.springframework.stereotype.Component; import java.util.List; @@ -34,6 +36,7 @@ import java.util.List; @ExtApiTab(cfg = ExtApiTabConfig.A8kPipetteCtrlModule) public class PipetteCtrlDriver { + private static final Logger log = LoggerFactory.getLogger(PipetteCtrlDriver.class); @Resource A8kCanBusService canBusService; @@ -147,46 +150,42 @@ public class PipetteCtrlDriver { @ExtApiFn(name = "设置LLDAndLLF起始位置", order = FnOrder.setStartZ) public void setStartZ(Integer startZ) throws AppException { + log.info("setStartZ:{}", startZ); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_startz.toInt(), startZ); } @ExtApiFn(name = "设置LLDAndLLF结束位置", order = FnOrder.setEndZ) public void setEndZ(Integer endZ) throws AppException { + log.info("setEndZ:{}", endZ); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_endz.toInt(), endZ); } @ExtApiFn(name = "设置LLD类型", order = FnOrder.setLldType) public void setLldType(LldType lldType) throws AppException { + log.info("setLldType:{}", lldType); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_type.toInt(), lldType.getIndex()); } @ExtApiFn(name = "设置LLD.C阈值", order = FnOrder.setLldCThreshold) public void setLldCThreshold(Integer cThreshold) throws AppException { + log.info("setLldCThreshold:{}", cThreshold); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_c_threshold.toInt(), cThreshold); } @ExtApiFn(name = "设置LLD.P阈值", order = FnOrder.setLldPThreshold) public void setLldPThreshold(Integer pThreshold) throws AppException { + log.info("setLldPThreshold:{}", pThreshold); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_set_lld_p_threshold.toInt(), pThreshold); } @ExtApiFn(name = "LLD.准备", order = FnOrder.lldPrepareBlock) public void lldPrepareBlock() throws AppException { + log.info("lldPrepareBlock"); canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_lld_prepare.toInt()); canBusService.waitForMod(MId.PipetteMod, overtime); // zMotorMoveToBlock(startPos); } - - public void lldBlock(LldType type, Integer startz, Integer endz, Integer c_thres, Integer p_thres) throws AppException { - setStartZ(startz); - setEndZ(endz); - setLldType(type); - setLldCThreshold(c_thres); - setLldPThreshold(p_thres); - lldBlock(); - } - @ExtApiFn(name = "LLD.Do", order = FnOrder.lldBlock) public void lldBlock() throws AppException { diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java index 0fae143..968e059 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java @@ -68,7 +68,6 @@ public class HbotLittleBSPosCalibration { enableModule(); pipetteCtrlDriver.zMotorMoveZeroBlock(); hbotBaseMoveExDriver.moveToZero(); - disableModule(); } @ExtApiFn(name = "获取坐标", group = "测试工具", order = 2) diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java index e910d99..bc2a914 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java @@ -71,7 +71,6 @@ public class HbotProbeSubstancePosCalibration { enableModule(); pipetteCtrlDriver.zMotorMoveZeroBlock(); hbotBaseMoveExDriver.moveToZero(); - disableModule(); } @ExtApiFn(name = "获取坐标", group = "测试工具", order = 2) diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java index 7a5198e..a6bca10 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java @@ -3,9 +3,13 @@ package a8k.service.app.devicectrl.param.calibration; import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; import a8k.extapi_controler.utils.ExtApiFn; import a8k.extapi_controler.utils.ExtApiTab; +import a8k.hardware.type.LldType; +import