完善急停逻辑

src/main/java/a8k/app/controler/api/v1/app/assistant/ApiRetTestControler.java

@@ -29,7 +29,7 @@ public class ApiRetTestControler {
 	@Operation(description = "获取硬件错误返回值,此类错误为底层发生的硬件错误")
 	@PostMapping("getHardwareError")
 	public ApiRet<?> getAppHardwareError() throws AppException {
-		throw new AppException(new AEHardwareError(A8kEcode.APPE_PUT_TIP_FAIL, MId.PipetteModCodeScanner, CmdId.a8k_opt_v2_f_close_laster));
+		throw new AppException(new AEHardwareError(A8kEcode.APPE_PUT_TIP_FAIL, MId.PipetteModCodeScanner, CmdId.a8k_opt_v2_f_close_laser));
 	}
 	@Operation(description = "获取代码错误返回值,此类错误为代码逻辑错误")
 	@PostMapping("getAppCodeError")

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

@@ -2,6 +2,7 @@ package a8k.app.iflytophald.channel;
 
 import a8k.OS;
 
+import a8k.app.iflytophald.info.CmdIdInfoMgr;
 import a8k.app.iflytophald.type.protocol.*;
 import a8k.app.type.appevent.A8kCanBusOnConnectEvent;
 import a8k.app.type.appevent.A8kHardwareReport;
@@ -12,6 +13,7 @@ import a8k.app.service.background.AppEventBusService;
 import a8k.app.utils.ByteArrayUtils;
 import a8k.app.utils.ZList;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.java_websocket.client.WebSocketClient;
 import org.java_websocket.enums.ReadyState;
@@ -33,17 +35,6 @@ import java.util.concurrent.TimeUnit;
 
 @Slf4j
 public class A8kCanBusCommunicationChannel extends WebSocketClient {
-	@Resource
-	AppEventBusService eventBus;
-
-	String  datachurl = null;
-	String  cmdchurl  = null;
-	Boolean firstCall = true;
-
-	@Value("${iflytophald.enable}")
-	Boolean iflytophaldEnable;
-
-
 	static class ProcessContext {
 		BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<>(); //
 		A8kPacket                cmdPacket;
@@ -104,7 +95,7 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		synchronized void storageTxLastCmd(A8kPacket pack) {
 			MId   mid   = MId.valueOf(pack.getModuleId());
 			CmdId cmdId = CmdId.valueOf(pack.getCmdId());
-			if (cmdId != null && cmdId.isActionCmd())
+			if (cmdId != null && CmdIdInfoMgr.isActionCmd(cmdId))
 				txcmdcache.put(mid, cmdId);
 		}
 
@@ -114,23 +105,31 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 	}
 
 
-	ProcessContext context     = new ProcessContext();
-	int            packetIndex = 0;//发送包的packetIndex
+	@Resource
+	AppEventBusService eventBus;
 
+	String  dataChannelUrl = null;
+	String  cmdChannelUrl  = null;
+	Boolean firstCall      = true;
 
-	public A8kCanBusCommunicationChannel(String cmdchurl, String datachurl) {
-		super(URI.create(datachurl));
-		log.info("new A8kCanBusConnection: {} {}", cmdchurl, datachurl);
+	@Value("${iflytophald.enable}")
+	Boolean iflytophaldEnable;
+
+	ProcessContext context     = new ProcessContext();
+	int            packetIndex = 0;//发送包的packetIndex
 
-		this.datachurl = datachurl;
-		this.cmdchurl  = cmdchurl;
-		packetIndex    = 0;
 
+	public A8kCanBusCommunicationChannel(String cmdChannelUrl, String dataChannelUrl) {
+		super(URI.create(dataChannelUrl));
+		log.info("new A8kCanBusConnection: {} {}", cmdChannelUrl, dataChannelUrl);
 
+		this.dataChannelUrl = dataChannelUrl;
+		this.cmdChannelUrl  = cmdChannelUrl;
+		packetIndex         = 0;
 	}
 
 	@Override public void onOpen(ServerHandshake serverHandshake) {
-		log.info("a8k canbus connect sucess");
+		log.info("a8k canbus connect success");
 		eventBus.pushEvent(new A8kCanBusOnConnectEvent());
 	}
 
@@ -148,35 +147,27 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 	}
 
 
-	synchronized public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws AppException {
-		var packet = packParamsToPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(param));
-		return autoReSend(packet, A8kPacket.CMD_OVERTIME);
-	}
-
-	synchronized public A8kPacket callcmd(MId moduleId, CmdId cmdId, Long overtime, Integer... params) throws AppException {
-		var packet = packParamsToPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(params));
-		return autoReSend(packet, overtime);
-	}
+	//
+	//	EXTERN
+	//
 
 	synchronized public A8kPacket send(A8kPacket pack, int overtime) throws AppException {
 		return priSend(pack, overtime);
 	}
 
-	synchronized public ModuleStatus moduleGetStatus(MId id) throws AppException {
-		var getStatusPacket = packParamsToPacket(id.toInt(), CmdId.module_get_status.toInt(), ZList.of());
-		for (int i = 0; i < 10; i++) {
-			try {
-				return ModuleStatus.valueOf(priSend(getStatusPacket, 30).getContentI32(0));
-			} catch (AppException ignored) {
-			}
-			restartCanif();
-			OS.hsleep(10);
-		}
-		throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME,
-				MId.valueOf(getStatusPacket.getModuleId()), CmdId.valueOf(getStatusPacket.getCmdId())));
+	synchronized public A8kPacket autoReSend(A8kPacket pack, long overtime) throws AppException {
+		return priAutoReSend(pack, overtime);
+	}
+
+	public synchronized CmdId getLastTxCmd(MId mid) {
+		return context.getLastTxCmd(mid);
+	}
 
+	public void restartCanif() {
+		callLocalCmd("restart");
 	}
 
+
 	//
 	//	PRIVATE
 	//
@@ -197,20 +188,13 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		}
 	}
 
-	/**
-	 * 强制关闭websocket连接，让其与canbus服务重连
-	 */
-	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, List<Integer> params) {
-		return A8kPacketFactory.buildCMDPacket(moduleId, cmdId, params);
-	}
-
-
-	private A8kPacket autoReSend(A8kPacket pack, long overtime) throws AppException {
+	private A8kPacket priAutoReSend(A8kPacket pack, long overtime) throws AppException {
 		if (firstCall) {
 			firstCall = false;
 			restartCanif();
 		}
 
+
 		for (int j = 0; j < 2; j++) {
 			for (int i = 0; i < 5; i++) {
 				try {
@@ -243,10 +227,6 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 	}
 
 
-	AppException buildOvertimeError(A8kPacket pack) {
-		return AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId())));
-	}
-
 	private A8kPacket _priSend(A8kPacket pack, long overtime) throws AppException {
 		// alloc new packetIndex
 		packetIndex = packetIndex + 1;
@@ -262,7 +242,7 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		// TX packet
 		String txpacket = pack.toByteString();
 		log.debug("TX-RAW: {} | {}", txpacket, pack);
-		if(!isOpen()) {
+		if (!isOpen()) {
 			try {
 				connectBlocking();
 			} catch (InterruptedException e) {
@@ -329,19 +309,16 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		}
 	}
 
-	public synchronized CmdId getLastTxCmd(MId mid) {
-		return context.getLastTxCmd(mid);
-	}
 
-	public void restartCanif() {
-		callLocalCmd("restart");
+	private AppException buildOvertimeError(A8kPacket pack) {
+		return AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId())));
 	}
 
 
-	public HttpResponse<String> callLocalCmd(String path) {
+	private HttpResponse<String> callLocalCmd(String path) {
 		// 创建一个HttpClient实例
 		HttpClient           httpClient  = HttpClient.newHttpClient();
-		HttpRequest          httpRequest = HttpRequest.newBuilder().uri(URI.create(String.format("%s/%s", cmdchurl, path))).build();
+		HttpRequest          httpRequest = HttpRequest.newBuilder().uri(URI.create(String.format("%s/%s", cmdChannelUrl, path))).build();
 		HttpResponse<String> ret         = null;
 		try {
 			ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString());
@@ -352,17 +329,6 @@ public class A8kCanBusCommunicationChannel extends WebSocketClient {
 		return ret;
 	}
 
