重构代码 将cmdid修改成枚举

src/main/java/a8k/a8k_can_protocol/IOId.java

@@ -1,35 +1,35 @@
 package a8k.a8k_can_protocol;
 
 public enum IOId {
-	TubeHeightPPS(ModuleType.kboard, 60, 0), //高低试管检测IO
-	THChOuterPPS(ModuleType.kboard, 60, 1),//试管架转移通道有无检测 外
-	THChInterPPS(ModuleType.kboard, 60, 2),//试管架转移通道有无检测 内
-	OutfeedPPS(ModuleType.kboard, 60, 3),//试管出料位置 试管架有无检测
-	TubeExitPPS(ModuleType.kboard, 60, 4),//试管有无光电
-	InfeedPPS(ModuleType.kboard, 60, 5),//试管架入料位置 试管架有无检测
+	TubeHeightPPS(ModuleType.kboard, MId.FeedingModBoard, 0), //高低试管检测IO
+	THChOuterPPS(ModuleType.kboard, MId.FeedingModBoard, 1),//试管架转移通道有无检测 外
+	THChInterPPS(ModuleType.kboard, MId.FeedingModBoard, 2),//试管架转移通道有无检测 内
+	OutfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 3),//试管出料位置 试管架有无检测
+	TubeExitPPS(ModuleType.kboard, MId.FeedingModBoard, 4),//试管有无光电
+	InfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 5),//试管架入料位置 试管架有无检测
 
-	RecycleBinOverflowPPS(ModuleType.kboard, 40, 2),//废料桶满溢检测
-	RecycleBinOverflowPPSPowerCtrl(ModuleType.kboard, 40, 0),//废料桶光栅电源
+	RecycleBinOverflowPPS(ModuleType.kboard, MId.PlatesBoxTCMBoard, 2),//废料桶满溢检测
+	RecycleBinOverflowPPSPowerCtrl(ModuleType.kboard, MId.PlatesBoxTCMBoard, 0),//废料桶光栅电源
 
-	PlateBoxCoverClosurePPS(ModuleType.kboard, 20, 0),//板夹仓舱盖闭合检测
-	PlateBoxPlateStuckPPS(ModuleType.kboard, 20, 1),//板夹仓卡板检测
+	PlateBoxCoverClosurePPS(ModuleType.kboard, MId.PlatesBoxBoard, 0),//板夹仓舱盖闭合检测
+	PlateBoxPlateStuckPPS(ModuleType.kboard, MId.PlatesBoxBoard, 1),//板夹仓卡板检测
 
 	//转盘逻辑相关光电
 	//钩板电机，零点光电，终点光电
-	PullerMZeroPPS(ModuleType.ktmc_step_motor, ModId.OptModPullM,0),
-	PullerMEndPPS(ModuleType.ktmc_step_motor, ModId.OptModPullM,1),
+	PullerMZeroPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 0),//
+	PullerMEndPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 1),//
 	//推板电机，零点光电，终点光电
-	PusherMZeroPPS(ModuleType.ktmc_step_motor, ModId.PlatesBoxPusherM,0),
-	PusherMEndPPS(ModuleType.ktmc_step_motor, ModId.PlatesBoxPusherM,1),
+	PusherMZeroPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 0),//
+	PusherMEndPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 1),//
 
 	;
 
 
 	final public ModuleType mtype;
-	final public int        mid;
+	final public MId        mid;
 	final public int        ioIndex;
 
-	IOId(ModuleType mtype, int mid, int ioIndex) {
+	IOId(ModuleType mtype, MId mid, int ioIndex) {
 		this.mtype   = mtype;
 		this.mid     = mid;
 		this.ioIndex = ioIndex;

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

@@ -1,29 +1,30 @@
 package a8k.appbean;
 
 import a8k.a8k_can_protocol.A8kEcode;
+import a8k.a8k_can_protocol.MId;
 import a8k.a8k_can_protocol.ModId;
 
 public class HardwareException extends Exception {
 	// 构造函数
 
-	int errorCode;
-	int moduleId;
+	A8kEcode errorCode;
+	MId      moduleId;
 
 	public HardwareException() {
 		super();
 	}
 
-	public HardwareException(int moduleId, int HardwareErrorCode) {
-		super(String.format("Module ID %s has error code %s", ModId.ModuleId2Name(moduleId), A8kEcode.toString(HardwareErrorCode)));
-		this.errorCode = HardwareErrorCode;
-		this.moduleId  = moduleId;
+	public HardwareException(MId mid, A8kEcode ecode) {
+		super(String.format("Module ID %s has error code %s", mid, ecode));
+		this.errorCode = ecode;
+		this.moduleId  = mid;
 	}
 
-	public int getModuleId() {
+	public MId getModuleId() {
 		return moduleId;
 	}
 
-	public int getErrorCode() {
+	public A8kEcode getErrorCode() {
 		return errorCode;
 	}
 

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

@@ -23,8 +23,8 @@ public class AppEcode {
 	}
 
 	public AppEcode(HardwareException e) {
-		this.errorCode = A8kEcode.valueOf(e.getErrorCode());
-		this.mid       = MId.valueOf(e.getModuleId());
+		this.errorCode = e.getErrorCode();
+		this.mid       = e.getModuleId();
 	}
 