a8k.service.app.devicectrl.driver.PipetteCtrlDriver; +import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver; +import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver; import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr; -import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam; -import a8k.service.app.devicectrl.param.type.PipetteGunLLFParam; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam; import a8k.type.exception.AppException; import jakarta.annotation.Resource; import org.springframework.stereotype.Component; @@ -17,16 +21,103 @@ public class PipetteGunLLDParamCalibration { @Resource PipetteGunLLDParamMgr pipetteGunLLDParamMgr; - @ExtApiFn(name = "获取相关参数", group = "基础", order = 1) + @Resource + PipetteCtrlDriver pipetteCtrlDriver; + @Resource + HbotBaseMoveExDriver hbotBaseMoveExDriver; + @Resource + MotorEnableExDriver motorEnableExDriver; + + + // 测试工具 + // @ExtApiFn(name = "归零", group = "基础", order = 1) + // public void moveToZero() throws AppException { + // enableModule(); + // pipetteCtrlDriver.zMotorMoveZeroBlock(); + // } + + @ExtApiFn(name = "移液枪初始化(Tip会掉落)", group = "基础", order = 2) + public void pipetteInitDeviceBlock() throws AppException { + pipetteCtrlDriver.pipetteInitDeviceBlock(); + + } + + @ExtApiFn(name = "使能相关模块", group = "基础", order = 3) + public void enableModule() throws AppException { + pipetteCtrlDriver.zMotorEnable(1); + } + + @ExtApiFn(name = "失能相关模块", group = "基础", order = 4) + public void disableModule() throws AppException { + motorEnableExDriver.forceDisableAllMotor(); + } + + @ExtApiFn(name = "获取相关参数", group = "基础", order = 5) public Object getParams() throws AppException { return pipetteGunLLDParamMgr.getParams(); } - @ExtApiFn(name = "设置参数", group = "设置", order = 1) - public void setParam(PipetteGunLLFParam param, Integer val) throws AppException { - pipetteGunLLDParamMgr.setParam(param.chName, val); + Integer lldStartPos; + Integer lldEndPos; + + @ExtApiFn(name = "设置LLD开始位置", group = "测试", order = 100) + public void setStartTestPos() throws AppException { + pipetteCtrlDriver.zMotorEnable(1); + pipetteCtrlDriver.zMotorMeasureDistance(); + lldStartPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult(); + pipetteCtrlDriver.zMotorEnable(0); + } + + @ExtApiFn(name = "设置LLD结束位置", group = "测试", order = 101) + public void setEndTestPos() throws AppException { + pipetteCtrlDriver.zMotorEnable(1); + pipetteCtrlDriver.zMotorMeasureDistance(); + lldEndPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult(); + pipetteCtrlDriver.zMotorEnable(0); } + @ExtApiFn(name = "LLD准备(每次LLD前都要调用一次，同时更换tip头)", group = "测试", order = 102) + public void lldPrepare() throws AppException { + pipetteCtrlDriver.zMotorEnable(1); + pipetteCtrlDriver.zMotorMoveZeroBlock(); + pipetteCtrlDriver.lldPrepareBlock(); + } + + @ExtApiFn(name = "LDD测量液体属性", group = "测试", order = 103) + public Object lldCalibrate() throws AppException { + if (lldStartPos > lldEndPos) { + throw AppException.of("开始位置大于结束位置"); + } + + pipetteCtrlDriver.zMotorEnable(1); + pipetteCtrlDriver.zMotorMoveZeroBlock(); + pipetteCtrlDriver.setStartZ(lldStartPos); + pipetteCtrlDriver.setEndZ(lldEndPos); + pipetteCtrlDriver.lldCalibrationBlock(); + return pipetteCtrlDriver.getSensorSampleData(); + } + @ExtApiFn(name = "LLD测试", group = "测试", order = 104) + public void lldTest(LldType type, Integer c_val, Integer p_val) throws AppException { + pipetteCtrlDriver.zMotorEnable(1); + pipetteCtrlDriver.zMotorMoveZeroBlock(); + pipetteCtrlDriver.setStartZ(lldStartPos); + pipetteCtrlDriver.setEndZ(lldEndPos); + pipetteCtrlDriver.setLldType(type); + pipetteCtrlDriver.setLldCThreshold(c_val); + pipetteCtrlDriver.setLldPThreshold(p_val); + pipetteCtrlDriver.lldBlock(); + } + + + @ExtApiFn(name = "设置参数", group = "设置", order = 200) + public void setDefaultCThread(PipetteGunLLDThresholdParam param, Integer val) throws AppException { + pipetteGunLLDParamMgr.setParam(param, val); + } + + @ExtApiFn(name = "设置默认LLD方式", group = "设置", order = 201) + public void setLLDType(PipetteGunLLDTypeParam param, LldType type) throws AppException { + pipetteGunLLDParamMgr.setParam(param, type.name()); + } } diff --git a/src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java b/src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java index dcc8dbc..9e9b663 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java +++ b/src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java @@ -10,8 +10,8 @@ import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr; import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr; import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLFParamMgr; import a8k.service.app.devicectrl.param.type.A8kSamplePos; -import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam; -import a8k.service.app.devicectrl.param.type.PipetteGunLLFParam; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam; import a8k.type.ConsumableGroup; import a8k.type.cfg.Pos3d; import a8k.type.type.A8kTubeHolderType; @@ -50,11 +50,11 @@ public class PipetteGunParamExMgr { Pos3d sampleEndPos = hbotSamplePosParamMgr.getSampleEndPos(samplePos); paramPack = new LLDParamPack(); - paramPack.type = LldType.kplld; + paramPack.type = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE); paramPack.startZ = sampleStartPos.z; paramPack.endZ = sampleEndPos.z; - paramPack.cThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_C_THRESHOLD); - paramPack.pThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_P_THRESHOLD); + paramPack.cThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_C_THRESHOLD); + paramPack.pThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_P_THRESHOLD); } case TAKE_LARGE_BUFFER_SOLUTION -> { ConsumableGroup group = cxt.consumable.getGroup(); @@ -62,11 +62,11 @@ public class PipetteGunParamExMgr { var sEndPos = hbotLargeBottleBSPosMgr.getSamplePosEnd(group); paramPack = new LLDParamPack(); - paramPack.type = LldType.kmixlld; + paramPack.type = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE); paramPack.startZ = sStartPos.z; paramPack.endZ = sEndPos.z; - paramPack.cThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_C_THRESHOLD); - paramPack.pThreshold = pipetteGunLLDParamMgr.getParam(PipetteGunLLDParam.DEFAULT_P_THRESHOLD); + paramPack.cThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_C_THRESHOLD); + paramPack.pThreshold = pipetteGunLLDParamMgr.getLLDThresholdParam(PipetteGunLLDThresholdParam.DEFAULT_P_THRESHOLD); } } diff --git a/src/main/java/a8k/service/app/devicectrl/param/param_mgr/PipetteGunLLDParamMgr.java b/src/main/java/a8k/service/app/devicectrl/param/param_mgr/PipetteGunLLDParamMgr.java index 8976f7e..a912493 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/param_mgr/PipetteGunLLDParamMgr.java +++ b/src/main/java/a8k/service/app/devicectrl/param/param_mgr/PipetteGunLLDParamMgr.java @@ -1,16 +1,12 @@ package a8k.service.app.devicectrl.param.param_mgr; +import a8k.hardware.type.LldType; import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr; -import a8k.service.app.devicectrl.param.type.HbotTipPosParam; -import a8k.service.app.devicectrl.param.type.PipetteGunLLDParam; -import a8k.type.cfg.Pos3d; -import