-	public static void main(String[] args) {
-		HttpClient           httpClient  = HttpClient.newHttpClient();
-		HttpRequest          httpRequest = HttpRequest.newBuilder().uri(URI.create("http://192.168.8.10:19004/zexcan/restart")).build();
-		HttpResponse<String> ret         = null;
-		try {
-			ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString());
-			log.info("ret: \t{}", ret.body());
-		} catch (Exception e) {
-			log.error("callcmd error", e);
-		}
-	}
 
 }
 

src/main/java/a8k/app/iflytophald/config/ActionCommands.java

@@ -0,0 +1,4 @@
+package a8k.app.iflytophald.config;
+
+public class ActionCommands {
+}

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

@@ -3,6 +3,7 @@ package a8k.app.iflytophald.driver;
 import a8k.app.factory.A8kPacketFactory;
 import a8k.app.iflytophald.channel.A8kCanBusCommunicationChannel;
 
+import a8k.app.iflytophald.info.CmdIdInfoMgr;
 import a8k.app.iflytophald.type.protocol.*;
 import a8k.app.type.error.AEHardwareError;
 import a8k.app.type.exception.AppException;
@@ -35,7 +36,7 @@ public class A8kCanBusBaseDriver {
 		boolean lockAction = false;//为true时,动作不可以被打断
 	}
 
-	private       Map<Long, ThreadVar> threadVars     = new LinkedHashMap<>();
+	private final Map<Long, ThreadVar> threadVars     = new LinkedHashMap<>();
 	private final Object               threadVarsLock = new Object();
 
 	@PostConstruct
@@ -61,25 +62,103 @@ public class A8kCanBusBaseDriver {
 	//
 	//	BASE_OPERATION
 	//
-
 	public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws AppException {
-		return connection.callcmd(moduleId, cmdId, param);
+		//拦截指令
+		if (emergencyKeyState && !isActionLocked() && CmdIdInfoMgr.isActionCmd(cmdId)) {
+			throw AppException.of(A8kEcode.EMERGENCY_KEY_TRIGGER);
+		}
+
+		var packet = A8kPacketFactory.buildCMDPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(param));
+		return connection.autoReSend(packet, A8kPacket.CMD_OVERTIME);
 	}
 
 	public A8kPacket callcmd(MId moduleId, CmdId cmdId, Long overtime, Integer... params) throws AppException {
-		return connection.callcmd(moduleId, cmdId, overtime, params);
+		//拦截指令
+		if (emergencyKeyState && !isActionLocked() && CmdIdInfoMgr.isActionCmd(cmdId)) {
+			throw AppException.of(A8kEcode.EMERGENCY_KEY_TRIGGER);
+		}
+		var packet = A8kPacketFactory.buildCMDPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(params));
+		return connection.autoReSend(packet, overtime);
 	}
 
-	synchronized public A8kPacket send(A8kPacket pack, int overtime) throws AppException {
+
+	public A8kPacket send(A8kPacket pack, int overtime) throws AppException {
+		//拦截指令
+		if (emergencyKeyState && !isActionLocked() && CmdIdInfoMgr.isActionCmd(pack.getCmdId())) {
+			throw AppException.of(A8kEcode.EMERGENCY_KEY_TRIGGER);
+		}
 		return connection.send(pack, overtime);
 	}
 
+	public void restartCanif() {
+		connection.restartCanif();
+	}
+
+	public CmdId getLastTxCmd(MId mid) {
+		return connection.getLastTxCmd(mid);
+	}
+
+	//
+	//	功能性接口
+	//
+
+	/**
+	 * 同步急停按键状态
+	 * @param state 急停按键状态, true表示急停按键被按下, false表示急停按键未被按下
+	 */
+	public void syncEmergencyKeyState(boolean state) {
+		emergencyKeyState = state;
+	}
+
+	/**
+	 * 锁定动作
+	 * 	锁定后当前线程中执行的动作将不会被急停按键打断
+	 */
+	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;
+		}
+	}
+
+	/**
+	 * 解锁动作
+	 * @throws AppException 如果急停按键被按下, 则抛出异常
+	 */
+	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);
+		}
+	}
+
+	/**
+	 * 检查当前线程是否锁定了动作
+	 * @return
+	 */
+	public boolean isActionLocked() {
+		synchronized (threadVarsLock) {
+			ThreadVar threadVar = threadVars.get(Thread.currentThread().threadId());
+			return threadVar != null && threadVar.lockAction;
+		}
+	}
+
+
 	//
 	//	MODULE FUNCTION
 	//
 
 	public void moduleStop(MId id) throws AppException {
-		connection.callcmd(id, CmdId.module_stop);
+		callcmd(id, CmdId.module_stop);
 	}
 
 	public void moduleStopNoException(MId id) {
@@ -90,33 +169,49 @@ public class A8kCanBusBaseDriver {
 	}
 
 	public ModuleStatus moduleGetStatus(MId id) throws AppException {
-		return connection.moduleGetStatus(id);
+		var getStatusPacket = A8kPacketFactory.buildCMDPacket(id.toInt(), CmdId.module_get_status.toInt(), ZList.of());
+		for (int i = 0; i < 30; i++) {
+			try {
+				int status = send(getStatusPacket, 30).getContentI32(0);
+				return ModuleStatus.valueOf(status);
+			} catch (AppException ignored) {
+				// moduleGetStatus 属于快速频发指令,所以如果发送失败,不报错
+			}
+			if (i % 5 == 0) {
+				restartCanif();
+			}
+			OS.hsleep(10);
+		}
+		throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME,
+				MId.valueOf(getStatusPacket.getModuleId()), CmdId.valueOf(getStatusPacket.getCmdId())));
+
 	}
 
+
 	public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws AppException {
-		connection.callcmd(id, CmdId.module_set_reg, 100L, regindex.index, reg);
+		callcmd(id, CmdId.module_set_reg, 100L, regindex.index, reg);
 	}
 
 	public Integer moduleGetReg(MId id, RegIndex regindex) throws AppException {
-		var packet = connection.callcmd(id, CmdId.module_get_reg, 100L, regindex.index);
+		var packet = callcmd(id, CmdId.module_get_reg, 100L, regindex.index);
 		return packet.getContentI32(0);
 	}
 
 	public A8kEcode moduleGetError(MId id) throws AppException {
-		var packet = connection.callcmd(id, CmdId.module_get_error);
+		var packet = callcmd(id, CmdId.module_get_error);
 		return A8kEcode.fromInt(packet.getContentI32(0));
 	}
 
 	public Integer moduleGetDetailError(MId id) throws AppException {
-		return connection.callcmd(id, CmdId.module_get_detail_error).getContentI32(0);
+		return callcmd(id, CmdId.module_get_detail_error).getContentI32(0);
 	}
 
 	public Integer moduleReadVersion(MId id) throws AppException {
-		return connection.callcmd(id, CmdId.module_get_version).getContentI32(0);
+		return callcmd(id, CmdId.module_get_version).getContentI32(0);
 	}
 
 	public ModuleType moduleReadType(MId id) throws AppException {
-		var packet = connection.callcmd(id, CmdId.module_get_type);
+		var packet = callcmd(id, CmdId.module_get_type);
 		return ModuleType.of(packet.getContentI32(0));
 	}
 
@@ -124,7 +219,7 @@ public class A8kCanBusBaseDriver {
 		int    i      = 0;
 		byte[] result = new byte[0];
 		while (true) {
-			var rxPacket = connection.callcmd(MId.A8kIdCardReader, CmdId.a8000_idcard_reader_read_raw, i++);
+			var rxPacket = callcmd(MId.A8kIdCardReader, CmdId.a8000_idcard_reader_read_raw, i++);
 			if (rxPacket.getCmdContent().length == 0) {
 				break;
 			}
@@ -133,44 +228,10 @@ public class A8kCanBusBaseDriver {
 		return result;
 	}
 
-	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);
+		CmdId action    = getLastTxCmd(mid);
 		do {
 			ModuleStatus statue = moduleGetStatus(mid);
 			if (statue == ModuleStatus.IDLE) {
@@ -197,7 +258,7 @@ public class A8kCanBusBaseDriver {
 	}
 
