添加急停相关逻辑

src/main/java/a8k/app/controler/api/v1/ApiV1ControllerAdvice.java

@@ -1,5 +1,6 @@
 package a8k.app.controler.api.v1;
 
+import a8k.app.type.exception.AppException;
 import a8k.app.type.ui.ApiRet;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/app/controler/api/v1/app/ctrl/DeviceInitControler.java

@@ -2,6 +2,7 @@ package a8k.app.controler.api.v1.app.ctrl;
 
 import a8k.app.service.mainctrl.AppDeviceInitCtrlService;
 import a8k.app.service.statemgr.GStateMgrService;
+import a8k.app.type.deviceinit.DeviceInitState;
 import a8k.app.type.exception.AppException;
 import a8k.app.type.ui.ApiRet;
 import io.swagger.v3.oas.annotations.Operation;
@@ -33,8 +34,8 @@ public class DeviceInitControler {
 
 	@Operation(description = "获取设备初始化状态")
 	@PostMapping("/getDeviceInitedTaskState")
-	public ApiRet<AppDeviceInitCtrlService.State> getDeviceInitedTaskState() {
-		return ApiRet.success(deviceInitService.getState());
+	public ApiRet<DeviceInitState> getDeviceInitedTaskState() {
+		return ApiRet.success(deviceInitService.getDeviceInitState());
 	}
 
 	@Operation(description = "获取设备是否完成启动")

src/main/java/a8k/app/controler/api/v1/app/ws/AppWebSocketEndpointMgr.java

@@ -272,7 +272,7 @@ public class AppWebSocketEndpointMgr {
 		deviceContext.runMode          = gStateMgrService.getDeviceRunMode();
 		deviceContext.loginFlag        = appUserMgrService.getLoginUsr() != null;
 		deviceContext.loginUser        = appUserMgrService.getLoginUsr();
-		deviceContext.deviceInitedFlag = appDeviceInitCtrlService.getState().deviceInited;
+		deviceContext.deviceInitedFlag = appDeviceInitCtrlService.getDeviceInitState().deviceInited;
 		deviceContext.fatalErrorFlag   = deviceWorkStateMgrService.getDeviceWorkState().fatalErrorFlag;
 		return deviceContext;
 	}

src/main/java/a8k/app/i18n/Internationalization.java

@@ -88,6 +88,7 @@ public class Internationalization {
 			case LIS_REPORT_RECORD_FAIL -> "LIS上报记录失败";
 			case LIS_REQUEST_SAMPLE_INFO_FAIL -> "LIS请求样本信息失败";
 			case LIS_REQUEST_SAMPLE_INFO_PARSE_RESPONSE_FAIL -> "LIS请求样本信息解析响应失败";
+			case EMERGENCY_KEY_TRIGGER -> "急停按键被触发";
 			default -> ecode.toString();
 		};
 	}

src/main/java/a8k/app/iflytophald/channel/A8kCanBusCommunicationChannel.java

@@ -262,6 +262,13 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		// TX packet
 		String txpacket = pack.toByteString();
 		log.debug("TX-RAW: {} | {}", txpacket, pack);
+		if(!isOpen()) {
+			try {
+				connectBlocking();
+			} catch (InterruptedException e) {
+				throw new RuntimeException(e);
+			}
+		}
 		send(txpacket);
 
 