a8k.type.type.TipGroup; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam; +import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam; import jakarta.annotation.PostConstruct; import lombok.extern.slf4j.Slf4j; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; import org.springframework.stereotype.Component; -import org.springframework.util.Assert; /** * HBOT二维码扫描坐标参数 @@ -21,12 +17,19 @@ public class PipetteGunLLDParamMgr extends ParamMgr { @PostConstruct void initialize() { - for (PipetteGunLLDParam param : PipetteGunLLDParam.values()) { + for (PipetteGunLLDThresholdParam param : PipetteGunLLDThresholdParam.values()) { + setParamChName(param, param.chName); + } + for (PipetteGunLLDTypeParam param : PipetteGunLLDTypeParam.values()) { setParamChName(param, param.chName); } } - public Integer getParam(PipetteGunLLDParam param) { + public Integer getLLDThresholdParam(PipetteGunLLDThresholdParam param) { return getParam(param, Integer.class); } + + public LldType getLLDType(PipetteGunLLDTypeParam param) { + return getParam(param, LldType.class); + } } diff --git a/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDParam.java b/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDParam.java deleted file mode 100644 index 10cc30e..0000000 --- a/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDParam.java +++ /dev/null @@ -1,13 +0,0 @@ -package a8k.service.app.devicectrl.param.type; - -public enum PipetteGunLLDParam { - DEFAULT_C_THRESHOLD("默认电容C阈值"), - DEFAULT_P_THRESHOLD("默认压力阈值"), - DEFAULT_LLD_TYPE("默认LLD类型"), - ; - public final String chName; - - PipetteGunLLDParam(String chName) { - this.chName = chName; - } -} diff --git a/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDThresholdParam.java b/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDThresholdParam.java new file mode 100644 index 0000000..fb32def --- /dev/null +++ b/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDThresholdParam.java @@ -0,0 +1,12 @@ +package a8k.service.app.devicectrl.param.type; + +public enum PipetteGunLLDThresholdParam { + DEFAULT_C_THRESHOLD("默认电容C阈值"), + DEFAULT_P_THRESHOLD("默认压力阈值"), + ; + public final String chName; + + PipetteGunLLDThresholdParam(String chName) { + this.chName = chName; + } +} diff --git a/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDTypeParam.java b/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDTypeParam.java new file mode 100644 index 0000000..73c3bc7 --- /dev/null +++ b/src/main/java/a8k/service/app/devicectrl/param/type/PipetteGunLLDTypeParam.java @@ -0,0 +1,11 @@ +package a8k.service.app.devicectrl.param.type; + +public enum PipetteGunLLDTypeParam { + DEFAULT_LLD_TYPE("默认LLD类型"), + ; + public final String chName; + + PipetteGunLLDTypeParam(String chName) { + this.chName = chName; + } +} diff --git a/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java b/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java index 1c501ff..753ec7a 100644 --- a/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java +++ b/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java @@ -97,6 +97,7 @@ public class DeviceCtrlScripter { void lld(PipetteGunBindActionType actionType, ProjProcessContext ctx) throws AppException { + log.info("液面探测 {}", actionType); LLDParamPack lldparm = pipetteGunParamExMgr.getLLDParam(actionType, ctx); Pos3d sampleStartPos = null; Pos3d sampleEndPos = null; diff --git a/src/main/java/a8k/type/ecode/AppCommonError.java b/src/main/java/a8k/type/ecode/AppCommonError.java new file mode 100644 index 