 
-	void waitingForOptFinish() throws AppException {
+	public void waitingForOptFinish() throws AppException {
 		long startedAt = OS.getMonotonicClockTimestamp();
 
 		do {

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

@@ -21,11 +21,11 @@ public class WaterTemperatureControllerDriver {
 	public void startHearting(TemperatureControlerMid mid, Double temp) throws AppException {
 		Integer tempInt = (int) ((temp) * 10);
 		log.info("startHearting {}  {}", mid, tempInt);
-		canBus.callcmd(mid.mid, CmdId.temp_controler_start_hearting, tempInt);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_start_hearting, tempInt);
 	}
 
 	public void stopHearting(TemperatureControlerMid mid) throws AppException {
-		canBus.callcmd(mid.mid, CmdId.temp_controler_stop_hearting);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_stop_hearting);
 	}
 
 
@@ -37,23 +37,23 @@ public class WaterTemperatureControllerDriver {
 
 	public void startCtrlTemperature(TemperatureControlerMid mid, Double temperature) throws AppException {
 		Integer setTemp = (int) ((temperature) * 10);
-		canBus.callcmd(mid.mid, CmdId.temp_controler_start_hearting, setTemp);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_start_hearting, setTemp);
 	}
 
 	public void stopCtrlTemperature(TemperatureControlerMid mid) throws AppException {
-		canBus.callcmd(mid.mid, CmdId.temp_controler_stop_hearting);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_stop_hearting);
 	}
 
 	public void setPeltierPower(TemperatureControlerMid mid, Integer val0To100) throws AppException {
-		canBus.callcmd(mid.mid, CmdId.temp_controler_set_peltier_power_level, val0To100);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_set_peltier_power_level, val0To100);
 	}
 
 	public void setCtrlFanLevel(TemperatureControlerMid mid, Integer val0To100) throws AppException {
-		canBus.callcmd(mid.mid, CmdId.temp_controler_set_fan_level, val0To100);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_set_fan_level, val0To100);
 	}
 
 	public void setWaterPumpSpeed(TemperatureControlerMid mid, Integer val0To100) throws AppException {
-		canBus.callcmd(mid.mid, CmdId.temp_controler_set_pump_level, val0To100);
+		canBus.callcmd(mid.mid, CmdId.temp_controller_set_pump_level, val0To100);
 	}
 
 	public Double readFeedbackTemperature(TemperatureControlerMid mid) throws AppException {

src/main/java/a8k/app/iflytophald/info/CmdIdInfoMgr.java

@@ -0,0 +1,119 @@
+package a8k.app.iflytophald.info;
+
+import a8k.app.iflytophald.type.protocol.A8kCmdAttachmentType;
+import a8k.app.iflytophald.type.protocol.CmdId;
+
+import java.util.Objects;
+
+public class CmdIdInfoMgr {
+
+	static public A8kCmdAttachmentType getCmdAttachType(CmdId cmdId) {
+		if (isCmdIdEq(cmdId,
+				CmdId.a8000_idcard_write_raw
+		)) {
+			return A8kCmdAttachmentType.BYTES;
+		} else {
+			return A8kCmdAttachmentType.INT32S;
+		}
+	}
+
+	static public A8kCmdAttachmentType getReceiptAttachType(CmdId cmdId) {
+		if (isCmdIdEq(cmdId,
+				CmdId.a8k_opt_v2_read_raw,
+				CmdId.a8000_idcard_reader_read_raw
+		)) {
+			return A8kCmdAttachmentType.BYTES;
+		} else {
+			return A8kCmdAttachmentType.INT32S;
+		}
+	}
+
+
+	private static boolean isCmdIdEq(CmdId a, CmdId... b) {
+		for (CmdId cmdId : b) {
+			if (Objects.equals(a, cmdId)) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	/**
+	 * 判断是否是动作命令
+	 * <p>
+	 * 动作命令是指移动的命令, 例如XY电机移动, 步进电机移动等
+	 *
+	 * @param cmdId 命令ID
+	 * @return 是否是动作命令
+	 */
+	static public boolean isActionCmd(CmdId cmdId) {
+		if (isCmdIdEq(cmdId,
+				CmdId.xymotor_move_by,
+				CmdId.xymotor_move_to,
+				CmdId.xymotor_move_to_zero,
+				CmdId.xymotor_motor_move_by_direct,
+
+				CmdId.a8k_opt_v2_t_start_scan,
+				CmdId.a8k_opt_v2_f_start_scan,
+
+
+				CmdId.step_motor_easy_rotate,
+				CmdId.step_motor_easy_move_by,
+				CmdId.step_motor_easy_move_to,
+				CmdId.step_motor_easy_move_to_zero,
+				CmdId.step_motor_easy_set_current_pos,
+				CmdId.step_motor_easy_move_to_io,
+				CmdId.step_motor_move_by,
+				CmdId.step_motor_move_to,
+				CmdId.step_motor_move_to_zero_point_quick,
+				CmdId.step_motor_rotate,
+				CmdId.step_motor_easy_move_to_end_point,
+				CmdId.step_motor_easy_move_to_zero_point_quick,
+				CmdId.step_motor_easy_reciprocating_motion,
+
+				CmdId.mini_servo_move_to,
+				CmdId.mini_servo_rotate,
+				CmdId.mini_servo_rotate_with_torque,
+
+				CmdId.code_scaner_start_scan,
+
+				CmdId.pipette_zmotor_move_zero,
+				CmdId.pipette_zmotor_move_to_zero_point_quick,
+				CmdId.pipette_zmotor_measure_distance,
+				CmdId.pipette_zmotor_move_by,
+				CmdId.pipette_zmotor_move_to,
+				CmdId.pipette_zmotor_move_to_tip_deposit,
+				CmdId.pipette_pump_init_device,
+				CmdId.pipette_pump_take_tip,
+				CmdId.pipette_pump_deposit_tip,
+				CmdId.pipette_pump_pierce_through,
+				CmdId.pipette_pump_aspirate_set_param,
+				CmdId.pipette_pump_aspirate,
+				CmdId.pipette_pump_putbak_tip,
+				CmdId.pipette_pump_distribu_all,
+				CmdId.pipette_test_pump_move_to_x100nl,
+				CmdId.pipette_test_lld,
+				CmdId.pipette_test_move_to_container_bottom,
+				CmdId.pipette_test_move_to_container_bottom_section_begin,
+				CmdId.pipette_test_move_to_immersion_pos,
+				CmdId.pipette_test_move_to_leaving_height_pos,
+				CmdId.pipette_test_move_to_jet_pos,
+				CmdId.pipette_test_move_to_lld_start_search_pos,
+				CmdId.pipette_test_move_to_fix_water_level_pos,
+				CmdId.pipette_test_move_to_pierce_pos,
+				CmdId.pipette_test_move_to_lld_end_pos
+		)) {
+			return true;
+		} else {
+			return false;
+		}
+	}
+
+	static public boolean isActionCmd(int cmdId) {
+		CmdId cmd = CmdId.valueOf(cmdId);
+		if (cmd == null) {
+			return false;
+		}
+		return isActionCmd(cmd);
+	}
+}

src/main/java/a8k/app/iflytophald/type/protocol/A8kCmdAttachmentType.java

@@ -0,0 +1,7 @@
+package a8k.app.iflytophald.type.protocol;
+
+public enum A8kCmdAttachmentType {
+	BYTES,  //byte数组
+	INT16S, //int16数组
+	INT32S  //int32数组
+}

src/main/java/a8k/app/iflytophald/type/protocol/A8kPacket.java

@@ -1,5 +1,6 @@
 package a8k.app.iflytophald.type.protocol;
 