src/main/java/a8k/app/iflytophald/channel/DeviceLocalKeyStateReportChannel.java

@@ -0,0 +1,140 @@
+package a8k.app.iflytophald.channel;
+
+import a8k.app.config.IflytophaldConnectionConfig;
+import a8k.app.iflytophald.driver.A8kCanBusBaseDriver;
+import a8k.app.iflytophald.type.DeviceLocalKeyEvent;
+import a8k.app.service.background.AppEventBusService;
+import a8k.app.service.statemgr.GStateMgrService;
+import a8k.app.type.appevent.AppEmergencyKeyStateChangeEvent;
+import a8k.app.utils.ZJsonHelper;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.java_websocket.client.WebSocketClient;
+import org.java_websocket.enums.ReadyState;
+import org.java_websocket.handshake.ServerHandshake;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.net.URI;
+import java.util.LinkedList;
+import java.util.Queue;
+
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class DeviceLocalKeyStateReportChannel {
+	//编程 参考 https://iflytop1.feishu.cn/wiki/QFwVwGnI8iYp0fk20W9cnpYAnkg?fromScene=spaceOverview
+
+	@Value("${iflytophald.enable}")
+	Boolean iflytophaldEnable;
+
+	WebSocketClient conn;
+
+	private final IflytophaldConnectionConfig config;
+	private final GStateMgrService            gStateMgrService;
+	private final AppEventBusService          eventBusService;
+	private final A8kCanBusBaseDriver         a8kCanBus;
+
+	private boolean emergencyKeyState = false;
+
+
+	private void changeEmergencyKeyState(boolean toState) {
+		if (toState != emergencyKeyState) {
+			emergencyKeyState = toState;
+			log.info("emergency key state changed to: {}", emergencyKeyState);
+			gStateMgrService.updateEmergencyStopFlag(emergencyKeyState);
+			eventBusService.pushEvent(new AppEmergencyKeyStateChangeEvent(toState));
+		}
+		a8kCanBus.syncEmergencyKeyState(toState);
+	}
+
+	public boolean getEmergencyKeyState() {
+		return emergencyKeyState;
+	}
+
+
+	@PostConstruct
+	void init() {
+		gStateMgrService.updateEmergencyStopFlag(emergencyKeyState);
+
+
+		String url = config.getDatachUrl("key");
+		log.info("EmergencyKeyStateReportChannel url: {}", url);
+		conn = new WebSocketClient(URI.create(url)) {
+			@Override
+			public void onOpen(ServerHandshake serverHandshake) {
+				DeviceLocalKeyStateReportChannel.this.onOpen(serverHandshake);
+			}
+
+			@Override
+			public void onMessage(String s) {
+				DeviceLocalKeyStateReportChannel.this.onMessage(s);
+			}
+
+			@Override
+			public void onClose(int i, String s, boolean b) {
+				DeviceLocalKeyStateReportChannel.this.onClose(i, s, b);
+			}
+
+			@Override
+			public void onError(Exception e) {
+				DeviceLocalKeyStateReportChannel.this.onError(e);
+			}
+		};
+		conn.connect();
+	}
+
+
+	//
+	//	PRIVATE
+	//
+	private void onOpen(ServerHandshake serverHandshake) {
+		log.info("connect success");
+	}
+
+	private void onClose(int i, String s, boolean b) {
+		log.warn("lost connection...");
+	}
+
+	private void onError(Exception e) {
+		log.info("a8k can-websocket-channel on error");
+	}
+
+	private void onMessage(String s) {
+		try {
+			DeviceLocalKeyEvent event = ZJsonHelper.objectFromJson(s, DeviceLocalKeyEvent.class);
+			if (event == null) {
+				log.error("Failed to parse DeviceLocalKeyEvent from message: {}", s);
+				return;
+			}
+			if (event.name.equals("emergency")) {
+				changeEmergencyKeyState(event.state);
+			}
+		} catch (Exception e) {
+			log.error("Failed to parse DeviceLocalKeyEvent from message: {}", s, e);
+		}
+	}
+
+
+	@Scheduled(fixedRate = 1000)
+	private void autoConnect() {
+		if (!iflytophaldEnable) {
+			return;
+		}
+		if (!conn.isOpen()) {
+			if (conn.getReadyState().equals(ReadyState.NOT_YET_CONNECTED)) {
+				try {
+					conn.connect();
+				} catch (IllegalStateException ignored) {
+				}
+			} else if (conn.getReadyState().equals(ReadyState.CLOSED)) {
+				conn.reconnect();
+			}
+		}
+	}
+}
+
+

src/main/java/a8k/app/iflytophald/driver/A8kCanBusBaseDriver.java

@@ -1,5 +1,6 @@
 package a8k.app.iflytophald.driver;
 
+import a8k.app.factory.A8kPacketFactory;
 import a8k.app.iflytophald.channel.A8kCanBusCommunicationChannel;
 
 import a8k.app.iflytophald.type.protocol.*;
@@ -7,24 +8,36 @@ import a8k.app.type.error.AEHardwareError;
 import a8k.app.type.exception.AppException;
 import a8k.OS;
 import a8k.app.utils.ByteArrayUtils;
+import a8k.app.utils.ZList;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 
 import java.net.URISyntaxException;
+import java.util.LinkedHashMap;
+import java.util.Map;
 
 @Component
 @Slf4j
+@RequiredArgsConstructor
 public class A8kCanBusBaseDriver {
-	@Resource
-	A8kCanBusCommunicationChannel connection;
 
+	private final A8kCanBusCommunicationChannel connection;
+	private       boolean                       emergencyKeyState = false;
 
 	@Value("${iflytophald.enable}")
 	Boolean iflytophaldEnable;
 
+	static public class ThreadVar {
+		boolean lockAction = false;//为true时,动作不可以被打断
+	}
+
+	private       Map<Long, ThreadVar> threadVars     = new LinkedHashMap<>();
+	private final Object               threadVarsLock = new Object();
+
 	@PostConstruct
 	public void init() throws URISyntaxException {
 		if (iflytophaldEnable) {
@@ -34,6 +47,10 @@ public class A8kCanBusBaseDriver {
 		}
 	}
 
+	public boolean isConnect() {
+		return connection.isOpen();
+	}
+
 	/**
 	 * 强制关闭websocket连接，让其与canbus服务重连
 	 */
@@ -103,7 +120,7 @@ public class A8kCanBusBaseDriver {
 		return ModuleType.of(packet.getContentI32(0));
 	}
 
-	public byte[] a8kIdcardReaderReadRaw() throws AppException {
+	public byte[] a8kIdCardReaderReadRaw() throws AppException {
 		int    i      = 0;
 		byte[] result = new byte[0];
 		while (true) {
@@ -116,29 +133,98 @@ public class A8kCanBusBaseDriver {
 		return result;
 	}
 
