Merge branch 'master' of http://47.92.195.73:8081/project_boditech_vidas_a8000_v3/a8k_app

src/main/java/a8k/controller/HbotControlController.java

@@ -0,0 +1,7 @@
+package a8k.controller;
+import com.iflytop.uf.controller.UfApiControllerBase;
+import org.springframework.stereotype.Controller;
+@Controller
+public class HbotControlController extends UfApiControllerBase {
+
+}

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

@@ -5,6 +5,7 @@ import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao;
+import com.iflytop.uf.util.UfCommon;
 import jakarta.annotation.Resource;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -61,6 +62,16 @@ public class MotorTubeRackMoveCtrlService {
 			CmdId.step_motor_enable.toInt(),
 			enable ? 1 : 0
 		);
+		this.a8kCanBusService.callcmd(
+			MId.ShakeModTubeScanerClampingSV.toInt(),
+			CmdId.mini_servo_enable.toInt(),
+			enable ? 1 : 0
+		);
+		this.a8kCanBusService.callcmd(
+			MId.ShakeModTubeScanerRotateSV.toInt(),
+			CmdId.mini_servo_enable.toInt(),
+			enable ? 1 : 0
+		);
 	}
 
 	public void stop() throws HardwareException {
@@ -79,6 +90,16 @@ public class MotorTubeRackMoveCtrlService {
 			CmdId.step_motor_stop.toInt(),
 			1
 		);
+		this.a8kCanBusService.callcmd(
+			MId.ShakeModTubeScanerClampingSV.toInt(),
+			CmdId.mini_servo_stop.toInt(),
+			1
+		);
+		this.a8kCanBusService.callcmd(
+			MId.ShakeModTubeScanerRotateSV.toInt(),
+			CmdId.mini_servo_stop.toInt(),
+			1
+		);
 	}
 
 
@@ -93,6 +114,12 @@ public class MotorTubeRackMoveCtrlService {
 			CmdId.step_motor_easy_move_to_zero.toInt(),
 			params.getMoveToZeroOvertime()
 		);
+		this.a8kCanBusService.callblockcmd(
+			MId.ShakeModTubeScanerClampingSV.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
+			params.getScanCodeReleasePos(),
+			params.getMoveToZeroOvertime()
+		);
 	}
 
 
@@ -207,9 +234,16 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		this.moveTubeToScanPos(tubeType, tubeIndex);
-
 		this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
-		Thread.sleep(5000);
+		this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(),CmdId.mini_servo_rotate_with_torque.toInt(), 200);
+		for ( int i=0; i<10; i++ ) {
+			var resIsReady = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_result_is_ready.toInt());
+			if ( 1 == resIsReady.getContentI32(0) ) {
+				break ;
+			}
+			UfCommon.delay(500);
+		}
+		this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_stop.toInt(), 1);
 		var response = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
 		this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
 		var contentBytes = response.getCmdContent();
@@ -259,7 +293,7 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		var params   = this.serviceParameterDao;
-		var pos      = params.getTubeRackExitPos() + tubeIndex * params.getTubeSpacing();
+		var pos      = params.getTubeExistJudgmentPos() + tubeIndex * params.getTubeSpacing();
 		this.a8kCanBusService.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
 	}