+import a8k.app.iflytophald.utils.PacketFormater;
 import a8k.app.utils.ByteArrayUtils;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -9,32 +10,10 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 public class A8kPacket {
-
-	//#pragma pack(push, 1)
-	//typedef struct {
-	//  uint8_t  packetType;
-	//  uint16_t cmdid;
-	//  uint8_t  moduleId;
-	//  uint16_t  index;
-	//  uint8_t  datalen;
-	//  uint8_t  data[];
-	//  /* int8_t  checksum;*/
-	//} zcr_cmd_header_t;
-	//
-	//#pragma pack(pop)
-	//typedef enum {
-	//  kptv2_cmd       = 0xA0,
-	//  kptv2_ack       = 0xA1,
-	//  kptv2_error_ack = 0xA2,
-	//  kptv2_event     = 0xA3,
-	//} zcan_cmd_packet_type_t;
-	//
-
 	/**
-	 *
 	 * @WARNING
 	 *    1. 修改这里时，需要注意连同createPacket一起修改
-	 *  2. PACKET_MIN_LEN 比Header多一个字节，是因为还有一个字节的校验位
+	 *    2. PACKET_MIN_LEN 比Header多一个字节，是因为还有一个字节的校验位
 	 */
 
 	public static final int PACKET_TYPE_OFFSET = 0;
@@ -94,9 +73,9 @@ public class A8kPacket {
 		if (raw.length < PACKET_MIN_LEN) {
 			return new byte[0];
 		}
-		byte[] cmdcontent = new byte[getDataLen()];
-		System.arraycopy(raw, DATA_OFFSET, cmdcontent, 0, getDataLen());
-		return cmdcontent;
+		byte[] cmdContent = new byte[getDataLen()];
+		System.arraycopy(raw, DATA_OFFSET, cmdContent, 0, getDataLen());
+		return cmdContent;
 	}
 
 	public int[] getContentI16Array() {
@@ -128,68 +107,10 @@ public class A8kPacket {
 		return ByteArrayUtils.toByteString(raw);
 	}
 
-	public String toString() {
-		int    packetType = getPacketType();
-		String ret        = "";
-
-		CmdId cmdId = CmdId.valueOf(getCmdId());
-		Assert.isTrue(cmdId != null, "cmdId is null");
-		if (packetType == PACKET_TYPE_CMD) {
-
-			if (cmdId.equals(CmdId.module_get_reg) || cmdId.equals(CmdId.module_set_reg)) {
-				RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
-				if (regIndex != null) {
-					ret = String.format("[CMD  ] index:[%d] %s %s %s(%d)  %d", getPacketIndex(), cmdId,
-							MId.valueOf(getModuleId()), regIndex, regIndex.index, getContentI32(1));
-				} else {
-					ret = String.format("[CMD  ] index:[%d] %s unkown_index(%d) %d", getPacketIndex(), cmdId,
-							getContentI32(0), getContentI32(1));
-				}
-			} else {
-				if (cmdId.getCmdAttachType() == CmdId.ATTACH_IS_INT32) {
-					ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId,
-							MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
-				} else {
-					ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId,
-							MId.valueOf(getModuleId()), getModuleId(), ByteArrayUtils.toByteString(getCmdContent()));
-				}
-			}
-
-		} else if (packetType == PACKET_TYPE_ACK) {
-			if (cmdId.getReceiptAttachType() == CmdId.ATTACH_IS_INT32) {
-				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId,
-						formatInt32ATTACH(getCmdContent()));
-			} else {
-				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId,
-						ByteArrayUtils.toByteString(getCmdContent()));
-			}
-		} else if (packetType == PACKET_TYPE_ERROR_ACK) {
-			ret = String.format("[EACK ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, (getContentI32(0)));
-		} else if (packetType == PACKET_TYPE_EVENT) {
-			if (cmdId.getCmdAttachType() == CmdId.ATTACH_IS_INT32) {
-				ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId,
-						MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
-			} else {
-				ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId,
-						MId.valueOf(getModuleId()), getModuleId(), ByteArrayUtils.toByteString(getCmdContent()));
-			}
-		} else {
-			ret = String.format("Unknown packet type: %d", packetType);
-		}
-		return ret;
+	@Override public String toString() {
+		return PacketFormater.packetToString(this);
 	}
 
-	private String formatInt32ATTACH(byte[] attach) {
-		StringBuilder ret = new StringBuilder();
-		for (int i = 0; i < attach.length; i += 4) {
-			if (i + 3 >= attach.length)
-				break;
-			if (i != 0)
-				ret.append(",");
-			ret.append(String.format("%d", ByteArrayUtils.read32bit(attach, i)));
-		}
-		return ret.toString();
-	}
 
 	public Boolean isSupportPacket() {
 		CmdId cmdid = CmdId.valueOf(getCmdId());

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

@@ -1,213 +1,223 @@
 package a8k.app.iflytophald.type.protocol;
 
+/**
+ *
+ * 添加新指令时
+ * 	需要根据指令的特点在CmdIdInfo中进行相应的配置
+ */
 public enum CmdId {
-	NotSet(0xFFFF, "NOACTION"),//
+	NotSet(0xFFFF, "NotSet"),//
 
 	board_reset(0x0000, "复位板子"),//
 	event_bus_reg_change_report(0x0064, "寄存器修改事件"),//
 	//
+	module_ping(0x0101, "PING"),
+	module_stop(0x0102, "模块停止"),
 
-	module_ping(0x0101, "MODULE_PING"),
-	module_stop(0x0102, "MODULE_STOP"),
+	module_get_error(0x0110, "读取错误"),
+	module_get_detail_error(0x0111, "读取详细错误"),
+	module_clear_error(0x0112, "清除错误"),
 
-	module_get_error(0x0110, "MODULE_GET_ERROR"),
-	module_get_detail_error(0x0111, "MODULE_GET_DETAIL_ERROR"),
-	module_clear_error(0x0112, "MODULE_CLEAR_ERROR"),
+	module_set_reg(0x0120, "设置寄存器"),
+	module_get_reg(0x0121, "读取寄存器"),
+	module_reset_reg(0x0123, "复位寄存器"),
 
-	module_set_reg(0x0120, "MODULE_SET_REG"),
-	module_get_reg(0x0121, "MODULE_GET_REG"),
-	module_reset_reg(0x0123, "MODULE_RESET_REG"),
+	module_get_version(0x0130, "读取版本信息"),
+	module_get_type(0x0131, "读取模块类型"),
+	module_get_status(0x0132, "读取模块状态"),
 
-	module_get_version(0x0130, "MODULE_GET_VERSION"),
-	module_get_type(0x0131, "MODULE_GET_TYPE"),
-	module_get_status(0x0132, "MODULE_GET_STATUS"),
 
