1

src/main/java/a8k/A8kApplication.java

@@ -2,8 +2,6 @@ package a8k;
 import org.springframework.web.bind.annotation.ControllerAdvice;
 import org.springframework.web.bind.annotation.ExceptionHandler;
 import org.springframework.web.bind.annotation.ResponseBody;
-
-import java.util.Arrays;
 import java.util.HashMap;
 import java.util.Map;
 @ControllerAdvice
@@ -11,9 +9,14 @@ public class A8kApplication {
 	@ResponseBody
 	@ExceptionHandler(value=Exception.class)
 	public Map<String,Object> controllerExceptionHandler(Exception e){
+		StringBuilder traceSb = new StringBuilder();
+		for ( var trace : e.getStackTrace() ) {
+			traceSb.append(trace.toString()).append("\n");
+		}
+		String trace = traceSb.toString();
 		Map<String,Object> map = new HashMap<>();
 		map.put("success",false);
-		map.put("message",String.format("%s\n\nStack Trace : \n%s",e.getMessage(), Arrays.toString(e.getStackTrace())));
+		map.put("message",String.format("%s\n\nStack Trace : \n%s",e.getMessage(), trace));
 		map.put("data", null);
 		return map;
 	}

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

@@ -8,6 +8,7 @@ import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
+import com.iflytop.uf.util.UfCommon;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
@@ -119,11 +120,11 @@ 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 A8kEcode 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(
 			MId.ShakeModGripperYM.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getHorizontalMotor_takeCapPos(),
 			params.getActionOvertime()
 		);
@@ -160,12 +161,12 @@ public class SamplesPreProcessModuleCtrlService {
 			}
 		}
 
-		this.a8kCanBusService.callblockcmd(
+		this.a8kCanBusService.callcmd(
 			MId.ShakeModGripperSV.toInt(),
 			CmdId.mini_servo_rotate_with_torque.toInt(),
-			params.getGripperServo_takeCapTorque(),
-			params.getActionOvertime()
+			params.getGripperServo_takeCapTorque()
 		);
+		UfCommon.delay(2000);
 
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperZM.toInt(),
@@ -189,8 +190,15 @@ public class SamplesPreProcessModuleCtrlService {
 		);
 
 		this.a8kCanBusService.callblockcmd(
-			MId.ShakeModGripperSV.toInt(),
+			MId.ShakeModClampingM.toInt(),
 			CmdId.step_motor_easy_move_to.toInt(),
+			params.getTubeClampMotor_ClampPos(),
+			params.getActionOvertime()
+		);
+
+		this.a8kCanBusService.callblockcmd(
+			MId.ShakeModGripperSV.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -204,7 +212,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperYM.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -377,7 +385,8 @@ public class SamplesPreProcessModuleCtrlService {
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperSV.toInt(),
 			CmdId.mini_servo_move_to.toInt(),
-			params.getTubeClampMotor_standbyPos()
+			params.getGripperServo_standbyPos(),
+			params.getActionOvertime()
 		);
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperZM.toInt(),
@@ -400,6 +409,10 @@ public class SamplesPreProcessModuleCtrlService {
 			CmdId.step_motor_easy_move_to_zero.toInt(),
 			params.getMoveToZeroOvertime()
 		);
+		this.a8kCanBusService.stepMotorEasyMoveTo(MId.ShakeModClampingM, params.getTubeClampMotor_standbyPos());
+		this.a8kCanBusService.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
+		this.a8kCanBusService.stepMotorEasyMoveTo(MId.ShakeModShakeM, params.getShakeMotor_standbyPos());
+		this.a8kCanBusService.waitForMod(MId.ShakeModShakeM, params.getActionOvertime());
 	}
 
 	/**
@@ -410,7 +423,8 @@ public class SamplesPreProcessModuleCtrlService {
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperSV.toInt(),
 			CmdId.mini_servo_move_to.toInt(),
-			params.getTubeClampMotor_standbyPos()
+			params.getGripperServo_standbyPos(),
+			params.getActionOvertime()
 		);
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperZM.toInt(),
@@ -451,5 +465,9 @@ public class SamplesPreProcessModuleCtrlService {
 			CmdId.step_motor_easy_move_to_zero.toInt(),
 			params.getMoveToZeroOvertime()
 		);
+		this.a8kCanBusService.stepMotorEasyMoveTo(MId.ShakeModClampingM, params.getTubeClampMotor_standbyPos());
+		this.a8kCanBusService.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
+		this.a8kCanBusService.stepMotorEasyMoveTo(MId.ShakeModShakeM, params.getShakeMotor_standbyPos());
+		this.a8kCanBusService.waitForMod(MId.ShakeModShakeM, params.getActionOvertime());
 	}
 }