update

src/main/java/a8k/controler/extapi/EngineerPageControler.java

@@ -145,7 +145,7 @@ public class EngineerPageControler {
 		var service = UfApplication.getContext().getBean(serviceClass);
 		var methods = serviceClass.getMethods();
 		for ( var method : methods ) {
-			var statusAnnotation = method.getAnnotation(EnginnerPageStatu.class);
+			var statusAnnotation = method.getAnnotation(ExtApiStatu.class);
 			if ( null == statusAnnotation ) {
 				continue;
 			}

src/main/java/a8k/controler/extapi/pagecontrol/ExtApiTabConfig.java

@@ -1,6 +1,9 @@
 package a8k.controler.extapi.pagecontrol;
 
 public enum ExtApiTabConfig {
+
+	ActionReactorService("调试.单步调试", true),
+
 	AppFrontEndEventRouter("基础组件.前端事件路由", true),
 	AppUserMgrService("应用.用户管理", true), //Ok
 	AppSettingsMgr("应用.设备配置管理", true), //OK

src/main/java/a8k/controler/extapi/utils/EnginnerPageStatu.java → src/main/java/a8k/controler/extapi/utils/ExtApiStatu.java

@@ -6,7 +6,7 @@ import java.lang.annotation.Target;
 
 @Retention(RetentionPolicy.RUNTIME)
 @Target({ElementType.METHOD})
-public @interface EnginnerPageStatu {
+public @interface ExtApiStatu {
 	String name();
 	String group() default "";
 	int order() default 0;

src/main/java/a8k/hardware/A8kCanBusService.java

@@ -7,7 +7,7 @@ import a8k.type.PlateInfo;
 import a8k.hardware.custom_param_mgr.A8kModCustomParamMgr;
 import a8k.hardware.type.a8kcanprotocol.*;
 import a8k.hardware.type.a8kcanprotocol.MId;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.cfg.Pos2d;
 import a8k.baseservice.appeventbus.appevent.A8kHardwareReport;
 import a8k.baseservice.appeventbus.AppEventBusService;

src/main/java/a8k/hardware/A8kModParamInitializer.java

@@ -4,7 +4,7 @@ import a8k.baseservice.appeventbus.AppEventBusService;
 import a8k.baseservice.appeventbus.appevent.A8kCanBusOnConnectEvent;
 import a8k.baseservice.appeventbus.appevent.AppEvent;
 import a8k.baseservice.appeventbus.AppEventListener;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.hardware.custom_param_mgr.ModCustomParamId;
 import a8k.hardware.custom_param_mgr.A8kModCustomParamMgr;
 import a8k.hardware.type.a8kcanprotocol.MId;

src/main/java/a8k/hardware/A8kPipetteCtrlModule.java

@@ -8,7 +8,7 @@ import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.hardware.type.regindex.PipetteRegIndex;
 import a8k.hardware.type.regindex.RegIndex;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/service/actionreactor/ActionReactorService.java

@@ -1,15 +1,107 @@
 package a8k.service.actionreactor;
 
-import a8k.service.actionreactor.base.ActionFunction;
+import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
+import a8k.controler.extapi.utils.ExtApiStatu;
+import a8k.controler.extapi.utils.ExtApiFn;
+import a8k.controler.extapi.utils.ExtApiTab;
+import a8k.type.ZFunction;
+import a8k.service.actionreactor.base.DoWhatNext;
+import a8k.type.exception.ActionBreakException;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component
+@ExtApiTab(cfg = ExtApiTabConfig.ActionReactorService)
 public class ActionReactorService {
+	static Logger logger = LoggerFactory.getLogger(ActionReactorService.class);
 
+	static class ORDER {
+		static final int doNextStep    = 1;
+		static final int reDoStep      = 2;
+		static final int breakAction   = 3;
+		static final int fullSpeedRun  = 6;
+		static final int singleStepRun = 7;
 
+	}
 
+	Boolean reDo         = false;
+	Boolean doNext       = false;
+	Boolean breakAction  = false;
+	Boolean fullSpeedRun = true;
 