-
-	//	module_active_cfg(0x0110, "激活配置"),//
 	//
-	xymotor_enable(0x0301, "XYMOTOR_ENABLE"),//
-	xymotor_move_by(0x0302, "XYMOTOR_MOVE_BY"),//
-	xymotor_move_to(0x0303, "XYMOTOR_MOVE_TO"),//
-	xymotor_move_to_zero(0x0304, "XYMOTOR_MOVE_TO_ZERO"),//
-	xymotor_read_pos(0x0306, "XYMOTOR_READ_POS"),//
-	xymotor_read_inio_index_in_stm32(0x0307, "XYMOTOR_READ_INIO_INDEX_IN_STM32"),//
-	xymotor_read_inio(0x0308, "XYMOTOR_READ_INIO"),//
-	xymotor_set_pos(0x0309, "XYMOTOR_SET_POS"),//
-	xymotor_motor_move_by_direct(0x030a, "XYMOTOR_MOTOR_MOVE_BY_DIRECT"),//
-	xymotor_read_enc_direct(0x030b, "XYMOTOR_READ_ENC_DIRECT"),//
+	//	HBOT
+	//
+	xymotor_enable(0x0301, "HBOT使能"),//
+	xymotor_move_by(0x0302, "HBOT相对移动"),//
+	xymotor_move_to(0x0303, "HBOT绝对移动"),//
+	xymotor_move_to_zero(0x0304, "HBOT归零"),//
+	xymotor_read_pos(0x0306, "HBOT读取位置"),//
+	xymotor_read_inio_index_in_stm32(0x0307, "HBOT读取IO编号(STM32版本)"),//
+	xymotor_read_inio(0x0308, "HBOT读取IO编号"),//
+	xymotor_set_pos(0x0309, "HBOT设置位置"),//
+	xymotor_motor_move_by_direct(0x030a, "HBOT步进直控"),//
+	xymotor_read_enc_direct(0x030b, "HBOT直接读取编码器信息"),//
+
 	//
-	a8k_opt_v2_read_raw(0x0609, "A8K_OPT_V2_READ_RAW"),//
+	// OPT
 	//
-	a8k_opt_v2_t_start_scan(0x0700, "A8K_OPT_V2_T_START_SCAN"),//
-	a8k_opt_v2_f_start_scan(0x0701, "A8K_OPT_V2_F_START_SCAN"),//
-	a8k_opt_v2_t_open_laster(0x070a, "A8K_OPT_V2_T_OPEN_LASTER"),//
-	a8k_opt_v2_t_close_laster(0x070b, "A8K_OPT_V2_T_CLOSE_LASTER"),//
-	a8k_opt_v2_t_readVal(0x070c, "A8K_OPT_V2_T_READVAL"),//
-	a8k_opt_v2_f_open_laster(0x070d, "A8K_OPT_V2_F_OPEN_LASTER"),//
-	a8k_opt_v2_f_close_laster(0x070e, "A8K_OPT_V2_F_CLOSE_LASTER"),//
-	a8k_opt_v2_f_readVal(0x070f, "A8K_OPT_V2_F_READVAL"),//
+
+	a8k_opt_v2_read_raw(0x0609, "光学读取数据"),//
 	//
-	step_motor_enable(0x0201, "STEP_MOTOR_ENABLE"),//
-	step_motor_read_pos(0x020b, "STEP_MOTOR_READ_POS"),//
-	step_motor_read_enc_pos(0x020c, "STEP_MOTOR_READ_ENC_POS"),//
-	step_motor_easy_rotate(0x0211, "STEP_MOTOR_EASY_ROTATE"),//
-	step_motor_easy_move_by(0x0212, "STEP_MOTOR_EASY_MOVE_BY"),//
-	step_motor_easy_move_to(0x0213, "STEP_MOTOR_EASY_MOVE_TO"),//
-	step_motor_easy_move_to_zero(0x0214, "STEP_MOTOR_EASY_MOVE_TO_ZERO"),//
-	step_motor_easy_set_current_pos(0x0215, "STEP_MOTOR_EASY_SET_CURRENT_POS"),//
-	step_motor_easy_move_to_io(0x0216, "STEP_MOTOR_EASY_MOVE_TO_IO"),//
-	step_motor_stop(0x0228, "STEP_MOTOR_STOP"),//
-	step_motor_move_by(0x021d, "STEP_MOTOR_MOVE_BY"),  // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
-	step_motor_move_to(0x021e, "STEP_MOTOR_MOVE_TO"),  // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
-	step_motor_move_to_zero_point_quick(0x021f, "STEP_MOTOR_MOVE_TO_ZERO_POINT_QUICK"),  // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
-	step_motor_rotate(0x0220, "STEP_MOTOR_ROTATE"),  //
+	a8k_opt_v2_t_start_scan(0x0700, "T光学开始扫描"),//
+	a8k_opt_v2_f_start_scan(0x0701, "F光学开始扫描"),//
+	a8k_opt_v2_t_open_laser(0x070a, "T光学打开激光(调试)"),//
+	a8k_opt_v2_t_close_laser(0x070b, "T光学关闭激光(调试)"),//
+	a8k_opt_v2_t_readVal(0x070c, "T光学读取反馈数值"),//
+	a8k_opt_v2_f_open_laser(0x070d, "F光学打开激光"),//
+	a8k_opt_v2_f_close_laser(0x070e, "F光学关闭激光"),//
+	a8k_opt_v2_f_readVal(0x070f, "F光学读取数值"),//
+
 
