添加模块寄存器初始化服务

src/main/java/a8k/app_eventbus/AppEventBusService.java

@@ -5,34 +5,33 @@ import a8k.app_eventbus.appevent.AppEvent;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.context.ApplicationListener;
+import org.springframework.context.event.ContextRefreshedEvent;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.BlockingQueue;
 import java.util.concurrent.LinkedBlockingQueue;
 
 @Component
-public class AppEventBusService {
+public class AppEventBusService implements ApplicationListener<ContextRefreshedEvent> {
 	public static final Logger logger = LoggerFactory.getLogger(AppEventBusService.class);
 
 	Thread                  eventProcessorThread;
-	BlockingQueue<AppEvent> eventQueue;
-	List<AppEventListener>  listeners;
+	BlockingQueue<AppEvent> eventQueue = new LinkedBlockingQueue<>();
+	List<AppEventListener>  listeners  = new ArrayList<>();
 
 	@PostConstruct
 	public void init() {
-		eventQueue           = new LinkedBlockingQueue<AppEvent>();
-		eventProcessorThread = new Thread(new Runnable() {
-			public void run() {
-				eventBusSchedule();
-			}
-		});
+
 	}
 
 	public void regListener(AppEventListener listener) {
 		listeners.add(listener);
 	}
 
+
 	public void pushEvent(AppEvent event) {
 		logger.info("pushEvent: {}", event);
 		eventQueue.add(event);
@@ -42,6 +41,7 @@ public class AppEventBusService {
 		while (!Thread.currentThread().isInterrupted()) {
 			try {
 				AppEvent event = eventQueue.take();
+				callOnEvent(event);
 			} catch (InterruptedException ignored) {
 			}
 		}
@@ -53,4 +53,18 @@ public class AppEventBusService {
 			listener.onAppEvent(event);
 		}
 	}
+
+	@Override
+	public void onApplicationEvent(ContextRefreshedEvent event) {
+		logger.info("Spring context refreshed");
+		if (eventProcessorThread == null) {
+			eventProcessorThread = new Thread(new Runnable() {
+				public void run() {
+					logger.info("Starting event bus schedule");
+					eventBusSchedule();
+				}
+			});
+			eventProcessorThread.start();
+		}
+	}
 }

src/main/java/a8k/app_eventbus/appevent/A8kCanBusOnConnectEvent.java

@@ -0,0 +1,6 @@
+package a8k.app_eventbus.appevent;
+
+public class A8kCanBusOnConnectEvent extends AppEvent {
+	public A8kCanBusOnConnectEvent() {
+	}
+}

src/main/java/a8k/canbus/A8kCanBusService.java

@@ -1,5 +1,7 @@
 package a8k.canbus;
 
+import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
+import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
 import a8k.canbus.protocol.*;
 import a8k.canbus.protocol.MId;
 import a8k.appbean.HardwareException;
@@ -8,12 +10,12 @@ import a8k.app_eventbus.appevent.A8kHardwareReport;
 import a8k.app_eventbus.AppEventBusService;
 import a8k.utils.ByteArray;
 import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
 import org.java_websocket.client.WebSocketClient;
 import org.java_websocket.enums.ReadyState;
 import org.java_websocket.handshake.ServerHandshake;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 import java.net.URI;
@@ -53,8 +55,11 @@ public class A8kCanBusService {
 	 *
 	 */
 
-	@Autowired
-	private AppEventBusService eventBusService;
+	@Resource
+	private AppEventBusService eventBus;
+
+	@Resource
+	private A8kModCustomParamMgr customParamMgr;
 
 	public  String          uri; // assign by application.yml
 	private WebSocketClient client;
@@ -89,7 +94,8 @@ public class A8kCanBusService {
 		client = new WebSocketClient(uri) {
 			@Override
 			public void onOpen(ServerHandshake serverHandshake) {
-				logger.info("onOpen");
+				logger.info("a8k canbus connect sucess");
+				eventBus.pushEvent(new A8kCanBusOnConnectEvent());
 			}
 
 			@Override
@@ -99,7 +105,7 @@ public class A8kCanBusService {
 
 			@Override
 			public void onClose(int i, String s, boolean b) {
-				logger.info("onClose");
+				logger.warn("a8k canbus lost connection...");
 			}
 
 			@Override
@@ -118,7 +124,7 @@ public class A8kCanBusService {
 							client.connect();
 						} catch (IllegalStateException e) {
 						}
-					} else if (client.getReadyState().equals(ReadyState.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) {
+					} else if (client.getReadyState().equals(ReadyState.CLOSED)) {
 						client.reconnect();
 					}
 				}
@@ -126,6 +132,10 @@ public class A8kCanBusService {
 		}, 0, 1000);
 	}
 
+	public void forceShutdown() {
+		client.close();
+	}
+
 
 	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
 		int subCmdId   = cmdId & 0xFF;
@@ -654,9 +664,7 @@ public class A8kCanBusService {
 		}
 
 		if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) {
-			if (eventBusService != null) {
-				eventBusService.pushEvent(new A8kHardwareReport(packet));
-			}
+			eventBus.pushEvent(new A8kHardwareReport(packet));
 		}
 	}
 

src/main/java/a8k/canbus/A8kModParamInitializer.java

@@ -1,16 +1,90 @@
 package a8k.canbus;
 