 
+	DoWhatNext breakpoint() throws ActionBreakException {
+		while (true) {
+			if (reDo) {
+				reDo = false;
+				return DoWhatNext.ReDoAction;
+			}
+			if (doNext) {
+				doNext = false;
+
+				return DoWhatNext.DoNextAction;
+			}
+
+			if (breakAction) {
+				breakAction = false;
+				throw new ActionBreakException();
+			}
+
+			if (fullSpeedRun) {
+				return DoWhatNext.DoNextAction;
+			}
+
+			try {
+				Thread.sleep(100);
+			} catch (InterruptedException e) {
+				throw new ActionBreakException();
+			}
+		}
+	}
+
+
+	public void dosome(String mark, ZFunction action) throws ActionBreakException {
+		while (true) {
+			logger.info("do {}", mark);
+			action.fn();
+			DoWhatNext next = breakpoint();
+			if (next == DoWhatNext.DoNextAction) {
+				break;
+			}
+		}
+	}
+
+	@ExtApiFn(name = "下一步", order = ORDER.doNextStep)
+	public void doNextStep() {
+		doNext = true;
+	}
+
+	@ExtApiFn(name = "重新执行当前步骤", order = ORDER.reDoStep)
+	public void reDoStep() {
+		reDo = true;
+	}
+
+	@ExtApiFn(name = "中断动作", order = ORDER.breakAction)
+	public void breakAction() {
+		breakAction = true;
+	}
+
+
+	@ExtApiFn(name = "全速模式", order = ORDER.fullSpeedRun)
+	public void fullSpeedRun() {
+		fullSpeedRun = true;
+	}
+
+	@ExtApiFn(name = "单步模式", order = ORDER.singleStepRun)
+	public void singleStepRun() {
+		fullSpeedRun = false;
+	}
+
+	@ExtApiStatu(name = "全速运行")
+	public Boolean getFullSpeedRun() {
+		return fullSpeedRun;
+	}
 
 
 }

src/main/java/a8k/service/actionreactor/base/ActionFunction.java

@@ -1,6 +0,0 @@
-package a8k.service.actionreactor.base;
-
-@FunctionalInterface
-public interface ActionFunction {
-	void action();
-}

src/main/java/a8k/service/actionreactor/base/ActionItem.java

@@ -1,7 +0,0 @@
-package a8k.service.actionreactor.base;
-
-public class ActionItem {
-
-	public ActionFunction fn;
-	public ActionFunction bakfn;
-}

src/main/java/a8k/service/actionreactor/base/DoWhatNext.java

@@ -0,0 +1,6 @@
+package a8k.service.actionreactor.base;
+
+public enum DoWhatNext {
+	DoNextAction,
+	ReDoAction,
+}

src/main/java/a8k/service/actionreactor/base/FnAnnotation.java

@@ -1,9 +0,0 @@
-package a8k.service.actionreactor.base;
-
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
-
-@Retention(RetentionPolicy.RUNTIME)
-public @interface FnAnnotation {
-	String name();
-}

src/main/java/a8k/service/actionreactor/base/FnParam.java

@@ -1,9 +0,0 @@
-package a8k.service.actionreactor.base;
-
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
-
-@Retention(RetentionPolicy.RUNTIME)
-public @interface FnParam {
-	String name();
-}