-	step_motor_active_cfg(0x0229, "STEP_MOTOR_ACTIVE_CFG"),//
-	step_motor_read_io_state(0x022a, "STEP_MOTOR_READ_IO_STATE"),//
-	step_motor_easy_move_to_end_point(0x022c, "STEP_MOTOR_EASY_MOVE_TO_END_POINT"),//
-	step_motor_read_tmc5130_status(0x0232, "STEP_MOTOR_READ_TMC5130_STATUS"),//
-	step_motor_read_tmc5130_state(0x0233, "STEP_MOTOR_READ_TMC5130_STATE"),//
-	step_motor_read_io_index_in_stm32(0x0238, "STEP_MOTOR_READ_IO_INDEX_IN_STM32"),//
-	step_motor_set_subdevice_reg(0x0239, "STEP_MOTOR_SET_SUBDEVICE_REG"),//
-	step_motor_get_subdevice_reg(0x023a, "STEP_MOTOR_GET_SUBDEVICE_REG"),//
-	step_motor_easy_reciprocating_motion(0x022d, "STEP_MOTOR_EASY_RECIPROCATING_MOTION"),//
-	step_motor_easy_move_to_zero_point_quick(0x022e, "STEP_MOTOR_EASY_MOVE_TO_ZERO_POINT_QUICK"),//
 	//
-	mini_servo_enable(0x6601, "MINI_SERVO_ENABLE"),//
-	mini_servo_read_pos(0x6602, "MINI_SERVO_READ_POS"),//
-	mini_servo_active_cfg(0x6603, "MINI_SERVO_ACTIVE_CFG"),//
-	mini_servo_stop(0x6604, "MINI_SERVO_STOP"),//
-	mini_servo_set_mid_point(0x6607, "MINI_SERVO_SET_MID_POINT"),//
-	mini_servo_read_io_state(0x6608, "MINI_SERVO_READ_IO_STATE"),//
-	mini_servo_move_to(0x6609, "MINI_SERVO_MOVE_TO"),//
-	mini_servo_rotate(0x660a, "MINI_SERVO_ROTATE"),//
-	mini_servo_rotate_with_torque(0x660b, "MINI_SERVO_ROTATE_WITH_TORQUE"),//
-	mini_servo_set_cur_pos(0x660c, "MINI_SERVO_SET_CUR_POS"),//
+	//	步进点击控制
 	//
-	extboard_read_inio(0x6701, "EXTBOARD_READ_INIO"),//
-	extboard_write_outio(0x6702, "EXTBOARD_WRITE_OUTIO"),//
-	extboard_read_muti_inio(0x6703, "EXTBOARD_READ_MUTI_INIO"),//
-	extboard_read_inio_index_in_stm32(0x6704, "EXTBOARD_READ_INIO_INDEX_IN_STM32"),//
-	extboard_read_outio_index_in_stm32(0x6705, "EXTBOARD_READ_OUTIO_INDEX_IN_STM32"),//
-	extboard_read_outio(0x6706, "EXTBOARD_READ_OUTIO"),//
-	code_scaner_start_scan(0x6801, "CODE_SCANER_START_SCAN"),//
-	code_scaner_stop_scan(0x6802, "CODE_SCANER_STOP_SCAN"),//
-	code_scaner_result_is_ready(0x6803, "CODE_SCANER_RESULT_IS_READY"),//
-	code_scaner_read_scaner_result(0x6804, "CODE_SCANER_READ_SCANER_RESULT"),//
-	code_scaner_get_result_length(0x6805, "CODE_SCANER_GET_RESULT_LENGTH"),//
+	step_motor_enable(0x0201, "步进使能"),//
+	step_motor_read_pos(0x020b, "步进读取位置"),//
+	step_motor_read_enc_pos(0x020c, "步进读取编码器位置"),//
+	step_motor_easy_rotate(0x0211, "步进旋转"),//
+	step_motor_easy_move_by(0x0212, "步进相对移动"),//
+	step_motor_easy_move_to(0x0213, "步进绝对移动"),//
+	step_motor_easy_move_to_zero(0x0214, "步进归零"),//
+	step_motor_easy_set_current_pos(0x0215, "步进设置当前位置"),//
+	step_motor_easy_move_to_io(0x0216, "步进移动到IO"),//
+	step_motor_stop(0x0228, "步进停止"),//
+	step_motor_move_by(0x021d, "步进相对移动(速度可控)"),  // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	step_motor_move_to(0x021e, "步进绝对移动(速度可控)"),  // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	step_motor_move_to_zero_point_quick(0x021f, "步进快速归零(速度可控)"),  // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	step_motor_rotate(0x0220, "步进旋转(速度可控)"),  //
+
+	step_motor_active_cfg(0x0229, "步进激活配置"),//
+	step_motor_read_io_state(0x022a, "步进读取IO"),//
+	step_motor_easy_move_to_end_point(0x022c, "步进移动到终点IO"),//
+	step_motor_read_tmc5130_status(0x0232, "步进读取TMC5130-STATUS"),//
+	step_motor_read_tmc5130_state(0x0233, "步进读取TMC5130-STATE"),//
+	step_motor_read_io_index_in_stm32(0x0238, "步进读取IO硬件编号"),//
+	step_motor_set_subdevice_reg(0x0239, "步进设置5130寄存器"),//
+	step_motor_get_subdevice_reg(0x023a, "步进读取5130寄存器"),//
+	step_motor_easy_reciprocating_motion(0x022d, "步进往复运动"),//
+	step_motor_easy_move_to_zero_point_quick(0x022e, "步进快速归零"),//
 	//
-	fan_controler_set_speed(0x6900, "FAN_CONTROLER_SET_SPEED"),//
+	mini_servo_enable(0x6601, "舵机使能"),//
+	mini_servo_read_pos(0x6602, "舵机读取位置"),//
+	mini_servo_active_cfg(0x6603, "舵机激活配置"),//
+	mini_servo_stop(0x6604, "舵机停止"),//
+	mini_servo_set_mid_point(0x6607, "舵机设置中点(校准位置)"),//
+	mini_servo_read_io_state(0x6608, "舵机读取IO状态"),//
+	mini_servo_move_to(0x6609, "舵机移动到"),//
+	mini_servo_rotate(0x660a, "舵机旋转"),//
+	mini_servo_rotate_with_torque(0x660b, "舵机旋转(扭矩)"),//
+	mini_servo_set_cur_pos(0x660c, "舵机设置当前位置(校准使用)"),//
 	//
-	temp_controler_start_hearting(0x7000, "TEMP_CONTROLER_START_HEARTING"),//
-	temp_controler_stop_hearting(0x7001, "TEMP_CONTROLER_STOP_HEARTING"),//
-	temp_controler_set_peltier_power_level(0x7002, "TEMP_CONTROLER_SET_PELTIER_POWER_LEVEL"),//
-	temp_controler_set_pump_level(0x7003, "TEMP_CONTROLER_SET_PUMP_LEVEL"),//
-	temp_controler_set_fan_level(0x7004, "TEMP_CONTROLER_SET_FAN_LEVEL"),//
-	temp_controler_enable_log(0x7005, "TEMP_CONTROLER_ENABLE_LOG"),//
+	extboard_read_inio(0x6701),//
+	extboard_write_outio(0x6702),//
+	extboard_read_muti_inio(0x6703),//
+	extboard_read_inio_index_in_stm32(0x6704),//
+	extboard_read_outio_index_in_stm32(0x6705),//
+	extboard_read_outio(0x6706),//
+	code_scaner_start_scan(0x6801),//
+	code_scaner_stop_scan(0x6802),//
+	code_scaner_result_is_ready(0x6803),//
+	code_scaner_read_scaner_result(0x6804),//
+	code_scaner_get_result_length(0x6805),//
 	//
-	a8000_idcard_reader_read_raw(0x7100, "A8000_IDCARD_READER_READ_RAW"),//
-	a8000_idcard_write_raw(0x7101, "A8000_IDCARD_WRITE_RAW"),//
-	a8000_idcard_erase(0x7102, "A8000_IDCARD_ERASE"),//
-	a8000_idcard_earse_unlock(0x7103, "A8000_IDCARD_EARSE_UNLOCK"),//
+	fan_controller_set_speed(0x6900),//
 	//
-	event_a8000_idcard_online(0x71c8, "EVENT_A8000_IDCARD_ONLINE"),//
-	event_a8000_idcard_offline(0x71c9, "EVENT_A8000_IDCARD_OFFLINE"),//
+	temp_controller_start_hearting(0x7000),//
+	temp_controller_stop_hearting(0x7001),//
+	temp_controller_set_peltier_power_level(0x7002),//
+	temp_controller_set_pump_level(0x7003),//
+	temp_controller_set_fan_level(0x7004),//
+	temp_controller_enable_log(0x7005),//
 	//
-	//	plate_code_scaner_push_card_and_scan(0x7301, "PLATE_CODE_SCANER_PUSH_CARD_AND_SCAN"),//
-	//	plate_code_scaner_stop_scan(0x7302, "PLATE_CODE_SCANER_STOP_SCAN"),//
-	//	plate_code_scaner_read_result(0x7303, "PLATE_CODE_SCANER_READ_RESULT"),//
-	//	plate_code_scaner_read_result_point_num(0x7304, "PLATE_CODE_SCANER_READ_RESULT_POINT_NUM"),//
-	//	plate_code_scaner_read_code(0x7305, "PLATE_CODE_SCANER_READ_CODE"),//
-	//	plate_code_scaner_adc_readraw(0x7306, "PLATE_CODE_SCANER_ADC_READRAW"),//
-	//	plate_code_scaner_open_laser(0x7307, "PLATE_CODE_SCANER_OPEN_LASER"),//
-	//	plate_code_scaner_close_laser(0x7308, "PLATE_CODE_SCANER_CLOSE_LASER"),//
+	a8000_idcard_reader_read_raw(0x7100),//
+	a8000_idcard_write_raw(0x7101),//
+	a8000_idcard_erase(0x7102),//
+	a8000_idcard_erase_unlock(0x7103),//
 	//
+	event_a8000_idcard_online(0x71c8),//
+	event_a8000_idcard_offline(0x71c9),//
 
+	//
+	//	plate_code_scaner_push_card_and_scan(0x7301),//
+	//	plate_code_scaner_stop_scan(0x7302),//
+	//	plate_code_scaner_read_result(0x7303),//
+	//	plate_code_scaner_read_result_point_num(0x7304),//
+	//	plate_code_scaner_read_code(0x7305),//
+	//	plate_code_scaner_adc_readraw(0x7306),//
+	//	plate_code_scaner_open_laser(0x7307),//
+	//	plate_code_scaner_close_laser(0x7308),//
+	//
 
-	pipette_set_zmbcfg(0x7401, "pipette_set_zmbcfg"),
-	pipette_get_zmbcfg(0x7402, "pipette_get_zmbcfg"),
-	pipette_set_pmbcfg(0x7403, "pipette_set_pmbcfg"),
-	pipette_get_pmbcfg(0x7404, "pipette_get_pmbcfg"),
-	pipette_set_platinfo(0x7405, "pipette_set_platinfo"),
-	pipette_get_platinfo(0x7406, "pipette_get_platinfo"),
-	pipette_set_zmvcfg(0x7407, "pipette_set_zmvcfg"),
-	pipette_get_zmvcfg(0x7408, "pipette_get_zmvcfg"),
-	pipette_set_pmvcfg(0x7409, "pipette_set_pmvcfg"),
-	pipette_get_pmvcfg(0x740A, "pipette_get_pmvcfg"),
-	pipette_set_container_info(0x740B, "pipette_set_container_info"),
-	pipette_get_container_info(0x740C, "pipette_get_container_info"),
-	pipette_set_liquid_info(0x740D, "pipette_set_liquid_info"),
-	pipette_get_liquid_info(0x740E, "pipette_get_liquid_info"),
-	pipette_get_platinfo_max_cpyid(0x7410, "pipette_get_platinfo_max_cpyid"),
-	pipette_get_zmvcfg_max_cpyid(0x7411, "pipette_get_zmvcfg_max_cpyid"),
-	pipette_get_pmvcfg_max_cpyid(0x7412, "pipette_get_pmvcfg_max_cpyid"),
-	pipette_get_container_info_max_cpyid(0x7413, "pipette_get_container_info_max_cpyid"),
-	pipette_get_liquid_info_max_cpyid(0x7414, "pipette_get_liquid_info_max_cpyid"),
-	pipette_set_common_cfg(0x7415, "pipette_set_common_cfg"),
-	pipette_get_common_cfg(0x7416, "pipette_get_common_cfg"),
+	pipette_set_zmbcfg(0x7401),
+	pipette_get_zmbcfg(0x7402),
+	pipette_set_pmbcfg(0x7403),
+	pipette_get_pmbcfg(0x7404),
+	pipette_set_platinfo(0x7405),
+	pipette_get_platinfo(0x7406),
+	pipette_set_zmvcfg(0x7407),
+	pipette_get_zmvcfg(0x7408),
+	pipette_set_pmvcfg(0x7409),
+	pipette_get_pmvcfg(0x740A),
+	pipette_set_container_info(0x740B),
+	pipette_get_container_info(0x740C),
+	pipette_set_liquid_info(0x740D),
+	pipette_get_liquid_info(0x740E),
+	pipette_get_platinfo_max_cpyid(0x7410),
+	pipette_get_zmvcfg_max_cpyid(0x7411),
+	pipette_get_pmvcfg_max_cpyid(0x7412),
+	pipette_get_container_info_max_cpyid(0x7413),
+	pipette_get_liquid_info_max_cpyid(0x7414),
+	pipette_set_common_cfg(0x7415),
+	pipette_get_common_cfg(0x7416),
 
