添加通用硬件操作

src/main/java/a8k/appbean/HardwareException.java

@@ -19,11 +19,12 @@ public class HardwareException extends Exception {
 		this.moduleId  = moduleId;
 	}
 
-	int getModuleId() {
+	public int getModuleId() {
 		return moduleId;
 	}
 
 	public int getErrorCode() {
 		return errorCode;
 	}
+
 }

src/main/java/a8k/appbean/ecode/AppEcode.java

@@ -2,6 +2,7 @@ package a8k.appbean.ecode;
 
 import a8k.a8k_can_protocol.MId;
 import a8k.a8k_can_protocol.A8kEcode;
+import a8k.appbean.HardwareException;
 
 public class AppEcode {
 	public A8kEcode errorCode;
@@ -13,6 +14,11 @@ public class AppEcode {
 		this.mid       = mid;
 	}
 
+	public AppEcode(HardwareException e) {
+		this.errorCode = A8kEcode.valueOf(e.getErrorCode());
+		this.mid       = MId.valueOf(e.getModuleId());
+	}
+
 	public AppEcode(A8kEcode errorCode) {
 		this.errorCode = errorCode;
 		this.mid       = MId.NotSet;

src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java

@@ -7,6 +7,7 @@ import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppEcode;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
+import a8k.service.hardware.CommonHardwareOpeartion;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -24,6 +25,9 @@ public class DeviceInitializationCtrlService {
 	A8kCanBusService canBus;
 
 	@Resource
+	CommonHardwareOpeartion hardwareOpeartion;
+
+	@Resource
 	SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams;
 
 
@@ -35,6 +39,7 @@ public class DeviceInitializationCtrlService {
 		 * 			3.使能所有电机
 		 */
 
+		hardwareOpeartion.enableAllMotor();
 
 		//打开必要的电源
 		canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true);
@@ -165,10 +170,10 @@ public class DeviceInitializationCtrlService {
 			}
 
 			//复位设备
-			//			ecode = moveMotorToZero();
-			//			if (!ecode.isOk()) {
-			//				return ecode;
-			//			}
+			ecode = moveMotorToZero();
+			if (!ecode.isOk()) {
+				return ecode;
+			}
 
 			//清空耗材
 
@@ -177,10 +182,16 @@ public class DeviceInitializationCtrlService {
 			logger.error("HardwareException %s", e);
 			throw new RuntimeException(e);
 		} catch (InterruptedException e) {
-			logger.error("InterruptedException");
+			logger.error("InterruptedException", e);
 			throw new RuntimeException(e);
+		} finally {
+			try {
+				canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+				canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
+				canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
+			} catch (HardwareException | InterruptedException ignored) {
+			}
 		}
-
 
 		return new AppEcode(A8kEcode.Success);
 	}

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

@@ -0,0 +1,126 @@
+package a8k.service.hardware;
+
+import a8k.a8k_can_protocol.A8kEcode;
+import a8k.a8k_can_protocol.MId;
+import a8k.appbean.HardwareException;
+import a8k.appbean.ecode.AppEcode;
+import a8k.base_hardware.A8kCanBusService;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@Component
+public class CommonHardwareOpeartion {
+
+
+	@Resource
+	A8kCanBusService canBus;
+
+	public AppEcode enableAllMotorNoExcep() {
+		try {
+			enableAllMotor();
+		} catch (HardwareException e) {
+			return new AppEcode(e);
+		}
+		return new AppEcode(A8kEcode.Success);
+	}
+
+	public AppEcode disableAllMotorNoExcep() {
+		try {
+			enableAllMotor();
+		} catch (HardwareException e) {
+			return new AppEcode(e);
+		}
+		return new AppEcode(A8kEcode.Success);
+	}
+
+	public void enableAllMotor() throws HardwareException {
+		//进出料初始化
+		canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
+		canBus.stepMotorEnable(MId.FeedingModXM, 1);
+		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
+
+		//摇匀模组初始化
+		canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+		canBus.stepMotorEnable(MId.ShakeModGripperZM, 1);
+		canBus.stepMotorEnable(MId.ShakeModShakeM, 1);
+		canBus.miniServoEnable(MId.ShakeModGripperYM, 1);
+		canBus.miniServoEnable(MId.ShakeModGripperSV, 1);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 1);
+
+		//板夹仓初始化
+		canBus.stepMotorEnable(MId.PlatesBoxYM, 1);
+		canBus.stepMotorEnable(MId.PlatesBoxPusherM, 1);
+
+		//光学模组初始化
+		canBus.stepMotorEnable(MId.OptModPullM, 1);
+		canBus.stepMotorEnable(MId.OptModScannerM, 1);
+
+		//HBot初始化
+		canBus.stepMotorEnable(MId.HbotM, 1);
+		canBus.stepMotorEnable(MId.PipetteModZM, 1);
+
+		//转盘归零
+		canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 1);
+
+	}
+
+	public void disableAllMotor() throws HardwareException {
+		//进出料初始化
+		canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);
+		canBus.stepMotorEnable(MId.FeedingModXM, 0);
+		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);
+
+		//摇匀模组初始化
+		canBus.stepMotorEnable(MId.ShakeModClampingM, 0);
+		canBus.stepMotorEnable(MId.ShakeModGripperZM, 0);
+		canBus.stepMotorEnable(MId.ShakeModShakeM, 0);
+		canBus.miniServoEnable(MId.ShakeModGripperYM, 0);
+		canBus.miniServoEnable(MId.ShakeModGripperSV, 0);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, 0);
+
+		//板夹仓初始化
+		canBus.stepMotorEnable(MId.PlatesBoxYM, 0);
+		canBus.stepMotorEnable(MId.PlatesBoxPusherM, 0);
+
+		//光学模组初始化
+		canBus.stepMotorEnable(MId.OptModPullM, 0);
+		canBus.stepMotorEnable(MId.OptModScannerM, 0);
+
+		//HBot初始化
+		canBus.stepMotorEnable(MId.HbotM, 0);
+		canBus.stepMotorEnable(MId.PipetteModZM, 0);
+
+		//转盘归零
+		canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, 0);
+
+	}
+
+	public void stopAllMOtor() {
+		//进出料初始化
+		try {canBus.moduleStop(MId.FeedingModInfeedM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.FeedingModXM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.FeedingModOutfeedM);} catch (HardwareException ignored) {}
+		//摇匀模组初始化
+		try {canBus.moduleStop(MId.ShakeModClampingM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModGripperZM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModShakeM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModGripperYM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModGripperSV);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.ShakeModTubeScanerRotateSV);} catch (HardwareException ignored) {}
+		//板夹仓初始化
+		try {canBus.moduleStop(MId.PlatesBoxYM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.PlatesBoxPusherM);} catch (HardwareException ignored) {}
+		//光学模组初始化
+		try {canBus.moduleStop(MId.OptModPullM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.OptModScannerM);} catch (HardwareException ignored) {}
+		//HBot初始化
+		try {canBus.moduleStop(MId.HbotM);} catch (HardwareException ignored) {}
+		try {canBus.moduleStop(MId.PipetteModZM);} catch (HardwareException ignored) {}
+		//转盘归零
+		try {canBus.moduleStop(MId.IncubatorRotateCtrlM);} catch (HardwareException ignored) {}
+
+	}
+}