+import a8k.app_eventbus.AppEventBusService;
+import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
+import a8k.app_eventbus.appevent.AppEvent;
+import a8k.appbean.AppEventListener;
+import a8k.appbean.HardwareException;
+import a8k.canbus.custom_param_mgr.ModCustomParamId;
+import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
+import a8k.canbus.protocol.MId;
+import a8k.canbus.protocol.RegIndex;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component
-public class A8kModParamInitializer {
+public class A8kModParamInitializer implements AppEventListener {
 	static Logger logger = LoggerFactory.getLogger(A8kModParamInitializer.class);
 
+	@Resource
+	AppEventBusService eventBus;
+
+	@Resource
+	A8kCanBusService canBus;
+
+	@Resource
+	A8kModCustomParamMgr customParamMgr;
+
+	@PostConstruct
 	public void init() {
 		logger.info("A8kModInitializer init");
+		eventBus.regListener(this);
 	}
 
+	public void initA8kCustcomParams() {
+		customParamMgr.setCustomParam(MId.FeedingModXM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
+		customParamMgr.setCustomParam(MId.ShakeModGripperZM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
+		customParamMgr.setCustomParam(MId.ShakeModClampingM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
+	}
+
+	public void initA8kModParams() throws HardwareException {
+		/*
+		 *  设置位置偏差容忍度
+		 * 		1.如果电机配置有编码器器，则每次调用moveBy,moveTo都会进行位置检查
+		 *		2.如果电机没有配备编码，则每次调用moveQuickToZeroPoint，都会进行一次位置检查
+		 */
+		canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+		canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
+
+		canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+	}
 
+	public void forceInitA8kModParams() {
+		try {
+			logger.info("forceInitA8kModParams");
+			initA8kModParams();
+		} catch (HardwareException e) {
+			logger.error("init hardware param fail......", e);
+			//TODO:校验这里的逻辑
+			canBus.forceShutdown();
+		}
+	}
+
+
+	@Override
+	public void onAppEvent(AppEvent event) {
+		if (event instanceof A8kCanBusOnConnectEvent) {
+			forceInitA8kModParams();
+		}
+	}
 }

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java

@@ -1,7 +1,10 @@
 package a8k.canbus.custom_param_mgr;
 
+import a8k.canbus.protocol.MId;
+
 public class A8kModCustomParam {
-	public A8kModCustomParamId id;
+	MId mid;
+	public ModCustomParamId id;
 	public Integer          value;
 
 }

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java

@@ -1,25 +1,35 @@
 package a8k.canbus.custom_param_mgr;
 
+import a8k.canbus.protocol.MId;
 import org.springframework.stereotype.Component;
 
-import java.util.Map;
+import java.util.Set;
 
 @Component
 public class A8kModCustomParamMgr {
 
-	Map<A8kModCustomParamId, A8kModCustomParam> customParamMap;
+	Set<A8kModCustomParam> customParamSet;
 
-	public Integer getCustomParam(A8kModCustomParamId id) {
-		var vaule = customParamMap.get(id);
-		if (vaule != null) {
-			return vaule.value;
-		} else {
+	public Integer getCustomParam(MId mid, ModCustomParamId id) {
+		for (A8kModCustomParam param : customParamSet) {
+			if (param.mid == mid && param.id == id) {
+				return param.value;
+			}
+		}
 		return id.defaultVal;
 	}
 
+	public void setCustomParam(MId mid, ModCustomParamId id, Integer val) {
+		for (A8kModCustomParam param : customParamSet) {
+			if (param.mid == mid && param.id == id) {
+				param.value = val;
+				return;
 			}
-
-	public void setCustomParam(A8kModCustomParam param) {
-		customParamMap.put(param.id, param);
+		}
+		A8kModCustomParam param = new A8kModCustomParam();
+		param.mid   = mid;
+		param.id    = id;
+		param.value = val;
+		customParamSet.add(param);
 	}
 }

src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamId.java → src/main/java/a8k/canbus/custom_param_mgr/ModCustomParamId.java

@@ -1,13 +1,13 @@
 package a8k.canbus.custom_param_mgr;
 
-public enum A8kModCustomParamId {
+public enum ModCustomParamId {
 
 	MOTOR_STANDY_POS_COMPENSATE("电机待机位置零点补偿"),//待机位置 = 零点- 零点补偿
 	;
 	public final String  desc;
 	public final Integer defaultVal;
 
-	A8kModCustomParamId(String desc) {
+	ModCustomParamId(String desc) {
 		this.desc       = desc;
 		this.defaultVal = 0;
 	}

src/main/java/a8k/canbus/protocol/RegIndex.java

@@ -140,6 +140,9 @@ public enum RegIndex {
 	kreg_step_motor_enc_resolution(10189),  // 编码器分辨率 1000,1024,4000,4096,16384
 	kreg_step_motor_enable_enc(10190),  //
 	kreg_step_motor_dzero_pos(10191),  // 驱动器处于调试模式
+	kret_step_motor_pos_devi_tolerance(10192),  // 位置偏差容忍度
+	kret_step_motor_io_trigger_append_distance(10193),  // 移动到io时，附加的距离
+
 
 	/***********************************************************************************************************************
 	 *                                                     step_motor                                                      *