-	pipette_zmotor_enable(0x7500, "pipette_zmotor_enable"),
-	pipette_zmotor_move_zero(0x7501, "pipette_zmotor_move_zero"),
-	pipette_zmotor_move_to_zero_point_quick(0x7502, "pipette_zmotor_move_to_zero_point_quick"),
-	pipette_zmotor_measure_distance(0x7503, "pipette_zmotor_measure_distance"),
-	pipette_zmotor_read_measure_distance_result(0x7504, "pipette_zmotor_read_measure_distance_result"),
-	pipette_zmotor_move_by(0x7505, "pipette_zmotor_move_by"),
-	pipette_zmotor_move_to(0x7506, "pipette_zmotor_move_to"),
-	pipette_zmotor_read_zero_point_state(0x7507, "pipette_zmotor_read_zero_point_state"),
-	pipette_zmotor_read_dev_status_cache(0x7508, "pipette_zmotor_read_dev_status_cache"),
-	pipette_zmotor_read_pos(0x7509, "pipette_zmotor_read_pos"),
-	pipette_zmotor_read_enc_pos(0x750A, "pipette_zmotor_read_enc_pos"),
-	pipette_zmotor_move_to_tip_deposit(0x750B, "pipette_zmotor_move_to_tip_deposit"),
+	pipette_zmotor_enable(0x7500),
+	pipette_zmotor_move_zero(0x7501),
+	pipette_zmotor_move_to_zero_point_quick(0x7502),
+	pipette_zmotor_measure_distance(0x7503),
+	pipette_zmotor_read_measure_distance_result(0x7504),
+	pipette_zmotor_move_by(0x7505),
+	pipette_zmotor_move_to(0x7506),
+	pipette_zmotor_read_zero_point_state(0x7507),
+	pipette_zmotor_read_dev_status_cache(0x7508),
+	pipette_zmotor_read_pos(0x7509),
+	pipette_zmotor_read_enc_pos(0x750A),
+	pipette_zmotor_move_to_tip_deposit(0x750B),
 
 
-	pipette_pump_init_device(0x7580, "pipette_pump_init_device"),
-	pipette_pump_take_tip(0x7581, "pipette_pump_take_tip"),
-	pipette_pump_deposit_tip(0x7582, "pipette_pump_put_tip"),
-	pipette_pump_pierce_through(0x7583, "pipette_pump_aspirate_set_param"),
-	pipette_pump_aspirate_set_param(0x7584, "pipette_pump_aspirate_set_param"),
-	pipette_pump_aspirate(0x7585, "pipette_pump_aspirate"),
-	pipette_get_sensor_sample_data(0x7587, "pipette_get_sensor_sample_data"),
-	pipette_get_sensor_sample_data_num(0x7588, "pipette_get_sensor_sample_data_num"),
-	pipette_read_state(0x7589, "pipette_read_state"),
-	pipette_pump_putbak_tip(0x758A, "pipette_pump_cutback_tip"),
-	pipette_read_tip_state(0x758B, "pipette_read_tip_state"),
-	pipette_read_pressure(0x758C, "pipette_read_pressure"),
-	pipette_read_capacitance(0x758D, "pipette_read_capacitance"),
-	pipette_pump_distribu_all_set_param(0x758E, "pipette_pump_distribu_all_set_param"),  // {paramid,val}, ack:{}
-	pipette_pump_distribu_all(0x758F, "pipette_pump_distribu_all"),  // {}, ack:{}
-	pipette_get_asp_pressure_data(0x7590, "pipette_get_asp_pressure_data"),  // {section_off}, ack:{int16_t data[]}
+	pipette_pump_init_device(0x7580),
+	pipette_pump_take_tip(0x7581),
+	pipette_pump_deposit_tip(0x7582),
+	pipette_pump_pierce_through(0x7583),
+	pipette_pump_aspirate_set_param(0x7584),
+	pipette_pump_aspirate(0x7585),
+	pipette_get_sensor_sample_data(0x7587),
+	pipette_get_sensor_sample_data_num(0x7588),
+	pipette_read_state(0x7589),
+	pipette_pump_putbak_tip(0x758A),
+	pipette_read_tip_state(0x758B),
+	pipette_read_pressure(0x758C),
+	pipette_read_capacitance(0x758D),
+	pipette_pump_distribu_all_set_param(0x758E),  // {paramid,val}, ack:{}
+	pipette_pump_distribu_all(0x758F),  // {}, ack:{}
+	pipette_get_asp_pressure_data(0x7590),  // {section_off}, ack:{int16_t data[]}
 
 
-	pipette_test_pump_move_to_x100nl(0x7600, "pipette_test_pump_move_to_x100nl"),  // int32_t x100nl, int32_t vcfgindex
-	pipette_test_lld(0x7601, "pipette_test_lld"),  // int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid
-	pipette_test_move_to_container_bottom(0x7602, "pipette_test_move_to_container_bottom"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_container_bottom_section_begin(0x7603, "pipette_test_move_to_container_bottom_section_begin"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_immersion_pos(0x7604, "pipette_test_move_to_immersion_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_leaving_height_pos(0x7605, "pipette_test_move_to_leaving_height_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_jet_pos(0x7606, "pipette_test_move_to_jet_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_lld_start_search_pos(0x7607, "pipette_test_move_to_lld_start_search_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_fix_water_level_pos(0x7608, "pipette_test_move_to_fix_water_level_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_pierce_pos(0x7609, "pipette_test_move_to_pierce_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_move_to_lld_end_pos(0x760A, "pipette_test_move_to_lld_end_pos"),  // int32_t container_pos, int32_t container_cpyid,
-	pipette_test_connectivity(0x760B, "pipette_test_connectivity"),  // 测试电缆连接性 {}, ack:{}
+	pipette_test_pump_move_to_x100nl(0x7600),  // int32_t x100nl, int32_t vcfgindex
+	pipette_test_lld(0x7601),  // int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid
+	pipette_test_move_to_container_bottom(0x7602),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_container_bottom_section_begin(0x7603),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_immersion_pos(0x7604),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_leaving_height_pos(0x7605),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_jet_pos(0x7606),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_lld_start_search_pos(0x7607),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_fix_water_level_pos(0x7608),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_pierce_pos(0x7609),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_move_to_lld_end_pos(0x760A),  // int32_t container_pos, int32_t container_cpyid,
+	pipette_test_connectivity(0x760B),  // 测试电缆连接性 {}, ack:{}
 
 	;
-	public final static int    ATTACH_IS_BYTES = 1;
-	public final static int    ATTACH_IS_INT32 = 2;
-	public final        int    index;
-	public final        String chName;
-
-
-	//	public final int     cmdAttachType     = ATTACH_IS_INT32;
-	//	public final int     receiptAttachType = ATTACH_IS_INT32;
-	//	public final boolean trace     = true;
-	//	public final boolean actionCmd = true;
 
+	public final int    index;
+	public final String chName;
 	CmdId(int index, String chname) {
 		this.index  = index;
 		this.chName = chname;
 	}
 
+	CmdId(int index) {
+		this.index  = index;
+		this.chName = this.name().toUpperCase();
+	}
+
 	public int toInt() {
 		return index;
 	}
@@ -228,50 +238,29 @@ public enum CmdId {
 				return e.toString();
 			}
 		}
-		return "unkown(" + val + ")";
-	}
-
-	public String getChname() {
-		return chName;
-	}
-
-	public Boolean eq(Integer index) {
-		return this.index == index;
-	}
-
-
-	public int getCmdAttachType() {
-		return switch (this) {
-			case a8000_idcard_write_raw -> ATTACH_IS_BYTES;
-			default -> ATTACH_IS_INT32;
-		};
+		return "unknown(" + val + ")";
 	}
 
