project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

update

tags/v0
zhaohe 1 year ago
parent
8532c943d1
commit
bd323249e5
5 changed files with 137 additions and 136 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 10
      src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java
  2. 9
      src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java
  3. 22
      src/main/java/a8k/canbus/protocol/A8kEcode.java
  4. 222
      src/main/java/a8k/canbus/protocol/CmdId.java
  5. 10
      src/main/java/a8k/service/hardware/HbotControlService.java

10
src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java
View File

@ -6,8 +6,8 @@ public class TipPickUpPosInfo {
public Pos2d g1tl;
public Pos2d g2tl;
public Integer xSpacing; //x间隔
public Integer ySpacing; //y间隔
public Double xSpacing; //x间隔
public Double ySpacing; //y间隔
public Integer pickUpZPos; //拾取高度
@ -18,12 +18,12 @@ public class TipPickUpPosInfo {
g0tl = new Pos2d(0, 0);
g1tl = new Pos2d(0, 0);
g2tl = new Pos2d(0, 0);
xSpacing = 0;
ySpacing = 0;
xSpacing = 0.0;
ySpacing = 0.0;
pickUpZPos = 0;
}
public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Integer xSpacing, Integer ySpacing, Integer pickUpZPos) {
public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Double xSpacing, Double ySpacing, Integer pickUpZPos) {
this.g0tl = g0tl;
this.g1tl = g1tl;
this.g2tl = g2tl;

9
src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java
View File

@ -77,13 +77,14 @@ public class AppRetEcodeInfo {
public String toDisPlayString() {
if (errorCode != null && mid != null && cmd != null) {
return String.format("ECode:%s, MID:%s, CMD:%s", errorCode, mid, cmd);
// return String.format("ECode:%s, MID:%s, CMD:%s", errorCode, mid, cmd);
return String.format("[%s]执行[%s]出现[]错误", mid, cmd, errorCode);
} else if (errorCode != null && mid != null) {
return String.format("ECode:%s, MID:%s", errorCode, mid);
return String.format("捕获到模块[%s]的[%s]错误", mid, errorCode);
} else if (errorCode != null) {
return String.format("ECode:%s", errorCode);
return String.format("捕获到[%s]错误", errorCode);
} else {
return String.format("ECode:%s, MID:%s, CMD:%s", null, mid, cmd);
return String.format("[%s]执行[%s]出现[]错误", mid, cmd, errorCode);
}
}
}

22
src/main/java/a8k/canbus/protocol/A8kEcode.java
View File

@ -35,17 +35,17 @@ public enum A8kEcode {
// FOR HARDWARE
//
HardwareError(1001, "HardwareError"),//
ParamOutOfRange(1102, "ParamOutOfRange"),//
CmdNotSupport(1103, "CmdNotSupport"),//
DeviceIsBusy(1104, "DeviceIsBusy"),//
DeviceIsOffline(1105, "DeviceIsOffline"),//
Overtime(1106, "Overtime"),//
Noack(1107, "Noack"),//
Errorack(1108, "Errorack"),//
DeviceOffline(1109, "DeviceOffline"),//
SubdeviceOvertime(1111, "SubdeviceOvertime"),//
BufferNotEnough(1112, "BufferNotEnough"),//
HardwareError(1001, "硬件错误"),//
ParamOutOfRange(1102, "参数范围错误"),//
CmdNotSupport(1103, "指令不支持"),//
DeviceIsBusy(1104, "设备忙"),//
DeviceIsOffline(1105, "设备丢弃"),//
Overtime(1106, "超时"),//
Noack(1107, "没有回执"),//
Errorack(1108, "错误回执"),//
DeviceOffline(1109, "设备离线"),//
SubdeviceOvertime(1111, "子设备超时"),//
BufferNotEnough(1112, "缓存溢出"),//
CmdParamNumError(1114, "CmdParamNumError"),//
CheckcodeIsError(1115, "CheckcodeIsError"),//
IllegalOperation(1116, "IllegalOperation"),//

