From 776c8a7840814bc85f2330957462a0a131cb8f3a Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 18 Oct 2024 14:37:07 +0800
Subject: [PATCH] update

---
 app.db                                             | Bin 225280 -> 225280 bytes
 .../TubeFeedingModulePosCalibration.java           |   4 +++-
 .../ctrlservice/TubeTubeFeedingCtrlService.java    |  10 +++++-----
 .../app/devicectrl/driver/MiniServoDriver.java     |   3 +++
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/app.db b/app.db
index 2d363576d87d7f1cd68f10a772e24a6aebff7fb6..6396dbb59f542d8b435b805901fa85d4b21d5ec1 100644
GIT binary patch
delta 82
zcmZp8z}xVEcY?IwItB&?b09VYVkHI!UZsgT#;ofY^vb$6rrf^3sJ7YRVjLr*>gM^E
lWSAILHt)Ien~_m@^Nwo|85xzDXWeL@b%SyHtQ$;e(*ge89V-9;

delta 82
zcmZp8z}xVEcY?H_3IhX!IS`uxu@VCV&$Ed-#;hs~dSx9OQ*K{i<k;+RF^-Xuee?WF
lGE9tYoA+G#&B(~QdB?SfjEpSJvu?D{y1}@8)(xh#=>XOq96|s9

diff --git a/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java b/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
index f4c98ca..8415adf 100644
--- a/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
+++ b/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
@@ -141,7 +141,9 @@ public class TubeFeedingModulePosCalibration {
 
 	@ExtApiFn(name = "扫描试管架", group = "校验", order = 400)
 	public TubeHolderScanResult calibrateScanTubeHolder() throws AppException {
-		return tubeTubeFeedingCtrlService.scanTubeHodler();
+		TubeHolderScanResult result = tubeTubeFeedingCtrlService.scanTubeHodler();
+		tubeTubeFeedingCtrlService.ejectTubeHolder();
+		return result;
 	}
 
 	@ExtApiFn(name = "移动试管到预处理位置", group = "校验", order = 401)
diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
index f31466a..47ba527 100644
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
@@ -59,6 +59,7 @@ public class TubeTubeFeedingCtrlService {
 	StepMotorCtrlDriver   stepMotorCtrlDriver;
 
 
+
 	private Boolean isTubeExist() throws AppException {
 		return canBus.getIOState(IOId.TubeExistPPS);
 	}
@@ -212,13 +213,10 @@ public class TubeTubeFeedingCtrlService {
 		moveTubeToScanPos(tubeIndex);
 		try {
 			tubeTransportExDriver.scanClampModClamp();
-
-			canBus.codeScanerStartScan(MId.FeedingModScannerMod);
-			miniServoDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
+			miniServoDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerRotateSV, stp.getTubeScanServoTorque());
 			return codeScaner.feedingModScannerModCodeScannerScanCode(scanOvertime);
 		} finally {
-			canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);
-			canBus.moduleStop(MId.FeedingModScannerMod);
+			miniServoDriver.moduleStop(MiniServoMId.ShakeModTubeScanerRotateSV);
 			tubeTransportExDriver.scanClampModRelease();
 		}
 	}
@@ -269,6 +267,7 @@ public class TubeTubeFeedingCtrlService {
 		if (tubeType.isEmpty()) {
 			logger.warn("扫描试管架类型失败，弹出试管架");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_SCAN_TUBEHOLDER_TYPE_TIMEOUT));
+			ejectTubeHolder();
 			return null;
 		}
 		logger.info("扫描试管架类型成功,{}", tubeType);
@@ -292,6 +291,7 @@ public class TubeTubeFeedingCtrlService {
 		if (!hasTube) {
 			logger.error("试管架中没有试管");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT));
+			ejectTubeHolder();
 			return null;
 		}
 		result.tubeHolderType = tubeType;
diff --git a/src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java b/src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java
index 5e9f13a..eaa45f3 100644
--- a/src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java
@@ -20,6 +20,9 @@ public class MiniServoDriver {
 	@Resource
 	A8kCanBusService canBus;
 
+	public void moduleStop(MiniServoMId id) throws AppException {
+		canBus.moduleStop(id.mid);
+	}
 
 	public void miniServoEnable(MiniServoMId id, int enable) throws AppException {
 		logger.info("{} miniServoEnable {}", id.mid, enable);