-	public void waitForMod(MId mid, Integer acitionOvertime) throws AppException {
+	public void syncEmergencyKeyState(boolean state) {
+		emergencyKeyState = state;
+	}
+
+	public void lockAction() {
+		synchronized (threadVarsLock) {
+			ThreadVar threadVar = threadVars.get(Thread.currentThread().threadId());
+			if (threadVar == null) {
+				threadVar = new ThreadVar();
+				threadVars.put(Thread.currentThread().threadId(), threadVar);
+			}
+			threadVar.lockAction = true;
+		}
+	}
+
+	public void unlockAction() throws AppException {
+		synchronized (threadVarsLock) {
+			ThreadVar threadVar = threadVars.get(Thread.currentThread().threadId());
+			if (threadVar != null) {
+				threadVar.lockAction = false;
+			}
+		}
+		if (emergencyKeyState) {
+			throw AppException.of(A8kEcode.EMERGENCY_KEY_TRIGGER);
+		}
+	}
+
+	public boolean isActionLocked() {
+		synchronized (threadVarsLock) {
+			ThreadVar threadVar = threadVars.get(Thread.currentThread().threadId());
+			return threadVar != null && threadVar.lockAction;
+		}
+	}
+
+
+	public void waitForMod(MId mid, Integer actionOvertime) throws AppException {
 		long  startedAt = OS.getMonotonicClockTimestamp();
 		CmdId action    = connection.getLastTxCmd(mid);
 		do {
-			ModuleStatus statu = moduleGetStatus(mid);
-			if (statu == ModuleStatus.IDLE) {
+			ModuleStatus statue = moduleGetStatus(mid);
+			if (statue == ModuleStatus.IDLE) {
 				break;
-			} else if (statu == ModuleStatus.ERROR) {
-				log.error("{} waitting for action {} , catch error  {}, defail ecode {}", mid, action, moduleGetError(mid), moduleGetDetailError(mid));
+			} else if (statue == ModuleStatus.ERROR) {
+				log.error("{} waiting for action {} , catch error  {}, detail ecode {}", mid, action, moduleGetError(mid), moduleGetDetailError(mid));
 				throw AppException.of(new AEHardwareError(moduleGetError(mid), mid, action));
 			}
 			long now = OS.getMonotonicClockTimestamp();
-			if (now - startedAt > acitionOvertime) {
-				log.error("{} waitting for action {} overtime({})", mid, action, acitionOvertime);
+			if (now - startedAt > actionOvertime) {
+				log.error("{} waiting for action {} overtime({})", mid, action, actionOvertime);
 				moduleStopNoException(mid);
 				throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, mid, action));
 			}
+
+			if (emergencyKeyState && !isActionLocked()) {
+				moduleStop(mid);
+				throw AppException.of(A8kEcode.EMERGENCY_KEY_TRIGGER);
+			}
+
 			OS.hsleep(30);
 		} while (true);
+
 	}
 
-	public boolean isConnect() {
-		return connection.isOpen();
+
+	void waitingForOptFinish() throws AppException {
+		long startedAt = OS.getMonotonicClockTimestamp();
+
+		do {
+			var          packet = A8kPacketFactory.buildCMDPacket(MId.OptMod.toInt(), CmdId.module_get_status.toInt(), ZList.of());
+			ModuleStatus statu  = null;
+			try {
+				statu = ModuleStatus.valueOf(send(packet, 50).getContentI32(0));
+			} catch (Exception ignored) {
+			}
+
+
+			if (statu == null || statu == ModuleStatus.BUSY) {
+				log.info("Waiting for Opt Finish");
+			} else if (statu == ModuleStatus.IDLE) {
+				log.info("Opt Finish");
+				break;
+			} else if (statu == ModuleStatus.ERROR) {
+				throw AppException.of(new AEHardwareError(moduleGetError(MId.OptMod), MId.OptMod, CmdId.a8k_opt_v2_t_start_scan));
+			}
+
+			if (OS.getMonotonicClockTimestamp() - startedAt > 10 * 1000) {
+				throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, MId.OptMod, CmdId.a8k_opt_v2_t_start_scan));
+			}
+			OS.forceSleep(100);
+		} while (true);
+
 	}
 
+
 }

src/main/java/a8k/app/iflytophald/driver/ModuleEnableCtrlDriver.java

@@ -14,7 +14,7 @@ import org.springframework.stereotype.Component;
 public class ModuleEnableCtrlDriver {
 
 	private final HbotDriver          hbotDriver;
-	private final PipetteCtrlDriverV2   pipetteCtrlDriver;
+	private final PipetteCtrlDriverV2 pipetteCtrlDriver;
 	private final StepMotorCtrlDriver stepMotorCtrlDriver;
 	private final MiniServoDriver     miniServoDriver;
 	private final A8kCanBusBaseDriver canBus;
@@ -22,14 +22,19 @@ public class ModuleEnableCtrlDriver {
 	public void forceDisableAllMotor() {
 		//		StepMotorMId.values()
 		for (StepMotorMId stepMotorMId : StepMotorMId.values()) {
+			if (!canBus.isConnect())
+				return;
 			try {
 				stepMotorCtrlDriver.stepMotorEnable(stepMotorMId, 0);
 			} catch (AppException e) {
+
 				log.info("disableStepMotor: {} failed, {}", stepMotorMId, e.getMessage());
 			}
 		}
 
