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重构试管架移动代码

tags/v0
zhaohe 1 year ago
parent
656d135c68
commit
6c7d80bcd0
5 changed files with 168 additions and 160 deletions
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  1. 2
      src/main/java/a8k/a8k_can_protocol/A8kEcode.java
  2. 26
      src/main/java/a8k/appbean/ecode/AppRet.java
  3. 34
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  4. 8
      src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
  5. 258
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

2
src/main/java/a8k/a8k_can_protocol/A8kEcode.java
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@ -22,7 +22,7 @@ public enum A8kEcode {
MotorLostStep(16, "电机丢步"),// MotorLostStep(16, "电机丢步"),//
ActionOvertime(17, "动作执行超时"),// ActionOvertime(17, "动作执行超时"),//
CodeException(18, "代码异常"),// CodeException(18, "代码异常"),//
ShakeModGripperZMNotInZeroPos(19, "抓手升降电机没有在零位"),//
// //
// FOR HARDWARE // FOR HARDWARE

26
src/main/java/a8k/appbean/ecode/AppRet.java
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@ -42,7 +42,7 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.success = true; r.success = true;
r.ecode = null; r.ecode = null;
r.data = data;
r.data = data;
return r; return r;
} }
@ -51,7 +51,7 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.success = true; r.success = true;
r.ecode = null; r.ecode = null;
r.data = null;
r.data = null;
return r; return r;
} }
@ -59,7 +59,7 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.success = false; r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, mid, cmd); r.ecode = new AppRetEcodeInfo(errorCode, mid, cmd);
r.data = null;
r.data = null;
return r; return r;
} }
@ -67,7 +67,7 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.success = false; r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, mid, null); r.ecode = new AppRetEcodeInfo(errorCode, mid, null);
r.data = null;
r.data = null;
return r; return r;
} }
@ -75,7 +75,15 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
r.success = false; r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, null, null); r.ecode = new AppRetEcodeInfo(errorCode, null, null);
r.data = null;
r.data = null;
return r;
}
public static <T> AppRet<T> fail(AppRet<Object> ret) {
AppRet<T> r = new AppRet<>();
r.success = false;
r.ecode = new AppRetEcodeInfo(ret.getEcode().errorCode, ret.getEcode().mid, ret.getEcode().cmd);
r.data = null;
return r; return r;
} }
@ -88,13 +96,13 @@ public class AppRet<T> {
AppRet<T> r = new AppRet<>(); AppRet<T> r = new AppRet<>();
if (e instanceof HardwareException hexcep) { if (e instanceof HardwareException hexcep) {
r.success = false;
r.ecode = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
r.success = false;
r.ecode = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
r.data = null; r.data = null;
r.traceInfo = trace; r.traceInfo = trace;
} else { } else {
r.success = false;
r.ecode = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);
r.success = false;
r.ecode = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);
r.data = null; r.data = null;
r.traceInfo = trace; r.traceInfo = trace;
} }

