47 changed files with 417 additions and 629 deletions
-
17src/main/java/a8k/OS.java
-
15src/main/java/a8k/controler/api/v1/app/assistant/ApiRetTestControler.java
-
1src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
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9src/main/java/a8k/hardware/A8kCanBusService.java
-
163src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java
-
20src/main/java/a8k/service/app/appctrl/AppTubeSettingMgrService.java
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4src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java
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4src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java
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2src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java
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13src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ3_APPLAY_RESOURCE.java
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64src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java
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6src/main/java/a8k/service/app/appdata/ReactionRecordMgrService.java
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25src/main/java/a8k/service/app/appstate/statemgr/IncubationPlateStateMgrService.java
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24src/main/java/a8k/service/app/appstate/statemgr/ProjectContextMgrService.java
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11src/main/java/a8k/service/app/appstate/statemgr/TubeStateMgrService.java
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12src/main/java/a8k/service/app/appstate/type/IncubationSubTank.java
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4src/main/java/a8k/service/app/appstate/type/ProjectTaskContext.java
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1src/main/java/a8k/service/app/devicectrl/ctrlservice/ConsumablesScanCtrlService.java
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5src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java
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2src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
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3src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModuleCtrlService.java
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6src/main/java/a8k/service/app/devicectrl/ctrlservice/PlateBoxCtrlService.java
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4src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
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6src/main/java/a8k/service/app/devicectrl/ctrlservice/TurnableMoveCtrlService.java
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2src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java
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4src/main/java/a8k/service/app/devicectrl/exdriver/TubeTransportExDriver.java
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5src/main/java/a8k/service/app/devicectrl/param/calibration/OptModuleParamCalibration.java
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2src/main/java/a8k/service/app/devicectrl/param/calibration/PipetteGunLLDParamCalibration.java
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6src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/PipetteGunParamExMgr.java
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20src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
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26src/main/java/a8k/service/app/erroranalyzer/ErrorAnalyzer.java
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123src/main/java/a8k/service/bases/ActionReactorService.java
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2src/main/java/a8k/service/test/MainflowCtrlTestService.java
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2src/main/java/a8k/service/test/PipetteGunTest.java
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4src/main/java/a8k/type/appret/ApiV1Ret.java
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4src/main/java/a8k/type/appret/AppRetV1.java
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30src/main/java/a8k/type/ecode/AECodeError.java
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13src/main/java/a8k/type/ecode/AECommonError.java
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22src/main/java/a8k/type/ecode/AEUnkownExceptionError.java
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16src/main/java/a8k/type/exception/AppException.java
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22src/main/java/a8k/type/exception/MutiAppException.java
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7src/main/java/a8k/type/exception/ZAppInterruptException.java
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53src/main/java/a8k/utils/ActionParallerExceutor.java
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1src/main/java/a8k/utils/AppExceptionBuilder.java
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22src/main/java/a8k/utils/ProjProcessContextUtils.java
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9src/main/java/a8k/utils/ZJsonHelper.java
@ -0,0 +1,26 @@ |
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package a8k.service.app.erroranalyzer; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.type.ecode.AppError; |
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import java.util.List; |
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public class ErrorAnalyzer { |
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static public Boolean isFatalError(A8kEcode ecode) { |
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if (ecode.index >= A8kEcode.LOW_ERROR_HARDWARE_ERROR_START.index) { |
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//部分底层错误，属于非必须停机的错误 |
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return !ecode.equals(A8kEcode.LOW_ERROR_PIPETTE_ERROR_TIP_POP_ERROR) |
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&& !ecode.equals(A8kEcode.LOW_ERROR_PIPETTE_ERROR_LLD_ERROR); |
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} |
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return false; |
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} |
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static public Boolean isContainFatalError(List<AppError> errors) { |
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for (AppError error : errors) { |
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if (isFatalError(error.code)) { |
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return true; |
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} |
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} |
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return false; |
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} |
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} |
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@ -1,123 +0,0 @@ |
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package a8k.service.bases; |
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import a8k.extapi_controler.pagecontrol.ExtApiTabConfig; |
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import a8k.extapi_controler.utils.ExtApiStatu; |
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import a8k.extapi_controler.utils.ExtApiFn; |
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import a8k.extapi_controler.utils.ExtApiTab; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.type.ZFunction; |
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import a8k.type.exception.AppException; |
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import org.slf4j.Logger; |
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import org.slf4j.LoggerFactory; |
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import org.springframework.stereotype.Component; |
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/** |
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* 动作单步调试服务， |
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* 所有使用dosome接口的动作都可以被单步调试 |
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*/ |
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@Component |
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@ExtApiTab(cfg = ExtApiTabConfig.ActionReactorService) |
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public class ActionReactorService { |