 		for (MiniServoMId miniServoMId : MiniServoMId.values()) {
+			if (!canBus.isConnect())
+				return;
 			try {
 				miniServoDriver.miniServoEnable(miniServoMId, 0);
 			} catch (AppException e) {
@@ -38,12 +43,16 @@ public class ModuleEnableCtrlDriver {
 		}
 
 		try {
+			if (!canBus.isConnect())
+				return;
 			hbotDriver.enable(0);
 		} catch (AppException e) {
 			log.info("hbotDriver disable failed, {}", e.getMessage());
 		}
 
 		try {
+			if (!canBus.isConnect())
+				return;
 			pipetteCtrlDriver.zMotorEnable(0);
 		} catch (AppException e) {
 			log.info("pipetteCtrlDriver: zMotorEnable failed, {}", e.getMessage());

src/main/java/a8k/app/iflytophald/driver/OptModuleDriver.java

@@ -1,17 +1,12 @@
 package a8k.app.iflytophald.driver;
 
 import a8k.OS;
-import a8k.app.factory.A8kPacketFactory;
-import a8k.app.iflytophald.type.protocol.A8kEcode;
 import a8k.app.iflytophald.type.protocol.CmdId;
 import a8k.app.iflytophald.type.protocol.MId;
-import a8k.app.iflytophald.type.protocol.ModuleStatus;
 import a8k.app.iflytophald.type.protocol.OptModuleRegIndex;
-import a8k.app.type.error.AEHardwareError;
 import a8k.app.type.exception.AppException;
 import a8k.app.utils.ByteArrayUtils;
 import a8k.app.utils.ZJsonNode;
-import a8k.app.utils.ZList;
 import com.fasterxml.jackson.databind.JsonNode;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
@@ -37,53 +32,26 @@ public class OptModuleDriver {
 	A8kCanBusBaseDriver canBus;
 
 
-	void waittingForOptFinish(Integer overtime) throws AppException {
-		long startedAt = OS.getMonotonicClockTimestamp();
-
-		do {
-			var          packet = A8kPacketFactory.buildCMDPacket(MId.OptMod.toInt(), CmdId.module_get_status.toInt(), ZList.of());
-			ModuleStatus statu  = null;
-			try {
-				statu = ModuleStatus.valueOf(canBus.send(packet, 50).getContentI32(0));
-			} catch (Exception ignored) {
-			}
-
-
-			if (statu == null || statu == ModuleStatus.BUSY) {
-				log.info("Waitting for Opt Finish");
-			} else if (statu == ModuleStatus.IDLE) {
-				log.info("Opt Finish");
-				break;
-			} else if (statu == ModuleStatus.ERROR) {
-				throw AppException.of(new AEHardwareError(canBus.moduleGetError(MId.OptMod), MId.OptMod, CmdId.a8k_opt_v2_t_start_scan));
-			}
-
-			if (OS.getMonotonicClockTimestamp() - startedAt > overtime) {
-				throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, MId.OptMod, CmdId.a8k_opt_v2_t_start_scan));
-			}
-			OS.forceSleep(100);
-		} while (true);
-
+	void waitingForOptFinish() throws AppException {
+		canBus.waitingForOptFinish();
 	}
 
 
-	public void optTStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
-		log.info("OptTStartScan scanDirection:{} lasterGain:{} scanGain:{}", scanDirection, lasterGain, scanGain);
-		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_t_start_scan, scanDirection.getInteger(), lasterGain, scanGain);
-		//TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件
+	public void optTStartScan(OptScanDirection scanDirection, Integer laserGain, Integer scanGain) throws AppException {
+		log.info("OptTStartScan scanDirection:{} laserGain:{} scanGain:{}", scanDirection, laserGain, scanGain);
+		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_t_start_scan, scanDirection.getInteger(), laserGain, scanGain);
 		long startedAt = OS.getMonotonicClockTimestamp();
 		OS.forceSleep(100);
-		waittingForOptFinish(10 * 1000);
+		waitingForOptFinish();
 		log.info("opt t scan use {}s", (OS.getMonotonicClockTimestamp() - startedAt) / 1000.0);
 	}
 
-	public void optFStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException {
-		log.info("OptFStartScan scanDirection:{} lasterGain:{} scanGain:{}", scanDirection, lasterGain, scanGain);
-		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_f_start_scan, scanDirection.getInteger(), lasterGain, scanGain);
-		//TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件
+	public void optFStartScan(OptScanDirection scanDirection, Integer laserGain, Integer scanGain) throws AppException {
+		log.info("OptFStartScan scanDirection:{} laserGain:{} scanGain:{}", scanDirection, laserGain, scanGain);
+		canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_f_start_scan, scanDirection.getInteger(), laserGain, scanGain);
 		long startedAt = OS.getMonotonicClockTimestamp();
 		OS.forceSleep(100);
-		waittingForOptFinish(10 * 1000);
+		waitingForOptFinish();
 		log.info("opt f scan use {}s", (OS.getMonotonicClockTimestamp() - startedAt) /  1000.0);
 	}
 