src/main/java/a8k/service/app/AppDeviceInitializationModule.java

@@ -1,10 +1,69 @@
 package a8k.service.app;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
+import a8k.controler.extapi.utils.ExtApiFn;
 import a8k.controler.extapi.utils.ExtApiTab;
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.IOId;
+import a8k.service.actionreactor.ActionReactorService;
+import a8k.service.app.app_device_initialization_module.checkpoint.CheckPointType;
+import a8k.service.app.app_device_initialization_module.checkpoint.CheckResult;
+import a8k.service.app.app_device_initialization_module.checkpoint.Checkpoint;
+import a8k.type.exception.HardwareException;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Component
 @ExtApiTab(cfg = ExtApiTabConfig.AppDeviceInitializationModule)
 public class AppDeviceInitializationModule {
+
+	@Resource
+	ActionReactorService ar;
+
+	List<Checkpoint> checkPoints = new ArrayList<>();
+
+	@Resource
+	A8kCanBusService canBus;
+
+	@PostConstruct
+	void init() {
+		checkPoints.add(new Checkpoint("入料通道是否为空",//
+				CheckPointType.CheckPlateBoxIsCover, () -> !canBus.getIOState(IOId.THChInterPPS) && !canBus.getIOState(IOId.THChOuterPPS)));
+		checkPoints.add(new Checkpoint("板夹仓盖子是否盖着",//
+				CheckPointType.CheckPlateBoxIsCover, () -> canBus.getIOState(IOId.PlateBoxCoverClosurePPS)));
+		checkPoints.add(new Checkpoint("板夹仓卡板检测",//
+				CheckPointType.CheckPlateStuckDetectorSensorIsTrigger, () -> !canBus.getIOState(IOId.PlateBoxPlateStuckPPS)));
+		checkPoints.add(new Checkpoint("检查拉杆电机是否在零点位置",//
+				CheckPointType.CheckPullerMInZeroPos, () -> canBus.getIOState(IOId.PullerMZeroPPS)));
+		checkPoints.add(new Checkpoint("检查推杆电机是否在零点位置",//
+				CheckPointType.CheckPusherMInZeroPos, () -> canBus.getIOState(IOId.PusherMZeroPPS)));
+		checkPoints.add(new Checkpoint("检查垃圾箱是否满",//
+				CheckPointType.CheckRecycleBinIsOverflow, () -> !canBus.getIOState(IOId.RecycleBinOverflowPPS)));
+
+	}
+
+
+	@ExtApiFn(name = "设备初始化前检查", order = 1)
+	public List<CheckResult> checkBeforeInitDevice() throws HardwareException {
+		List<CheckResult> results = new java.util.ArrayList<>();
+		for (Checkpoint checkPoint : checkPoints) {
+			CheckResult result = new CheckResult();
+			result.type       = checkPoint.type;
+			result.typechinfo = checkPoint.typechinfo;
+			result.pass       = checkPoint.checkfn.check();
+			results.add(result);
+		}
+		return results;
+	}
+
+	//
+	@ExtApiFn(name = "设备初始化", order = 1)
+	void deviceMoveToZero() {
+	}
+
+
 }

src/main/java/a8k/service/app/AppProjIDCardMgrService.java

@@ -8,7 +8,7 @@ import a8k.baseservice.appeventbus.AppEventListener;
 import a8k.dbservice.A8kProjIdCardDBService;
 import a8k.dbservice.type.A8kProjIdCardDBIterm;
 import a8k.hardware.type.regindex.RegIndex;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.appret.AppRet;
 import a8k.baseservice.appeventbus.AppEventBusService;
 import a8k.hardware.A8kCanBusService;

src/main/java/a8k/service/app/app_device_initialization_module/checkpoint/CheckFn.java

@@ -0,0 +1,8 @@
+package a8k.service.app.app_device_initialization_module.checkpoint;
+
+import a8k.type.exception.HardwareException;
+
+@FunctionalInterface
+public interface CheckFn {
+	Boolean check() throws HardwareException;
+}

src/main/java/a8k/service/app/app_device_initialization_module/checkpoint/CheckPointType.java

@@ -0,0 +1,10 @@
+package a8k.service.app.app_device_initialization_module.checkpoint;
+
+public enum CheckPointType {
+	CheckTubeXChannelIsEmpty,//入料通道是否为空
+	CheckPlateBoxIsCover,//板夹仓盖子是否盖着
+	CheckPlateStuckDetectorSensorIsTrigger,//板夹仓卡板检测
+	CheckPullerMInZeroPos,//检查拉杆电机是否在零点位置
+	CheckPusherMInZeroPos,//检查推杆电机是否在零点位置
+	CheckRecycleBinIsOverflow,//检查垃圾箱是否满
+}

src/main/java/a8k/service/app/app_device_initialization_module/checkpoint/CheckResult.java

@@ -0,0 +1,9 @@
+package a8k.service.app.app_device_initialization_module.checkpoint;
+
+public class CheckResult {
+	public String         typechinfo;
+	public CheckPointType type;
+	public Boolean        pass;
+
+
+}

src/main/java/a8k/service/app/app_device_initialization_module/checkpoint/Checkpoint.java

@@ -0,0 +1,15 @@
+package a8k.service.app.app_device_initialization_module.checkpoint;
+
+
+public class Checkpoint {
+	public String         typechinfo;
+	public CheckPointType type;
+	public CheckFn        checkfn;
+
+	public Checkpoint(String typechinfo, CheckPointType type, CheckFn checkfn) {
+		this.typechinfo = typechinfo;
+		this.type       = type;
+		this.checkfn    = checkfn;
+	}
+
+}

src/main/java/a8k/service/bak_devicectrl/calibration/PositionCalibration.java

@@ -1,7 +1,7 @@
 package a8k.service.bak_devicectrl.calibration;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.appret.AppRet;
 import a8k.type.cfg.Pos2d;
 import a8k.controler.extapi.utils.*;
@@ -90,26 +90,26 @@ public class PositionCalibration {
 	}
 