34
src/main/java/a8k/base_hardware/A8kCanBusService.java
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@ -158,8 +158,31 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.code_scaner_stop_scan.toInt()); callcmd(id.toInt(), CmdId.code_scaner_stop_scan.toInt());
} }
public A8kPacket codeScanerReadScanerResult(MId id) throws HardwareException {
return callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
public String codeScanerReadScanerResult(MId id) throws HardwareException {
A8kPacket ack = callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
var contentBytes = ack.getCmdContent();
return new String(contentBytes);
}
public Boolean codeScanerResultIsReady(MId id) throws HardwareException {
var packet = callcmd(id.toInt(), CmdId.code_scaner_result_is_ready.toInt());
return packet.getContentI32(0) != 0;
}
public String codeScanerWaittingForResult(MId mid, Integer acitionOvertime) throws HardwareException, InterruptedException {
long startedAt = System.currentTimeMillis();
do {
if (codeScanerResultIsReady(mid))
break;
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
codeScanerStopScan(mid);
return null;
}
Thread.sleep(100);
} while (true);
codeScanerStopScan(mid);
return codeScanerReadScanerResult(mid);
} }
// //
@ -350,7 +373,7 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque); callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque);
} }
public boolean getIOState(IOId ioid) throws HardwareException {
public Boolean getIOState(IOId ioid) throws HardwareException {
if (ioid.mtype == ModuleType.kboard) { if (ioid.mtype == ModuleType.kboard) {
return callcmd(ioid.mid.toInt(), 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) { } else if (ioid.mtype == ModuleType.ktmc_step_motor) {
@ -392,6 +415,7 @@ public class A8kCanBusService {
} }
public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException { public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
long startedAt = System.currentTimeMillis(); long startedAt = System.currentTimeMillis();
@ -412,13 +436,11 @@ public class A8kCanBusService {
long now = System.currentTimeMillis(); long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) { if (now - startedAt > acitionOvertime) {
logger.error("{} waitting for action {} overtime", mid, action); logger.error("{} waitting for action {} overtime", mid, action);
try {moduleStop(mid);} catch (HardwareException ignored) {}
throw new HardwareException(mid, A8kEcode.ActionOvertime); throw new HardwareException(mid, A8kEcode.ActionOvertime);
} }
Thread.sleep(100); Thread.sleep(100);
} while (true); } while (true);
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException {

8
src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java
View File

@ -87,4 +87,12 @@ public class MotorTubeRackMoveCtrlServiceParameterDao {
public Integer getTubeSpacing() { public Integer getTubeSpacing() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeSpacing", 0); return HardwareServiceSetting.getInteger(this.serviceName, "TubeSpacing", 0);
} }
public Integer getTubeScanServoTorque() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeScanServoTorque", 0);
}
public Integer getTubeScanOvertime() {
return HardwareServiceSetting.getInteger(this.serviceName, "TubeScanOvertime", 100);
}
} }