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public enum DoWhatNext { |
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DoNextAction, |
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ReDoAction, |
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} |
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static Logger logger = LoggerFactory.getLogger(ActionReactorService.class); |
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static class ORDER { |
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static final int doNextStep = 1; |
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static final int reDoStep = 2; |
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static final int breakAction = 3; |
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static final int fullSpeedRun = 6; |
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static final int singleStepRun = 7; |
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} |
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Boolean reDo = false; |
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Boolean doNext = false; |
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Boolean breakAction = false; |
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Boolean fullSpeedRun = true; |
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String curStep; |
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DoWhatNext breakpoint() throws AppException { |
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while (true) { |
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if (reDo) { |
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reDo = false; |
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return DoWhatNext.ReDoAction; |
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} |
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if (doNext) { |
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doNext = false; |
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return DoWhatNext.DoNextAction; |
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} |
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if (breakAction) { |
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breakAction = false; |
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throw new AppException(A8kEcode.ACTION_REACTOR_SERVICE_BREAKBYUSR); |
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} |
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if (fullSpeedRun) { |
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return DoWhatNext.DoNextAction; |
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} |
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try { |
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Thread.sleep(100); |
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} catch (InterruptedException e) { |
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throw new AppException(A8kEcode.ACTION_REACTOR_SERVICE_BREAKBYUSR); |
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} |
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} |
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} |
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public void dosome(String mark, ZFunction action) throws AppException{ |
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while (true) { |
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logger.info("do {}", mark); |
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curStep = mark; |
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action.fn(); |
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DoWhatNext next = breakpoint(); |
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if (next == DoWhatNext.DoNextAction) { |
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break; |
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} |
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} |
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curStep = ""; |
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} |
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@ExtApiFn(name = "下一步", order = ORDER.doNextStep) |
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public void doNextStep() { |
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doNext = true; |
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} |
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@ExtApiFn(name = "重新执行当前步骤", order = ORDER.reDoStep) |
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public void reDoStep() { |
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reDo = true; |
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} |
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@ExtApiFn(name = "中断动作", order = ORDER.breakAction) |
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public void breakAction() { |
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breakAction = true; |
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} |
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@ExtApiFn(name = "全速模式", order = ORDER.fullSpeedRun) |
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public void fullSpeedRun() { |
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fullSpeedRun = true; |
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} |
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@ExtApiFn(name = "单步模式", order = ORDER.singleStepRun) |
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public void singleStepRun() { |
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fullSpeedRun = false; |
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} |
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@ExtApiStatu(name = "全速运行") |
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public Boolean getFullSpeedRun() { |
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return fullSpeedRun; |
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} |
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@ExtApiStatu(name = "当前步骤") |
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public String getCurStep() { |
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return curStep; |
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} |
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} |
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@ -1,17 +1,39 @@ |
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package a8k.type.ecode; |
package a8k.type.ecode; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.type.exception.AppException; |
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import a8k.utils.ZJsonHelper; |
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import io.swagger.v3.oas.annotations.media.Schema; |
import io.swagger.v3.oas.annotations.media.Schema; |
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public class AECodeError extends AppError { |
public class AECodeError extends AppError { |
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@Schema(description = "异常栈信息") |
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public StackTraceElement[] stackTraceElements; |
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public AECodeError(String exmsg) { |
public AECodeError(String exmsg) { |
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super(A8kEcode.CODEERROR); |
super(A8kEcode.CODEERROR); |
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this.exmsg = exmsg; |
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this.exmsg = exmsg; |
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stackTraceElements = Thread.currentThread().getStackTrace(); |
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} |
} |
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public AECodeError(A8kEcode ecode, String exmsg) { |
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super(ecode); |
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this.exmsg = exmsg; |
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|
public AECodeError(String fmt, Object... args) { |
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super(A8kEcode.CODEERROR); |
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this.exmsg = String.format(fmt, args); |
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stackTraceElements = Thread.currentThread().getStackTrace(); |
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} |
} |