0000000..ac7d568 --- /dev/null +++ b/src/main/java/a8k/type/ecode/AppCommonError.java @@ -0,0 +1,14 @@ +package a8k.type.ecode; + +import a8k.hardware.type.a8kcanprotocol.A8kEcode; + +public class AppCommonError extends AppError { + public String exmsg; + + public AppCommonError(String exmsg) { + super(A8kEcode.COMMON_ERROR); + this.exmsg = exmsg; + } + + +} diff --git a/src/main/java/a8k/type/exception/AppException.java b/src/main/java/a8k/type/exception/AppException.java index 3b05341..80af5e8 100644 --- a/src/main/java/a8k/type/exception/AppException.java +++ b/src/main/java/a8k/type/exception/AppException.java @@ -3,6 +3,8 @@ package a8k.type.exception; import a8k.hardware.type.a8kcanprotocol.A8kEcode; import a8k.hardware.type.a8kcanprotocol.CmdId; import a8k.hardware.type.a8kcanprotocol.MId; +import a8k.type.ecode.AppCodeError; +import a8k.type.ecode.AppCommonError; import a8k.type.ecode.AppError; import a8k.type.ecode.HardwareError; import lombok.Getter; @@ -17,23 +19,21 @@ public class AppException extends Exception { public AppException(A8kEcode ecodeType) { - super(String.format("Error code %s", ecodeType)); + super(String.format("%s", ecodeType)); this.error = new AppError(ecodeType); } public AppException(AppError error) { - super(String.format("Error code %s", error.code)); + super(String.format("%s", error.toString())); this.error = error; } - public AppException(A8kEcode errorCode, MId mid, CmdId cmdId) { - super(String.format("Error code %s", errorCode)); - this.error = new HardwareError(errorCode, mid, cmdId); + public static AppException of(A8kEcode errorCode, MId mid, CmdId cmdId) { + return new AppException(new HardwareError(errorCode, mid, cmdId)); } - public AppException(A8kEcode errorCode, MId mid) { - super(String.format("Error code %s", errorCode)); - this.error = new HardwareError(errorCode, mid, null); + public static AppException of(A8kEcode errorCode, MId mid) { + return new AppException(new HardwareError(errorCode, mid, null)); } @@ -41,6 +41,10 @@ public class AppException extends Exception { return new AppException(hardwareError); } + public static AppException of(String message) { + return new AppException(new AppCommonError(message)); + } + public void print() { log.error("Apperror: {}", error); diff --git a/src/main/resources/app.db b/src/main/resources/app.db index 44559282bfb2ae913bc44e3d27c5739da59407f7..f51742e2299f910505cf33bb3a3298f02695783e 100644 GIT binary patch delta 1087 zcmZp8z}xVEcY>7Ata%I!4CX*=2E>XC4E)b0>KHN2nzu3GxxBbJ%Ndpk=2y(c%&bg( zOsb5V8GRV;Fl215Q@F`8IU^x#bFb=7D+yM@%AS^UEoL!LXl9wPon->!-~LFZsSN5& z_6+>9__g`2Fxm6j^1kGq$?L`QmuCTwGxt00Y22<{Ke<+LrE;lrKIdG>naruoahGEX zhZp;A_Id0MYf(B0+IYYwO8O)8PRSl;X z=rPGoKc&aSJ>BdhlYpeDLG8=kGhVD)^0cq}Y1izRGdi9&?BScp&^}qvpm}(cen5q3IVVR@IM8feN&V^hdQ56s!6ikRdFjxUfu#bB0+SqAVssdT z8TdQ-b@?vxW%K^wUCJ2D8wgB2YkA^$1i80xhjTM=t>TL0;^o}KS;=Y5@tb2SM>&T% z`$zT_>~ZY;Y@66ZSUVfSAzTd)VbkfsUzp;UVk*&6==7M6K;hUjkV4hz`CpkVw#%zBd7!0LJsbfJiD!6P a#Y~~ofhqLr^q)tVVy15vV7k17xc~qf-E4;d delta 889 zcmb7COGuPa6u$qt_kX_{4IRqVbS7U}l96O-R%V6;S<0Y|rlmNPy``k0?6C-9%J>(z z2ev4sER-g#={X4nW`a@DrbQ?e7L=4)nmE=ih&F9Ha2DrW&iTIYp0BP?uj|w6r-fK9 zgispG1uSPGWOkjIJr69GuWTSH+(kZ;TB2YJJE0X;aJ^hLnm{M4U20;RC;BNGr+0U3de$g##dSm$-Q-V7=)tgWXBg76p#BQ_;=jn77jJt>kL%6*9ay z>_O&vGsze*8jUI=RDZ13=yBRJZJTCSJJcO&tnyMht>h~hiq@{6M|)tMw5*Ulrm{sXK}et=s#kgVQ^SPW`$7CHIwrnZQv?&NKaM#k$Ll8-;har>h{Y(C zS#&PVii1*B^COj6?N?B96wc8zJ+K@yJv2DRMhnLv2BXDQG~+v~%rTJs4P)?t^Isc> z^*{^(5EBl)2pMfikRB({z@pRp^>r7712(pCk!H<0XwA1T_Va@GTlj! 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