258
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -40,7 +40,7 @@ public class MotorTubeRackMoveCtrlService {
private CommonHardwareOpeartion comHardwareOpear; private CommonHardwareOpeartion comHardwareOpear;
/*========================================================================================= /*=========================================================================================
* 私有方法
* 基础方法
*========================================================================================*/ *========================================================================================*/
/** /**
@ -49,14 +49,34 @@ public class MotorTubeRackMoveCtrlService {
* @throws HardwareException 硬件异常 * @throws HardwareException 硬件异常
* @throws InterruptedException 打断异常 * @throws InterruptedException 打断异常
*/ */
private void moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
}
scanClampModRelease();
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos); canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime()); canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
}
/**
* 扫描夹紧机构夹紧
*/
public void scanClampModClamp() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeClampPos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
}
/**
* 扫描夹紧机构复位
*/
public void scanClampModRelease() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
} }
/*========================================================================================= /*=========================================================================================
* 公共方法 * 公共方法
*========================================================================================*/ *========================================================================================*/
@ -66,7 +86,7 @@ public class MotorTubeRackMoveCtrlService {
* @param enable 1:使能 0:禁用 * @param enable 1:使能 0:禁用
* @throws HardwareException 硬件异常 * @throws HardwareException 硬件异常
*/ */
public AppRet modGroupEnable(Boolean enable) throws HardwareException {
public AppRet<Object> modGroupEnable(Boolean enable) throws HardwareException {
comHardwareOpear.enableAllMotor(enable); comHardwareOpear.enableAllMotor(enable);
return AppRet.success(); return AppRet.success();
} }
@ -79,223 +99,173 @@ public class MotorTubeRackMoveCtrlService {
comHardwareOpear.forceStopAllMOtor(); comHardwareOpear.forceStopAllMOtor();
} }
public void modGroupMoveToZero() throws HardwareException, InterruptedException {
Boolean state = canBus.stepMotorReadIoState(MId.ShakeModGripperZM);
if (!state) {
// return AppRet;
public AppRet<Object> modGroupMoveToZero() throws HardwareException, InterruptedException {
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
} }
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos()); canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime()); canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM); canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime()); canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
} }
/** /**
* 电机归零，电机运行时归零，特点是通过归零判断设备是否丢步 * 电机归零，电机运行时归零，特点是通过归零判断设备是否丢步
* @throws HardwareException
* @throws InterruptedException
* @throws HardwareException 硬件异常
* @throws InterruptedException 打断异常
*/ */
public void moveToZero() throws HardwareException, InterruptedException {
//先通过move_to 指令移动到零点
//再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao
//最后读取 寄存器dval,判断move_to_zero移动了多少距离，如果dval过大，则抛出电机丢步异常。
//1.记录运行前电机所在位置
//2.使用move_to_zero移动到零点
//3.读取电机运行完成后所在的位置
//4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。
var params = this.paramDao;
var beforePos = canBus.stepMotorReadPos(MId.FeedingModXM);
public AppRet<Object> modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
var ret = moveTubeRackTo(0);
if (!ret.isSuccess()) {
return AppRet.fail(ret);
}
moveTubeRackTo(0);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM); canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime()); canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
var afterPos = canBus.stepMotorReadPos(MId.FeedingModXM);
var distance = beforePos - afterPos;
var dval = canBus.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
}
return AppRet.success();
} }
//
// 试管架移动
//
/** /**
* 移动试管架到入口位置 * 移动试管架到入口位置
*/ */
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
/*
* 1. 先控制试管架夹紧机构复位，让开通道
* 2. 移动到入口位置
*/
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackEnterPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackEnterPos());
} }
/** /**
* 移动试管架到出口位置 * 移动试管架到出口位置
*/ */
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
/*
* 1. 先控制试管架夹紧机构复位，让开通道
*/
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackExitPos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackToExitPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackExitPos());
} }
/** /**
* 移动试管架到试管架扫码位置 * 移动试管架到试管架扫码位置
*/ */
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, paramDao.getTubeRackScanCodePos());
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
public AppRet<Object> moveTubeRackToScanPos() throws HardwareException, InterruptedException {
return moveTubeRackTo(paramDao.getTubeRackScanCodePos());
} }
/** /**
* 移动试管架到试管架扫码并扫码 * 移动试管架到试管架扫码并扫码
*/ */
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
moveTubeRackToScanPos();
canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
// this.moveTubeRackToScanPos();
// moveTubeRackToScanPos();
// canBus.
// return "";
public AppRet<String> moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
String result;
var ret = moveTubeRackToScanPos();