 
-	@EnginnerPageStatu(name = "HbotPos", group = "Hbot")
+	@ExtApiStatu(name = "HbotPos", group = "Hbot")
 	public String getHbotPos() throws HardwareException {
 		Pos2d pos = canBus.hbotReadPos(MId.HbotM);
 		return pos.toString();
 	}
 
 
-	@EnginnerPageStatu(name = "转盘位置")
+	@ExtApiStatu(name = "转盘位置")
 	public String getIncubatorRotateCtrlMPos() throws HardwareException {
 		Integer pos = canBus.stepMotorReadPos(MId.IncubatorRotateCtrlM);
 		return pos.toString();
 	}
 
-	@EnginnerPageStatu(name = "抓手Y轴位置", group = "摇匀模组")
+	@ExtApiStatu(name = "抓手Y轴位置", group = "摇匀模组")
 	public String getShakeModGripperYPos() throws HardwareException {
 		Integer pos = canBus.miniServoReadPos(MId.ShakeModGripperYSV);
 		return pos.toString();
 	}
 
-	@EnginnerPageStatu(name = "抓手位置", group = "摇匀模组")
+	@ExtApiStatu(name = "抓手位置", group = "摇匀模组")
 	public String getGripperPos() throws HardwareException {
 		Integer pos = canBus.miniServoReadPos(MId.ShakeModGripperSV);
 		return pos.toString();

src/main/java/a8k/service/bak_devicectrl/commonctrl/HardwareCommonCtrl.java

@@ -1,7 +1,7 @@
 package a8k.service.bak_devicectrl.commonctrl;
 
 
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.appret.AppRet;
 import a8k.controler.extapi.utils.ExtApiTab;
 import a8k.controler.extapi.utils.ExtApiFn;

src/main/java/a8k/service/bak_devicectrl/ctrl/HbotControlService.java

@@ -2,7 +2,7 @@ package a8k.service.bak_devicectrl.ctrl;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import a8k.type.ConsumableGroup;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.appret.AppRet;
 import a8k.type.cfg.*;
 import a8k.controler.extapi.utils.*;

src/main/java/a8k/service/bak_devicectrl/ctrl/ReactionPlatesTransmitCtrl.java

@@ -1,6 +1,7 @@
 package a8k.service.bak_devicectrl.ctrl;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
+import a8k.type.exception.HardwareException;
 import a8k.utils.opt_algo.A8kOptAlgo;
 import a8k.type.*;
 import a8k.type.appret.AppRet;

src/main/java/a8k/service/bak_devicectrl/ctrl/SamplesPreProcesCtrl.java

@@ -1,7 +1,7 @@
 package a8k.service.bak_devicectrl.ctrl;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.appret.AppRet;
 import a8k.controler.extapi.utils.*;
 import a8k.hardware.A8kCanBusService;

src/main/java/a8k/service/bak_devicectrl/ctrl/TubeRackMoveCtrl.java

@@ -1,7 +1,7 @@
 package a8k.service.bak_devicectrl.ctrl;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.TargetPosMeasureDirection;
 import a8k.type.appret.AppRet;
 import a8k.controler.extapi.utils.*;

src/main/java/a8k/service/bak_devicectrl/param/DebugParam.java

@@ -2,7 +2,7 @@ package a8k.service.bak_devicectrl.param;
 
 import a8k.controler.extapi.utils.ExtApiTab;
 import a8k.controler.extapi.utils.ExtApiFn;
-import a8k.controler.extapi.utils.EnginnerPageStatu;
+import a8k.controler.extapi.utils.ExtApiStatu;
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import org.springframework.stereotype.Component;
 
@@ -22,7 +22,7 @@ public class DebugParam {
 		debugMode = false;
 	}
 
-	@EnginnerPageStatu(name = "调试模式")
+	@ExtApiStatu(name = "调试模式")
 	public Boolean getDebugMode() {
 		return debugMode;
 	}

src/main/java/a8k/service/bak_devicectrl/status/DeviceStatus.java

@@ -1,8 +1,8 @@
 package a8k.service.bak_devicectrl.status;
 