src/main/java/a8k/app/iflytophald/type/DeviceLocalKeyEvent.java

@@ -0,0 +1,15 @@
+package a8k.app.iflytophald.type;
+
+public class DeviceLocalKeyEvent {
+	public enum EventType {
+		sync,
+		press,
+		release
+	}
+
+	public Integer   duration;
+	public EventType event;
+	public Integer   index;
+	public String    name;
+	public Boolean   state;
+}

src/main/java/a8k/app/iflytophald/type/protocol/A8kEcode.java

@@ -40,6 +40,7 @@ public enum A8kEcode {
 	LIS_REQUEST_SAMPLE_INFO_FAIL(27), //Lis请求样本信息失败
 	LIS_REQUEST_SAMPLE_INFO_PARSE_RESPONSE_FAIL(28), //Lis请求样本信息失败
 	LIS_SAMPLE_TYPE_NOT_SUPPORT(29), //Lis样本类型不支持
+	EMERGENCY_KEY_TRIGGER(30), //
 
 
 	//

src/main/java/a8k/app/service/background/ProjIDCardCtrlAndMonitorService.java

@@ -5,7 +5,6 @@ import a8k.app.factory.ZAppPromptFactory;
 import a8k.app.iflytophald.type.protocol.A8kPacket;
 import a8k.app.iflytophald.type.protocol.CmdId;
 import a8k.app.iflytophald.type.protocol.MId;
-import a8k.app.service.data.ProjIdCardInfoMgrService;
 import a8k.app.service.data.ProjInfoMgrService;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.app.type.appevent.*;
@@ -91,10 +90,10 @@ public class ProjIDCardCtrlAndMonitorService {
 				log.info("拔出ID卡");
 			}
 		} else if (event instanceof AppDeviceInitSucEvent appDeviceInitializeSuc) {
-			if (idCardStatus()) {
-				log.info("ID卡读卡器在线");
-				workQueue.addTask(this::readIDCard);
-			}
+			//			if (idCardStatus()) {
+			//				log.info("ID卡读卡器在线");
+			//				workQueue.addTask(this::readIDCard);
+			//			}
 		}
 	}
 
@@ -102,7 +101,7 @@ public class ProjIDCardCtrlAndMonitorService {
 		//读取ID卡信息
 		byte[] data = null;
 		try {
-			data = canBus.a8kIdcardReaderReadRaw();
+			data = canBus.a8kIdCardReaderReadRaw();
 			log.info("ID卡信息:{}", A8kIdCardDataParseService.dumpByte(data, 10));
 		} catch (AppException e) {
 			eventBus.pushEvent(ZAppPromptFactory.buildAppPromptEvent(e.error));

src/main/java/a8k/app/service/lowerctrl/OptScanModuleLowerCtrlService.java

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.iflytophald.driver.A8kCanBusBaseDriver;
 import a8k.app.optalgo.type.A8kOptPeakInfo;
 import a8k.app.constant.OptConstant;
 import a8k.app.optalgo.A8kOptCurveAnalyzer;
@@ -18,6 +19,7 @@ import a8k.app.type.exception.AppException;
 import a8k.app.dao.type.combination.ProjBuildInInfo;
 import a8k.app.iflytophald.utils.OptGainConvert;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;
@@ -26,6 +28,7 @@ import java.util.Date;
 
 @Component
 @Slf4j
+@RequiredArgsConstructor
 public class OptScanModuleLowerCtrlService {
 	static final Integer overtime = 10000;
 
@@ -79,24 +82,25 @@ public class OptScanModuleLowerCtrlService {
 	}
 
 
-	@Resource
-	StepMotorCtrlDriver stepMotorCtrlDriver;
-	@Resource
-	OptModuleDriver     optModuleDriver;
-
-	@Resource
-	OptModuleExtParamsMgr   optModuleExtParamsMgr;
-	@Resource
-	OptModuleParamsMgr       optModuleParamsMgr;
-	@Resource
-	TurntableMoveCtrlService turntableMoveCtrlService;
-
+	private final StepMotorCtrlDriver      stepMotorCtrlDriver;
+	private final OptModuleDriver          optModuleDriver;
+	private final OptModuleExtParamsMgr    optModuleExtParamsMgr;
+	private final OptModuleParamsMgr       optModuleParamsMgr;
+	private final TurntableMoveCtrlService turntableMoveCtrlService;
+	private final A8kCanBusBaseDriver      a8kCanBusBaseDriver;
 
 	public void pullPlate(IncubatorPos turntablePosIndex) throws AppException {
-		turntableMoveCtrlService.trunableMoveToPullPos(turntablePosIndex);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos());
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModPullM, optModuleParamsMgr.getPullerTargetPos());
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModPullM);
+		try {
+			a8kCanBusBaseDriver.lockAction();
+
+			turntableMoveCtrlService.trunableMoveToPullPos(turntablePosIndex);
+			stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos());
+			stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModPullM, optModuleParamsMgr.getPullerTargetPos());
+			stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModPullM);
+		} finally {
+			a8kCanBusBaseDriver.unlockAction();
+		}
+
 	}
 