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|
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public AECodeError(Exception e) { |
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super(A8kEcode.CODEERROR); |
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|
this.exmsg = e.getMessage(); |
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|
stackTraceElements = e.getStackTrace(); |
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|
} |
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|
|
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|
public static void main(String[] args) { |
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|
try { |
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|
throw new Exception("test"); |
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|
} catch (Exception e) { |
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AECodeError aeCodeError = new AECodeError(e); |
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|
System.out.println(ZJsonHelper.objToPrettyJson(aeCodeError)); |
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|
} |
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|
|
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|
} |
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} |
} |
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@ -1,13 +0,0 @@ |
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package a8k.type.ecode; |
|
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|
|
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
|
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import io.swagger.v3.oas.annotations.media.Schema; |
|
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|
|
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public class AECommonError extends AppError { |
|
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public AECommonError(String exmsg) { |
|
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super(A8kEcode.COMMON_ERROR); |
|
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this.exmsg = exmsg; |
|
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} |
|
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|
|
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|
|
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} |
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@ -1,22 +0,0 @@ |
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package a8k.type.ecode; |
|
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|
|
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
|
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import io.swagger.v3.oas.annotations.media.Schema; |
|
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|
|
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import java.util.Arrays; |
|
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|
|
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public class AEUnkownExceptionError extends AppError { |
|
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@Schema(description = "异常描述") |
|
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public String decription; |
|
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@Schema(description = "异常栈信息") |
|
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public String stackTrace; |
|
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Exception exception; |
|
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|
|
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|
|
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public AEUnkownExceptionError(Exception exception) { |
|
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super(A8kEcode.CODEERROR_UNKOWN_EXCEPTION); |
|
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this.decription = exception.getMessage(); |
|
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this.stackTrace = Arrays.toString(exception.getStackTrace()); |
|
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this.exception = exception; |
|
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} |
|
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} |
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@ -1,22 +0,0 @@ |
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package a8k.type.exception; |
|
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|
|
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
|
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import a8k.type.ecode.AppError; |
|
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import a8k.utils.AppExceptionUtils; |
|
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import com.fasterxml.jackson.annotation.JsonIgnore; |
|
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|
|
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import java.util.List; |
|
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|
|
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public class MutiAppException extends AppException { |
|
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public List<AppException> bindExceptions; |
|
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|
|
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public MutiAppException(List<AppException> exceptions) { |
|
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super(A8kEcode.MUTI_APPEXCEPTIONS); |
|
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bindExceptions = exceptions; |
|
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} |
|
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|
|
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@JsonIgnore |
|
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public List<AppError> getErrors() { |
|
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return AppExceptionUtils.toAppErrorList(bindExceptions); |
|
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} |
|
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} |
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@ -1,53 +0,0 @@ |
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package a8k.utils; |
|
||||
|
|
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import a8k.OS; |
|
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import a8k.type.exception.AppException; |
|
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import a8k.type.exception.MutiAppException; |
|
||||
|
|
||||
import java.util.ArrayList; |
|
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import java.util.List; |
|
||||
import java.util.Objects; |
|
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import java.util.concurrent.*; |
|
||||
|
|
||||
public class ActionParallerExceutor { |
|
||||
ThreadPoolExecutor executor = new ThreadPoolExecutor(3, 3, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10)); |
|
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List<Future<AppException>> futures = new ArrayList<>(); |
|
||||
|
|
||||
// var doPrepareReactionPlateFuture = executor.submit(() -> ZFnCall.callfn(this::prepareReactionPlate)); |
|
||||
//摇匀并取盖 |
|
||||
// var doShakeAndTakeCapFuture = executor.submit(() -> ZFnCall.callfn(this::shakeAndTakeCap)); |
|
||||
//准备Hbot Tip |
|
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// var doHbotPrepareTipFuture = executor.submit(() -> ZFnCall.callfn(this::hbotPrepareTip)); |
|
||||
|
|
||||
|
|
||||
public void submit(ZFnCall.Fn fn) { |
|
||||
var future = executor.submit(() -> ZFnCall.callfn(fn)); |
|
||||
futures.add(future); |
|
||||
} |
|
||||
|
|
||||
public MutiAppException waitAll() { |
|
||||
futures.forEach(this::wait); |
|
||||
List<AppException> exceptions = new java.util.ArrayList<>(List.of()); |
|
||||
try { |
|
||||
for (Future<AppException> future : futures) { |
|
||||
exceptions.add(future.get()); |
|
||||
} |
|
||||
} catch (InterruptedException | ExecutionException ignored) { |
|
||||
} |
|
||||
exceptions.removeIf(Objects::isNull); |
|
||||
if (exceptions.isEmpty()) { |
|
||||
return null; |
|
||||
} |
|
||||
return new MutiAppException(exceptions); |
|
||||
// List<AppError> errors = new java.util.ArrayList<>(List.of()); |
|
||||
// exceptions.forEach(e -> errors.add(e.getError())); |
|
||||
} |
|
||||
|
|
||||
|
|
||||
void wait(Future<?> future) { |
|
||||
while (!future.isDone()) { |
|
||||
OS.forceSleep(100); |
|
||||
} |
|
||||
} |
|
||||
|
|
||||
} |
|
||||
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