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.controler.extapi.utils.ExtApiTab;
-import a8k.controler.extapi.utils.EnginnerPageStatu;
+import a8k.controler.extapi.utils.ExtApiStatu;
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.IOId;
@@ -33,42 +33,42 @@ public class DeviceStatus {
 	//
 	//	状态
 	//
-	@EnginnerPageStatu(name = "试管架存在", group = "进出料光电", order = ORDER.isTubeExist)
+	@ExtApiStatu(name = "试管架存在", group = "进出料光电", order = ORDER.isTubeExist)
 	public Boolean isTubeExist() throws HardwareException {
 		return canBus.getIOState(IOId.TubeExistPPS);
 	}
 
-	@EnginnerPageStatu(name = "入口光电", group = "进出料光电", order = ORDER.isTubeRackInEnterPos)
+	@ExtApiStatu(name = "入口光电", group = "进出料光电", order = ORDER.isTubeRackInEnterPos)
 	public Boolean isTubeRackInEnterPos() throws HardwareException {
 		return canBus.getIOState(IOId.InfeedPPS);
 	}
 
-	@EnginnerPageStatu(name = "出口光电", group = "进出料光电", order = ORDER.isTubeRackInExitPos)
+	@ExtApiStatu(name = "出口光电", group = "进出料光电", order = ORDER.isTubeRackInExitPos)
 	public Boolean isTubeRackInExitPos() throws HardwareException {
 		return canBus.getIOState(IOId.OutfeedPPS);
 	}
 
-	@EnginnerPageStatu(name = "试管高低判读光电", group = "进出料光电", order = ORDER.isHighTube)
+	@ExtApiStatu(name = "试管高低判读光电", group = "进出料光电", order = ORDER.isHighTube)
 	public Boolean isHighTube() throws HardwareException {
 		return canBus.getIOState(IOId.TubeHeightPPS);
 	}
 
-	@EnginnerPageStatu(name = "通道外光电", group = "进出料光电", order = ORDER.getTHchOuterPPS)
+	@ExtApiStatu(name = "通道外光电", group = "进出料光电", order = ORDER.getTHchOuterPPS)
 	public Boolean getTHchOuterPPS() throws HardwareException {
 		return canBus.getIOState(IOId.THChOuterPPS);
 	}
 
-	@EnginnerPageStatu(name = "通道内光电", group = "进出料光电", order = ORDER.getTHchInterPPS)
+	@ExtApiStatu(name = "通道内光电", group = "进出料光电", order = ORDER.getTHchInterPPS)
 	public Boolean getTHchInterPPS() throws HardwareException {
 		return canBus.getIOState(IOId.THChInterPPS);
 	}
 
-	@EnginnerPageStatu(name = "X轴光电➡", group = "HBOT", order = ORDER.getXPPS)
+	@ExtApiStatu(name = "X轴光电➡", group = "HBOT", order = ORDER.getXPPS)
 	public Boolean getXPPS() throws HardwareException {
 		return canBus.hbotReadInio(MId.HbotM, 0);
 	}
 
-	@EnginnerPageStatu(name = "Y轴光电⬇", group = "HBOT", order = ORDER.getYPPS)
+	@ExtApiStatu(name = "Y轴光电⬇", group = "HBOT", order = ORDER.getYPPS)
 	public Boolean getYPPS() throws HardwareException {
 		return canBus.hbotReadInio(MId.HbotM, 1);
 	}

src/main/java/a8k/service/bak_devicectrl/testscript/TestScript.java

@@ -2,7 +2,7 @@ package a8k.service.bak_devicectrl.testscript;
 
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import a8k.type.ConsumableGroup;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import a8k.type.IncubatorPos;
 import a8k.type.appret.AppRet;
 import a8k.type.cfg.BottleGroupsPosInfo;

src/main/java/a8k/type/ZFunction.java

@@ -0,0 +1,6 @@
+package a8k.type;
+
+@FunctionalInterface
+public interface ZFunction {
+	void fn();
+}

src/main/java/a8k/type/appret/AppRet.java

@@ -4,7 +4,7 @@ import a8k.type.ecode.AppRetEcodeInfo;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.type.HardwareException;
+import a8k.type.exception.HardwareException;
 import lombok.Getter;
 
 public class AppRet<T> {

src/main/java/a8k/type/exception/ActionBreakException.java

@@ -0,0 +1,4 @@
+package a8k.type.exception;
+
+public class ActionBreakException  extends Exception {
+}

src/main/java/a8k/type/HardwareException.java → src/main/java/a8k/type/exception/HardwareException.java

@@ -1,4 +1,4 @@
-package a8k.type;
+package a8k.type.exception;
 
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;