if (!ret.isSuccess()) {
return AppRet.fail(ret);
}
scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, 1000);
scanClampModRelease();
return AppRet.success(result);
} }
// //
// 试管移动 // 试管移动
// //
/** /**
* 移动试管到扫码位置 * 移动试管到扫码位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/ */
public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var scanPos = params.getTubeScanPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), scanPos, params.getActionOvertime());
public AppRet<Object> moveTubeToScanPos(Integer tubeIndex) throws HardwareException, InterruptedException {
var scanPos = paramDao.getTubeScanPos() + tubeIndex * paramDao.getTubeSpacing();
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, scanPos);
canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
return AppRet.success();
} }
/** /**
* 移动试管到扫码位置，并扫码 * 移动试管到扫码位置，并扫码
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/ */
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
this.moveTubeToScanPos(tubeType, tubeIndex);
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), 200);
for (int i = 0; i < 10; i++) {
var resIsReady = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_result_is_ready.toInt());
if (1 == resIsReady.getContentI32(0)) {
break;
}
UfCommon.delay(500);
public AppRet<String> moveTubeToScanPosAndScan(Integer tubeIndex) throws HardwareException, InterruptedException {
var ret = this.moveTubeToScanPos(tubeIndex);
if (!ret.isSuccess()) {return AppRet.fail(ret);}
try {
scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
canBus.miniServoRotateWithTorque(MId.ShakeModTubeScanerClampingSV, paramDao.getTubeScanServoTorque());
String result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, paramDao.getTubeScanOvertime());
return AppRet.success(result);
} finally {
canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);
canBus.moduleStop(MId.FeedingModScannerMod);
scanClampModRelease();
} }
this.canBus.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_stop.toInt(), 1);
var response = this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.canBus.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
} }
/** /**
* 移动试管到试管高低判断位置 * 移动试管到试管高低判断位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/ */
public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), detectPos, params.getActionOvertime());
public void moveTubeToHeighJudgmentPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubeHeighJudgmentPos() + tubeIndex * paramDao.getTubeSpacing());
} }
/** /**
* 移动试管到试管预处理的位置 * 移动试管到试管预处理的位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/ */
public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var pos = params.getTubePreProcessPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), pos, params.getActionOvertime());
public void moveTubeToPreProcessPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubePreProcessPos() + tubeIndex * paramDao.getTubeSpacing());
} }
//
// 状态检测
//
/** /**
* 移动试管到试管有无判断位置 * 移动试管到试管有无判断位置
* @param tubeType
* @param tubeIndex
* @param tubeIndex 试管索引
*/ */
public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.paramDao;
var pos = params.getTubeExistJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.canBus.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
public void moveTubeToExistJudgmentPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(paramDao.getTubeExistJudgmentPos() + tubeIndex * paramDao.getTubeSpacing());
} }
public boolean isTubeRackInEnterPos() throws HardwareException {
return this.canBus.getIOState(IOId.InfeedPPS);
public void tryEnterTubeRack(Integer time) throws HardwareException, InterruptedException {
try {
canBus.stepMotorEasyRotate(MId.FeedingModInfeedM, 1);
Thread.sleep(time);
} finally {
canBus.moduleStop(MId.FeedingModInfeedM);
}
} }
public boolean isTubeRackInExitPos() throws HardwareException {
return this.canBus.getIOState(IOId.OutfeedPPS);
}
/**
* 获取移动通道的光电状态
* @param photoelectricIndex 0:里光电，1:外光电
* @return true, 光电触发 false,光电没有触发
*/
public boolean getMoveChannelPhotoelectricState(Integer photoelectricIndex) throws HardwareException {
var io = 0 == photoelectricIndex ? IOId.THChOuterPPS : IOId.THChInterPPS;
return this.canBus.getIOState(io);
public void tryEjectTubeRack(Integer time) throws HardwareException, InterruptedException {
try {
canBus.stepMotorEasyRotate(MId.FeedingModOutfeedM, 1);
Thread.sleep(time);
} finally {
canBus.moduleStop(MId.FeedingModOutfeedM);
}
} }
// //
// 其他辅助组件
// 状态
// //
/**
* 扫描夹紧机构夹紧
*/
public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeClampPos()}, params.getActionOvertime());
public AppRet<Boolean> isTubeRackInEnterPos() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.InfeedPPS));
} }
/**
* 扫描夹紧机构复位
*/
public void scanClampModuleReset() throws HardwareException, InterruptedException {
var params = this.paramDao;
this.canBus.callblockcmd(MId.ShakeModTubeScanerClampingSV.toInt(), CmdId.mini_servo_move_to.toInt(), new Integer[]{params.getScanCodeReleasePos()}, params.getActionOvertime());
public AppRet<Boolean> isTubeRackInExitPos() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.OutfeedPPS));
} }
public AppRet<Boolean> isHighTube() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.TubeHeightPPS));
}
public AppRet<Boolean> getTHchOuterPPS() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.THChOuterPPS));
}
public AppRet<Boolean> getTHchInterPPS() throws HardwareException {
return AppRet.success(canBus.getIOState(IOId.THChInterPPS));
}
} }
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