 	public void dropPlate() throws AppException {
@@ -235,7 +239,7 @@ public class OptScanModuleLowerCtrlService {
 		rawData.lasterGain = lasterGain;
 		rawData.overflow   = getMaxVal(result) >= OptConstant.OPT_F_OVERFLOW_VAL;
 		rawData.rawData    = result;
-//		rawData.rawData    = softZoomIntegerVal(result, optType == A8kOptType.TOPT ? OptConstant.OPT_T_TARGET_VAL : OptConstant.OPT_F_FINAL_TARGET_VAL);
+		//		rawData.rawData    = softZoomIntegerVal(result, optType == A8kOptType.TOPT ? OptConstant.OPT_T_TARGET_VAL : OptConstant.OPT_F_FINAL_TARGET_VAL);
 
 		if (rawData.overflow) {
 			log.error("光学扫描结果溢出，建议调整光学增益");

src/main/java/a8k/app/service/lowerctrl/PlateBoxCtrlService.java

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.iflytophald.driver.A8kCanBusBaseDriver;
 import a8k.app.iflytophald.driver.StepMotorCtrlDriver;
 import a8k.app.iflytophald.type.protocol.StepMotorMId;
 import a8k.app.service.param.pos.PlatesBoxPosParamMgr;
@@ -7,30 +8,36 @@ import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.type.a8k.pos.IncubatorPos;
 import a8k.app.type.exception.AppException;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 @Component
 @Slf4j
+@RequiredArgsConstructor
 public class PlateBoxCtrlService {
 
-	@Resource
-	StepMotorCtrlDriver stepMotorCtrlDriver;
 
-
-	@Resource
-	PlatesBoxPosParamMgr     platesBoxPosParamMgr;
-	@Resource
-	TurntableMoveCtrlService turntableMoveCtrlService;
+	private final StepMotorCtrlDriver      stepMotorCtrlDriver;
+	private final PlatesBoxPosParamMgr     platesBoxPosParamMgr;
+	private final TurntableMoveCtrlService turntableMoveCtrlService;
+	private final A8kCanBusBaseDriver      a8kCanBus;
 
 
 	public void pushPlateQuick(ConsumableGroup PBCh, IncubatorPos turntablePosIndex) throws AppException {
 		log.info("推出板夹 {} {}", PBCh, turntablePosIndex);
-		turntableMoveCtrlService.trunableMoveToPushPos(turntablePosIndex);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxYM, platesBoxPosParamMgr.getChXPos(PBCh.off));
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxPusherM, platesBoxPosParamMgr.getPushEndXPos());
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxPusherM);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxYM);
+
+		a8kCanBus.lockAction();
+		try {
+			turntableMoveCtrlService.trunableMoveToPushPos(turntablePosIndex);
+			stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxYM, platesBoxPosParamMgr.getChXPos(PBCh.off));
+			stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxPusherM, platesBoxPosParamMgr.getPushEndXPos());
+			stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxPusherM);
+			stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxYM);
+		} finally {
+			a8kCanBus.unlockAction();
+		}
+
 	}
 
 

src/main/java/a8k/app/service/mainctrl/AppDeviceInitCtrlService.java

@@ -10,6 +10,9 @@ import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
 import a8k.app.service.lowerctrl.TubePreProcessModuleCtrlService;
 import a8k.app.service.statemgr.DeviceWorkStateMgrService;
 import a8k.app.type.appevent.AppDeviceInitSucEvent;
+import a8k.app.type.deviceinit.CheckResult;
+import a8k.app.type.deviceinit.Checkpoint;
+import a8k.app.type.deviceinit.DeviceInitState;
 import a8k.app.type.exception.AppException;
 import a8k.app.type.ui.ZAppPromopt;
 import a8k.app.type.ui.ZAppPromptFormsItem;
@@ -18,6 +21,7 @@ import a8k.app.factory.ZAppPromptFactory;
 
 import a8k.app.teststate.VirtualDevice;
 import a8k.app.service.statemgr.GStateMgrService;
+import a8k.app.utils.ZList;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -33,49 +37,6 @@ public class AppDeviceInitCtrlService {
 	private final AppEventBusService appEventBusService;
 	private final GStateMgrService   gStateMgrService;
 
-	public static class Checkpoint {
-		public enum Type {
-			CHECK_TUBE_X_CHANNEL_IS_EMPTY,//入料通道是否为空
-			CHECK_PLATE_BOX_IS_COVER,//板夹仓盖子是否盖着
-			CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER,//板夹仓卡板检测
-			CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER,//板夹仓卡板检测
-			CHECK_PULLER_MOTOR_IS_IN_ZERO_POS,//检查拉杆电机是否在零点位置
-			CHECK_PUSHER_MOTOR_IN_IN_ZERO_POS,//检查推杆电机是否在零点位置
-			CHECK_RECYCLE_BIN_IS_OVERFLOW,//检查垃圾箱是否满
-			CHECK_TUBE_CLAMPING_MOTOR_IS_IN_ZERO_POS,//检查试管夹紧电机是否在零点位置
-
-		}
-
-		@FunctionalInterface
-		public interface CheckFn {
-			Boolean check() throws AppException;
-		}
-
-		public Type    type;
-		public String  typechinfo;
-		public CheckFn checkfn;
-
-		public Checkpoint(String typechinfo, Type type, CheckFn checkfn) {
-			this.typechinfo = typechinfo;
-			this.type       = type;
-			this.checkfn    = checkfn;
-		}
-
-	}
-
-	public static class CheckResult {
-		public Checkpoint.Type type;
-		public String          info;
-		public Boolean         pass;
-	}
-
-	public static class State {
-		public Boolean     deviceInited = false; //设备是否已经被初始化
-		public Boolean     isBusy       = false; //是否正在初始化
-		public Boolean     passed       = false; //设备自检是否通过
-		public ZAppPromopt promopt; //设备初始化报告
-	}
-
 
