完取TIP动作，完善配置同步

sh/sync_data_to_board.bat

@@ -1,2 +1,2 @@
- scp -r .\appresource\static/ root@192.168.8.10://app/appresource/static/app
- scp .\appresource\db\app.db root@192.168.8.10://app/appresource/db/
+ ssh root@192.168.8.10 'rm -rf /app/appresource'
+ scp -r .\appresource\ root@192.168.8.10://app/

src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java

@@ -32,11 +32,21 @@ public class A8kSubModuleInitRegConfig {
 		return regIndexes;
 	}
 
+	public Boolean isNeeded(ModuleType moduleType, RegIndex regIndex) {
+		for (ModuleRegMarker marker : regMarkers) {
+			if (marker.moduleType == moduleType && marker.regIndex == regIndex) {
+				return true;
+			}
+		}
+		return false;
+	}
+
 	@PostConstruct
 	void init() {
 		regMarkers();
 	}
 
+
 	private void regMarkers() {
 		//
 		//	标记数据库关心的寄存器，被标记的寄存器，会在设备初始化时侯，初始化其数值

src/main/java/a8k/app/constant/AppConstant.java

@@ -6,7 +6,7 @@ public class AppConstant {
 	public static final int    CONSUMABLE_COL_NUM = 5;
 	public static final int    CONSUMABLE_ROW_NUM = 5;
 	public static final int    TIP_NUM            = 120;
-	public static final String APP_VERSION        = "2.0";
+	public static final String APP_VERSION        = "2.1";
 
 
 	public static final int CONSUMABLE_CHANNEL_NUM = 6;

src/main/java/a8k/app/dao/SubModuleRegInitialValueDao.java

@@ -10,6 +10,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.jdbc.core.JdbcTemplate;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
+
 @Component
 @Slf4j
 @RequiredArgsConstructor

src/main/java/a8k/app/service/data/SubModuleRegInitialValueMgrService.java

@@ -45,11 +45,22 @@ public class SubModuleRegInitialValueMgrService {
 				regcache.add(new SubModuleRegInitialValue(mid, regIndex, val));
 			}
 		}
-
 		for (SubModuleRegInitialValue reg : regcache) {
 			log.info(String.format("storage %s(%d) %-40s: %d", reg.mid, reg.mid.index, reg.regIndex, reg.regInitVal));
 			subModuleRegInitialValueDao.update(reg.mid, reg.regIndex, reg.regInitVal);
 		}
+
+		//
+		//	删除掉不需要的寄存器
+		//
+		var allConfigs = subModuleRegInitialValueDao.getAll();
+		for (SubModuleRegInitialValue reg : allConfigs) {
+			//TODO:模块类型存储到数据库中，而不是从微控制器读取
+			ModuleType moduleType = canBus.moduleReadType(reg.mid);
+			if (!a8kSubModuleInitRegConfig.isNeeded(moduleType, reg.regIndex)) {
+				subModuleRegInitialValueDao.delete(reg.id);
+			}
+		}
 	}
 
 	public void export() {
@@ -72,5 +83,4 @@ public class SubModuleRegInitialValueMgrService {
 		return subModuleRegInitialValueDao.findByIDAndRegIndex(mid, regIndex);
 	}
 
-
 }

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

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.OS;
 import a8k.app.constant.GearBacklashConstant;
 import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr;
 import a8k.app.type.a8k.ConsumableGroup;
@@ -56,12 +57,20 @@ public class HbotMoveExCtrlService {
 
 		Pos3d tipPos = hbotConsumableExParamMgr.getTipPos(tipGroupPos, index);
 		hbotMoveCtrlService.hbotMoveTo(tipPos);
-		if (!pipetteCtrlDriver.isHasTip()) {
-			//TODO:单片机支持移动以mm为单位的距离的方法
-			pipetteCtrlDriver.zMotorMoveByBlock(-100);
-			pipetteCtrlDriver.pipetteInitDeviceBlock();
+
+		//TODO:单片机支持移动以mm为单位的距离的方法
+		pipetteCtrlDriver.zMotorMoveByBlock(-100);
+		for (int i = 0; i < 3; i++) {
+			//尝试读三次tip的状态，确保取到tip
+			if (!pipetteCtrlDriver.isHasTip()) {
+				log.warn("取tip失败，尝试强制退掉TIP头");
+				pipetteCtrlDriver.pipetteInitDeviceBlock();
+				break;
+			}
+			OS.hsleep(50);
 		}
 
+
 		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 	}