修复一些底层传输相关BUG

deply.bat

@@ -17,7 +17,7 @@ scp %JAR_FILE% %REMOTE_USER%@%REMOTE_HOST%:%REMOTE_DIR%%REMOTE_FILE%
 @REM scp -r appresource %REMOTE_USER%@%REMOTE_HOST%:/app/
 
 :: 重启远程服务器
-ssh %REMOTE_USER%@%REMOTE_HOST% `systemctl start zapp`
+@REM ssh %REMOTE_USER%@%REMOTE_HOST% `systemctl start zapp`
 
 :: 判断 SCP 命令是否成功
 if %errorlevel% neq 0 (

src/main/java/a8k/app/hardware/channel/A8kCanBusConnection.java

@@ -64,12 +64,14 @@ public class A8kCanBusConnection extends WebSocketClient {
 		synchronized void pushReceipt(A8kPacket receipt) {
 			if (this.cmdPacket != null
 					&& this.cmdPacket.getPacketIndex() == receipt.getPacketIndex()
-					&& this.cmdPacket.getModuleId() == receipt.getModuleId()
-					&& this.cmdPacket.getCmdId() == receipt.getCmdId()
 			) {
-				//				log.debug("pushReceipt:| {}", receipt);
-				receiptQueue.add(receipt);
-				this.cmdPacket = null;
+				if (this.cmdPacket.getModuleId() == receipt.getModuleId()
+						&& this.cmdPacket.getCmdId() == receipt.getCmdId()) {
+					receiptQueue.add(receipt);
+					this.cmdPacket = null;
+				} else {
+					log.warn("RX index equal, but cmdId not equal, {} {}", this.cmdPacket, receipt);
+				}
 			}
 		}
 
@@ -209,7 +211,6 @@ public class A8kCanBusConnection extends WebSocketClient {
 			throw e;
 		} catch (Exception e) {
 			log.error("priSend error", e);
-			OS.hsleep(2000);
 			throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId())));
 		}
 	}
@@ -222,7 +223,7 @@ public class A8kCanBusConnection extends WebSocketClient {
 	private A8kPacket _priSend(A8kPacket pack, int overtime) throws AppException {
 		// alloc new packetIndex
 		packetIndex = packetIndex + 1;
-		if (packetIndex > 100) {
+		if (packetIndex > 30000) {
 			packetIndex = 1;
 		}
 
@@ -233,7 +234,7 @@ public class A8kCanBusConnection extends WebSocketClient {
 
 		// TX packet
 		String txpacket = pack.toByteString();
-		log.debug("Tx:|RAW:{}| {}", txpacket, pack);
+		log.debug("TX-RAW: {} | {}", txpacket, pack);
 		send(txpacket);
 
 
@@ -252,7 +253,6 @@ public class A8kCanBusConnection extends WebSocketClient {
 					)
 			);
 		}
-		OS.forceSleep(10);
 		return receipt;
 	}
 

src/main/java/a8k/app/hardware/channel/A8kCanBusService.java

@@ -66,11 +66,11 @@ public class A8kCanBusService {
 	}
 
 	public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws AppException {
-		connection.callcmd(id, CmdId.module_set_reg, regindex.index, reg);
+		connection.callcmd2(id, CmdId.module_set_reg, 100,regindex.index, reg);
 	}
 
 	public Integer moduleGetReg(MId id, RegIndex regindex) throws AppException {
-		var packet = connection.callcmd(id, CmdId.module_get_reg, regindex.index);
+		var packet = connection.callcmd2(id, CmdId.module_get_reg, 50, regindex.index);
 		return packet.getContentI32(0);
 	}
 

src/main/java/a8k/app/hardware/type/A8kPacket.java

@@ -15,7 +15,7 @@ public class A8kPacket {
 	//  uint8_t  packetType;
 	//  uint16_t cmdid;
 	//  uint8_t  moduleId;
-	//  uint8_t  index;
+	//  uint16_t  index;
 	//  uint8_t  datalen;
 	//  uint8_t  data[];
 	//  /* int8_t  checksum;*/
@@ -30,14 +30,21 @@ public class A8kPacket {
 	//} zcan_cmd_packet_type_t;
 	//
 
+	/**
+	 *
+	 * @WARNING
+	 * 	1. 修改这里时，需要注意连同createPacket一起修改
+	 *  2. PACKET_MIN_LEN 比Header多一个字节，是因为还有一个字节的校验位
+	 */
+
 	public static final int PACKET_TYPE_OFFSET = 0;
 	public static final int CMDID_OFFSET       = 1;
 	public static final int MODULE_ID_OFFSET   = 3;
 	public static final int INDEX_OFFSET       = 4;
-	public static final int DATA_LEN_OFFSET    = 5;
-	public static final int DATA_OFFSET        = 6;
+	public static final int DATA_LEN_OFFSET    = 6;
+	public static final int DATA_OFFSET        = 7;
 
-	public static final int PACKET_MIN_LEN = 7;
+	public static final int PACKET_MIN_LEN = 8;//
 
 	public static final int CMD_OVERTIME = 1500;
 
@@ -57,14 +64,14 @@ public class A8kPacket {
 	}
 
 	public void setPacketIndex(int packetIndex) {
-		ByteArray.setU8(raw, INDEX_OFFSET, packetIndex);
+		ByteArray.setU16bit(raw, INDEX_OFFSET, packetIndex);
 		int checkcode = computeCheckcode();
 		ByteArray.setU8(raw, raw.length - 1, checkcode);
 	}
 
 
 	public int getPacketIndex() {
-		return ByteArray.readU8bit(raw, INDEX_OFFSET);
+		return ByteArray.readU16bit(raw, INDEX_OFFSET);
 	}
 
 	public int getCmdId() {
@@ -197,7 +204,8 @@ public class A8kPacket {
 		buffer.put((byte) (packetType & 0xff)); // packetType
 		buffer.putShort((short) (cmdId & 0xffff)); // cmdid
 		buffer.put((byte) (moduleId & 0xFF)); // moduleId
-		buffer.put((byte) 0); // index
+		buffer.put((byte) 0x4C); // index
+		buffer.put((byte) 0x00); // index
 		buffer.put((byte) (params.length * 4)); // datalen
 		for (int value : params) {
 			buffer.putInt(value);
@@ -211,4 +219,9 @@ public class A8kPacket {
 		return new A8kPacket(buffer.array());
 	}
 
+	public static void main(String[] args) {
+		var packet =  createPacket(41, A8kPacket.PACKET_TYPE_CMD, CmdId.module_stop.index, new Integer[]{});
+		logger.info("{}", packet.toByteString());
+	}
+
 }

src/main/java/a8k/app/service/appsetup/A8kSubModuleRegInitService.java

@@ -53,6 +53,15 @@ public class A8kSubModuleRegInitService {
 	}
 
 	private void initModuleRegVal() {
+//		while(true){
+//			try {
+//				canBus.moduleSetReg(MId.FeedingModInfeedM,RegIndex.kreg_step_motor_max_d,0);
+//				canBus.moduleSetReg(MId.FeedingModOutfeedM,RegIndex.kreg_step_motor_max_d,0);
+//			} catch (AppException e) {
+//				throw new RuntimeException(e);
+//			}
+//		}
+//
 		while (true) {
 			try {
 				log.info("forceInitA8kModParams");