-	public int getReceiptAttachType() {
-		return switch (this) {
-			case a8k_opt_v2_read_raw, a8000_idcard_reader_read_raw -> ATTACH_IS_BYTES;
-			default -> ATTACH_IS_INT32;
-		};
-	}
 
-	public boolean isTrace() {
-		return true;
-	}
+	//
+	//		public boolean isActionCmd() {
+	//		return switch (this) {
+	//			case module_get_status,
+	//				 module_get_error,
+	//				 xymotor_read_pos,
+	//				 xymotor_read_inio,
+	//				 step_motor_read_io_state,
+	//				 extboard_read_inio,
+	//				 extboard_read_muti_inio,
+	//				 module_get_reg,
+	//				 module_set_reg,
+	//				 code_scaner_result_is_ready -> false;
+	//			default -> true;
+	//		};
+	//	}
+	//	public boolean isTrace() {
+	//		return true;
+	//	}
 
-	public boolean isActionCmd() {
 
-		return switch (this) {
-			case module_get_status,
-				 module_get_error,
-				 xymotor_read_pos,
-				 xymotor_read_inio,
-				 step_motor_read_io_state,
-				 extboard_read_inio,
-				 extboard_read_muti_inio,
-				 module_get_reg,
-				 module_set_reg,
-				 code_scaner_result_is_ready -> false;
-			default -> true;
-		};
-	}
 }

src/main/java/a8k/app/iflytophald/utils/PacketFormater.java

@@ -0,0 +1,73 @@
+package a8k.app.iflytophald.utils;
+
+import a8k.app.iflytophald.info.CmdIdInfoMgr;
+import a8k.app.iflytophald.type.protocol.*;
+import a8k.app.utils.ByteArrayUtils;
+import org.springframework.util.Assert;
+
+public class PacketFormater {
+
+	static public String packetToString(A8kPacket packet) {
+		int    packetType = packet.getPacketType();
+		String ret        = "";
+
+		CmdId cmdId = CmdId.valueOf(packet.getCmdId());
+		Assert.isTrue(cmdId != null, "cmdId is null");
+		if (packetType == A8kPacket.PACKET_TYPE_CMD) {
+
+			if (cmdId.equals(CmdId.module_get_reg) || cmdId.equals(CmdId.module_set_reg)) {
+				RegIndex regIndex = RegIndex.valueOf(packet.getContentI32(0));
+				if (regIndex != null) {
+					ret = String.format("[CMD  ] index:[%d] %s %s %s(%d)  %d", packet.getPacketIndex(), cmdId,
+							MId.valueOf(packet.getModuleId()), regIndex, regIndex.index, packet.getContentI32(1));
+				} else {
+					ret = String.format("[CMD  ] index:[%d] %s unkown_index(%d) %d", packet.getPacketIndex(), cmdId,
+							packet.getContentI32(0), packet.getContentI32(1));
+				}
+			} else {
+				if (CmdIdInfoMgr.getCmdAttachType(cmdId).equals(A8kCmdAttachmentType.INT32S)) {
+					ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", packet.getPacketIndex(), cmdId,
+							MId.valueOf(packet.getModuleId()), packet.getModuleId(), formatInt32ATTACH(packet.getCmdContent()));
+				} else {
+					ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", packet.getPacketIndex(), cmdId,
+							MId.valueOf(packet.getModuleId()), packet.getModuleId(), ByteArrayUtils.toByteString(packet.getCmdContent()));
+				}
+			}
+
+		} else if (packetType == A8kPacket.PACKET_TYPE_ACK) {
+			if (CmdIdInfoMgr.getReceiptAttachType(cmdId).equals(A8kCmdAttachmentType.INT32S)) {
+				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", packet.getPacketIndex(), cmdId,
+						formatInt32ATTACH(packet.getCmdContent()));
+			} else {
+				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", packet.getPacketIndex(), cmdId,
+						ByteArrayUtils.toByteString(packet.getCmdContent()));
+			}
+		} else if (packetType == A8kPacket.PACKET_TYPE_ERROR_ACK) {
+			ret = String.format("[EACK ] index:[%d] (%s :[%s])", packet.getPacketIndex(), cmdId, (packet.getContentI32(0)));
+		} else if (packetType == A8kPacket.PACKET_TYPE_EVENT) {
+			if (CmdIdInfoMgr.getCmdAttachType(cmdId).equals(A8kCmdAttachmentType.INT32S)) {
+				ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", packet.getPacketIndex(), cmdId,
+						MId.valueOf(packet.getModuleId()), packet.getModuleId(), formatInt32ATTACH(packet.getCmdContent()));
+			} else {
+				ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", packet.getPacketIndex(), cmdId,
+						MId.valueOf(packet.getModuleId()), packet.getModuleId(), ByteArrayUtils.toByteString(packet.getCmdContent()));
+			}
+		} else {
+			ret = String.format("Unknown packet type: %d", packetType);
+		}
+		return ret;
+	}
+
+
+	private static String formatInt32ATTACH(byte[] attach) {
+		StringBuilder ret = new StringBuilder();
+		for (int i = 0; i < attach.length; i += 4) {
+			if (i + 3 >= attach.length)
+				break;
+			if (i != 0)
+				ret.append(",");
+			ret.append(String.format("%d", ByteArrayUtils.read32bit(attach, i)));
+		}
+		return ret.toString();
+	}
+}

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

@@ -17,6 +17,7 @@ import a8k.app.type.a8k.proj.A8kReactionFlowType;
 import a8k.app.utils.*;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;
@@ -26,6 +27,7 @@ import java.util.List;
 
 @Component
 @Slf4j
+@RequiredArgsConstructor
 public class AppConsumablesScanService {
 
 	@Schema(description = "耗材扫描报告")
@@ -59,17 +61,17 @@ public class AppConsumablesScanService {
 		}
 	}
 
-	@Resource
-	ConsumablesScanCtrlService scanCtrlService;
-	@Resource
-	PreReactionStateMgr        preReactionStateMgr;
-	@Resource
-	ConsumablesMgrService      consumablesMgrService;
-	@Resource
-	GStateMgrService           gstate;
-
-	@Resource
-	ProjInfoMgrService projInfoMgrService;
+
+	private final ConsumablesScanCtrlService scanCtrlService;
+
+	private final PreReactionStateMgr preReactionStateMgr;
+
+	private final ConsumablesMgrService consumablesMgrService;
+
+	private final GStateMgrService gstate;
+
+
+	private final ProjInfoMgrService projInfoMgrService;
 
 
 	/**

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

@@ -230,7 +230,7 @@ public class MainFlowCtrlScheduler {
 
 			deviceWorkStateMgrService.setFatalErrorFlag(appErrors.getFirst());
 			for (AppError appError : appErrors) {
-				appEventBusService.pushEvent(ZAppPromptFactory.buildAppPromptEvent(appError));
+				pushAppErrorEvent(appError);
 			}
 		}
 		//清空正在处理的试管架
@@ -238,7 +238,7 @@ public class MainFlowCtrlScheduler {
 			tubeStateMgr.resetAll();
 			tubeFeedingCtrlService.ejectTubeHolder();
 		} catch (AppException e) {
-			appEventBusService.pushEvent(ZAppPromptFactory.buildAppPromptEvent(e));
+			pushAppErrorEvent(e.getError());
 		}
 
 		log.info("MainFlowCtrlScheduler work thread stopped");
@@ -248,4 +248,19 @@ public class MainFlowCtrlScheduler {
 		}
 	}
 
+	void pushAppErrorEvent(AppError error) {
+		if (error == null) {
+			return;
+		}
+
+		/*
+		 *	急停触发错误不在前端显示
+		 */
+		if (error.eq(A8kEcode.EMERGENCY_KEY_TRIGGER)) {
+			return;
+		}
+
+		appEventBusService.pushEvent(ZAppPromptFactory.buildAppPromptEvent(error));
+	}
+
 }