 

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

@@ -166,9 +166,9 @@ public class A8kCanBusService {
 		return packet.getContentI32(0);
 	}
 
-	public int moduleGetError(MId id) throws HardwareException {
+	public A8kEcode moduleGetError(MId id) throws HardwareException {
 		var packet = callcmd(id.toInt(), CmdId.module_get_error.toInt());
-		return packet.getContentI32(0);
+		return A8kEcode.valueOf(packet.getContentI32(0));
 	}
 
 	public void moduleClearError(MId id) throws HardwareException {
@@ -330,21 +330,21 @@ public class A8kCanBusService {
 
 	public boolean getIOState(IOId ioid) throws HardwareException {
 		if (ioid.mtype == ModuleType.kboard) {
-			return callcmd(ioid.mid, CmdId.extboard_read_inio.toInt(), ioid.ioIndex).getContentI32(0) != 0;
+			return callcmd(ioid.mid.toInt(), CmdId.extboard_read_inio.toInt(), ioid.ioIndex).getContentI32(0) != 0;
 		} else if (ioid.mtype == ModuleType.ktmc_step_motor) {
-			return callcmd(ioid.mid, CmdId.step_motor_read_io_state.toInt(), ioid.ioIndex).getContentI32(0) != 0;
+			return callcmd(ioid.mid.toInt(), CmdId.step_motor_read_io_state.toInt(), ioid.ioIndex).getContentI32(0) != 0;
 		} else if (ioid.mtype == ModuleType.kmini_servo_motor_module) {
-			return callcmd(ioid.mid, CmdId.mini_servo_read_io_state.toInt(), ioid.ioIndex).getContentI32(0) != 0;
+			return callcmd(ioid.mid.toInt(), CmdId.mini_servo_read_io_state.toInt(), ioid.ioIndex).getContentI32(0) != 0;
 		} else {
-			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation.toInt());
+			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation);
 		}
 	}
 
 	public void setIOState(IOId ioid, boolean val) throws HardwareException {
 		if (ioid.mtype == ModuleType.kboard) {
-			callcmd(ioid.mid, CmdId.extboard_write_outio.toInt(), ioid.ioIndex, val ? 1 : 0);
+			callcmd(ioid.mid.toInt(), CmdId.extboard_write_outio.toInt(), ioid.ioIndex, val ? 1 : 0);
 		} else {
-			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation.toInt());
+			throw new HardwareException(ioid.mid, A8kEcode.IllegalOperation);
 		}
 	}
 
@@ -356,13 +356,13 @@ public class A8kCanBusService {
 				if (status == ModuleStatus.IDLE) {
 					break;
 				} else if (status == ModuleStatus.ERROR) {
-					throw new HardwareException(mid.toInt(), moduleGetError(mid));
+					throw new HardwareException(mid, moduleGetError(mid));
 				}
 			} catch (HardwareException ignored) {
 			}
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(mid.toInt(), A8kEcode.Overtime.toInt());
+				throw new HardwareException(mid, A8kEcode.Overtime);
 			}
 
 			Thread.sleep(100);
@@ -378,13 +378,13 @@ public class A8kCanBusService {
 				if (status == ModuleStatus.IDLE) {
 					break;
 				} else if (status == ModuleStatus.ERROR) {
-					throw new HardwareException(mid.toInt(), moduleGetError(mid));
+					throw new HardwareException(mid, moduleGetError(mid));
 				}
 			} catch (HardwareException ignored) {
 			}
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(mid.toInt(), A8kEcode.Overtime.toInt());
+				throw new HardwareException(mid, A8kEcode.Overtime);
 			}
 
 			Thread.sleep(100);
@@ -455,7 +455,7 @@ public class A8kCanBusService {
 			try {
 				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
 			} catch (HardwareException e) {
-				if (e.getErrorCode() != A8kEcode.Overtime.toInt())
+				if (e.getErrorCode() != A8kEcode.Overtime)
 					;
 				{
 					throw e;
@@ -483,7 +483,7 @@ public class A8kCanBusService {
 
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
+				throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
 			}
 
 			Thread.sleep(100);
@@ -510,15 +510,15 @@ public class A8kCanBusService {
 			receipt = receiptQueue.poll(overtime, TimeUnit.MILLISECONDS);
 		} catch (InterruptedException e) {
 			isWaitingReceipt = false;
-			throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
+			throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
 		}
 		isWaitingReceipt = false;
 		if (receipt == null) {
-			throw new HardwareException(pack.getModuleId(), A8kEcode.Overtime.toInt());
+			throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
 		}
 
 		if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
-			throw new HardwareException(pack.getModuleId(), receipt.getContentI32(0));
+			throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.valueOf(receipt.getContentI32(0)));
 		}
 		try {
 			Thread.sleep(10);

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

@@ -109,7 +109,7 @@ public class MotorTubeRackMoveCtrlService {
 		var dval = a8kCanBusService.module_read_reg(ModId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
 
 		if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal() ) {
-			throw new HardwareException(ModId.FeedingModXM, A8kEcode.MotorLostStep.toInt());
+			throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
 		}
 
 		//先通过move_to 指令移动到零点