 	private final GStateMgrService       gstate;
 	private final VirtualDevice          virtualDevice;
@@ -100,14 +61,26 @@ public class AppDeviceInitCtrlService {
 	private final DeviceWorkStateMgrService       deviceWorkStateMgrService;
 
 
-	private final List<Checkpoint>  checkPoints = new ArrayList<>();
-	private final State             state       = new State();
+	private final List<Checkpoint>  checkPoints     = ZList.of();
+	private final DeviceInitState   deviceInitState = new DeviceInitState();
 	private       Thread            workThread;
 	public        List<CheckResult> checkResults;
 
+	@PostConstruct
+	private void init() {
+		checkPoints.add(new Checkpoint("检查板夹仓盖子是否盖上",//
+				Checkpoint.Type.CHECK_PLATE_BOX_IS_COVER, () -> inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS)));
+		checkPoints.add(new Checkpoint("检测孵育盘入口是否卡板",//
+				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS)));
+		checkPoints.add(new Checkpoint("检测孵育盘出口是否卡板",//
+				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS)));
+		checkPoints.add(new Checkpoint("检查试管夹紧电机是否在零位",//
+				Checkpoint.Type.CHECK_TUBE_CLAMPING_MOTOR_IS_IN_ZERO_POS, () -> stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)));
+	}
+
 
-	synchronized public State getState() {
-		return state;
+	synchronized public DeviceInitState getDeviceInitState() {
+		return deviceInitState;
 	}
 
 
@@ -168,10 +141,9 @@ public class AppDeviceInitCtrlService {
 
 		workThread = new Thread(() -> {
 			log.info("设备初始化开始");
-			state.isBusy       = true;
-			state.passed       = false;
-			state.deviceInited = false;
-
+			deviceInitState.isBusy       = true;
+			deviceInitState.passed       = false;
+			deviceInitState.deviceInited = false;
 
 			try {
 				checkResults = initDevice();
@@ -180,20 +152,20 @@ public class AppDeviceInitCtrlService {
 						throw AppException.of(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL);
 					}
 				}
-				state.passed       = true;
-				state.deviceInited = true;
-				state.promopt      = ZAppPromptFactory.buildNotifyPrompt("设备初始化成功");
+				deviceInitState.passed       = true;
+				deviceInitState.deviceInited = true;
+				deviceInitState.promopt      = ZAppPromptFactory.buildNotifyPrompt("设备初始化成功");
 
 			} catch (AppException e) {
-				state.passed       = false;
-				state.deviceInited = false;
+				deviceInitState.passed       = false;
+				deviceInitState.deviceInited = false;
 				if (e.getError().code.equals(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL)) {
-					state.promopt = buildAppPrompt(checkResults);
+					deviceInitState.promopt = buildAppPrompt(checkResults);
 				} else {
-					state.promopt = ZAppPromptFactory.buildAppPrompt(e);
+					deviceInitState.promopt = ZAppPromptFactory.buildAppPrompt(e);
 				}
 			}
-			state.isBusy = false;
+			deviceInitState.isBusy = false;
 			log.info("设备初始化结束");
 		});
 		workThread.start();
@@ -214,19 +186,6 @@ public class AppDeviceInitCtrlService {
 	//******************************************************************************************
 
 
-	@PostConstruct
-	private void init() {
-		checkPoints.add(new Checkpoint("检查板夹仓盖子是否盖上",//
-				Checkpoint.Type.CHECK_PLATE_BOX_IS_COVER, () -> inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS)));
-		checkPoints.add(new Checkpoint("检测孵育盘入口是否卡板",//
-				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS)));
-		checkPoints.add(new Checkpoint("检测孵育盘出口是否卡板",//
-				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS)));
-		checkPoints.add(new Checkpoint("检查试管夹紧电机是否在零位",//
-				Checkpoint.Type.CHECK_TUBE_CLAMPING_MOTOR_IS_IN_ZERO_POS, () -> stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)));
-	}
-
-
 	private List<CheckResult> doDeviceInit() throws AppException {
 
 		a8kSubModuleRegInitService.initAllInputIOConfig();

src/main/java/a8k/app/service/module/IncubationPlateCtrlModule.java

@@ -128,6 +128,7 @@ public class IncubationPlateCtrlModule {
 				state.setFatalAppError(AppErrorFactory.exceptionToAppError(e));
 				throw e;
 			}
+
 		}
 	}
 

src/main/java/a8k/app/type/appevent/AppEmergencyKeyStateChangeEvent.java

@@ -0,0 +1,15 @@
+package a8k.app.type.appevent;
+
+public class AppEmergencyKeyStateChangeEvent extends AppEvent {
+	public Boolean keyToState = false;
+
+	public AppEmergencyKeyStateChangeEvent(Boolean keyToState) {
+		super(AppEmergencyKeyStateChangeEvent.class.getSimpleName());
+		this.keyToState = keyToState;
+
+	}
+
+	@Override public String toString() {
+		return "AppEmergencyKeyStateChangeEvent{" + "keyToState=" + keyToState + '}';
+	}
+}

src/main/java/a8k/app/type/deviceinit/CheckResult.java

@@ -0,0 +1,7 @@
+package a8k.app.type.deviceinit;
+
+public class CheckResult {
+	public Checkpoint.Type type;
+	public String          info;
+	public Boolean         pass;
+}

src/main/java/a8k/app/type/deviceinit/Checkpoint.java

@@ -0,0 +1,34 @@
+package a8k.app.type.deviceinit;
+
+import a8k.app.service.mainctrl.AppDeviceInitCtrlService;
+import a8k.app.type.exception.AppException;
+
+public class Checkpoint {
+	public enum Type {
+		CHECK_TUBE_X_CHANNEL_IS_EMPTY,//入料通道是否为空
+		CHECK_PLATE_BOX_IS_COVER,//板夹仓盖子是否盖着
+		CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER,//板夹仓卡板检测
+		CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER,//板夹仓卡板检测
+		CHECK_PULLER_MOTOR_IS_IN_ZERO_POS,//检查拉杆电机是否在零点位置
+		CHECK_PUSHER_MOTOR_IN_IN_ZERO_POS,//检查推杆电机是否在零点位置
+		CHECK_RECYCLE_BIN_IS_OVERFLOW,//检查垃圾箱是否满
+		CHECK_TUBE_CLAMPING_MOTOR_IS_IN_ZERO_POS,//检查试管夹紧电机是否在零点位置
+
+	}
+
+	@FunctionalInterface
+	public interface CheckFn {
+		Boolean check() throws AppException;
+	}
+
+	public Type    type;
+	public String  typechinfo;
+	public CheckFn checkfn;
+
+	public Checkpoint(String typechinfo, Type type, CheckFn checkfn) {
+		this.typechinfo = typechinfo;
+		this.type       = type;
+		this.checkfn    = checkfn;
+	}
+
+}

src/main/java/a8k/app/type/deviceinit/DeviceInitState.java

@@ -0,0 +1,10 @@
+package a8k.app.type.deviceinit;
+
+import a8k.app.type.ui.ZAppPromopt;
+
+public class DeviceInitState {
+	public Boolean     deviceInited = false; //设备是否已经被初始化
+	public Boolean     isBusy       = false; //是否正在初始化
+	public Boolean     passed       = false; //设备自检是否通过
+	public ZAppPromopt promopt; //设备初始化报告
+}

src/main/java/a8k/app/utils/ZSignal.java

@@ -0,0 +1,5 @@
+package a8k.app.utils;
+
+public class ZSignal {
+
+}

src/main/java/a8k/extui/page/init/DeviceInitPage.java

@@ -2,6 +2,7 @@ package a8k.extui.page.init;
 
 import a8k.app.service.statemgr.DeviceWorkStateMgrService;
 import a8k.app.type.DeviceRunMode;
+import a8k.app.type.deviceinit.CheckResult;
 import a8k.app.type.exception.AppException;
 import a8k.app.service.mainctrl.AppDeviceInitCtrlService;
 import a8k.app.service.statemgr.GStateMgrService;
@@ -87,9 +88,9 @@ public class DeviceInitPage {
 
 
 
-	public List<AppDeviceInitCtrlService.CheckResult> initializeDevice() throws AppException {
-		var                                        ret       = appDeviceInitCtrlService.initDevice();
-		List<AppDeviceInitCtrlService.CheckResult> errorList = new java.util.ArrayList<>();
+	public List<CheckResult> initializeDevice() throws AppException {
+		var               ret       = appDeviceInitCtrlService.initDevice();
+		List<CheckResult> errorList = new java.util.ArrayList<>();
 		for (var checkResult : ret) {
 			if (!checkResult.pass) {
 				errorList.add(checkResult);

src/main/resources/application.yml

@@ -1,17 +1,17 @@
 #WEB虚拟后端
-server.port: 80
-iflytophald.ip: 127.0.0.1
-iflytophald.enable: false
-device.runmode: "VirtualStateGenerateMode"
-lis.enable: false
-
-#PC调试
 #server.port: 80
-#device.runmode: "RealMode"
-#iflytophald.ip: 192.168.8.10
-#iflytophald.enable: true
+#iflytophald.ip: 127.0.0.1
+#iflytophald.enable: false
+#device.runmode: "VirtualStateGenerateMode"
 #lis.enable: false
 
+#PC调试
+server.port: 80
+device.runmode: "RealMode"
+iflytophald.ip: 192.168.8.10
+iflytophald.enable: true
+lis.enable: false
+
 #硬件测试
 #server.port: 8082
 #iflytophald.ip: 192.168.8.10