222
src/main/java/a8k/canbus/protocol/CmdId.java
View File

@ -3,130 +3,130 @@ package a8k.canbus.protocol;
public enum CmdId {
NotSet(0xFFFF, "noAction"),//
NotSet(0xFFFF, "NOACTION"),//
board_reset(0x0000, "board_reset"),//
event_bus_reg_change_report(0x0064, "event_bus_reg_change_report"),//
board_reset(0x0000, "复位板子"),//
event_bus_reg_change_report(0x0064, "寄存器修改事件"),//
//
module_ping(0x0100, "module_ping"),//
module_get_status(0x0104, "module_get_status", false),//
module_stop(0x0101, "module_stop"),//
module_set_reg(0x0105, "module_set_reg"),//
module_get_reg(0x0106, "module_get_reg"),//
module_get_error(0x010a, "module_get_error", false),//
module_clear_error(0x010b, "module_clear_error"),//
module_active_cfg(0x0110, "module_active_cfg"),//
module_ping(0x0100, "MODULE_PING"),//
module_get_status(0x0104, "读取模块状态", false),//
module_stop(0x0101, "模块停止"),//
module_set_reg(0x0105, "写入寄存器"),//
module_get_reg(0x0106, "获取寄存器"),//
module_get_error(0x010a, "读取模块错误", false),//
module_clear_error(0x010b, "清除模块错误"),//
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",false),//
xymotor_read_inio_index_in_stm32(0x0307, "xymotor_read_inio_index_in_stm32"),//
xymotor_read_inio(0x0308, "xymotor_read_inio", false),//
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"),//
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",false),//
xymotor_read_inio_index_in_stm32(0x0307, "XYMOTOR_READ_INIO_INDEX_IN_STM32"),//
xymotor_read_inio(0x0308, "XYMOTOR_READ_INIO", false),//
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"),//
//
pipette_ctrl_init_device(0x7201, "pipette_ctrl_init_device"),//
pipette_ctrl_put_tip(0x7202, "pipette_ctrl_put_tip"),//
pipette_ctrl_move_to_ul(0x7203, "pipette_ctrl_move_to_ul"),//
pipette_lld_prepare(0x7204, "pipette_lld_prepare"),//
pipette_plld(0x7205, "pipette_plld"),//
pipette_clld(0x7206, "pipette_clld"),//
pipette_mlld(0x7207, "pipette_mlld"),//
pipette_lld_is_detect_liquid(0x7208, "pipette_lld_is_detect_liquid"),//
pipette_aspirate(0x7209, "pipette_aspirate"),//
pipette_distribut(0x720a, "pipette_distribut"),//
pipette_shake_up(0x720b, "pipette_shake_up"),//
pipette_enable_zmotor(0x7214, "pipette_enable_zmotor"),//
pipette_write_cmd_direct(0x7215, "pipette_write_cmd_direct"),//
pipette_get_sensor_sample_data(0x7216, "pipette_get_sensor_sample_data"),//
pipette_get_sensor_sample_data_num(0x7217, "pipette_get_sensor_sample_data_num"),//
pipette_sensor_sample_data_report(0x7232, "pipette_sensor_sample_data_report"),//
pipette_aspirate_llf(0x720c, "pipette_aspirate_llf"),//
pipette_distribut_llf(0x720d, "pipette_distribut_llf"),//
pipette_shake_up_llf(0x720e, "pipette_shake_up_llf"),//
a8k_opt_v2_read_raw(0x0609, "a8k_opt_v2_read_raw", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
pipette_ctrl_init_device(0x7201, "PIPETTE_CTRL_INIT_DEVICE"),//
pipette_ctrl_put_tip(0x7202, "PIPETTE_CTRL_PUT_TIP"),//
pipette_ctrl_move_to_ul(0x7203, "PIPETTE_CTRL_MOVE_TO_UL"),//
pipette_lld_prepare(0x7204, "PIPETTE_LLD_PREPARE"),//
pipette_plld(0x7205, "PIPETTE_PLLD"),//
pipette_clld(0x7206, "PIPETTE_CLLD"),//
pipette_mlld(0x7207, "PIPETTE_MLLD"),//
pipette_lld_is_detect_liquid(0x7208, "PIPETTE_LLD_IS_DETECT_LIQUID"),//
pipette_aspirate(0x7209, "PIPETTE_ASPIRATE"),//
pipette_distribut(0x720a, "PIPETTE_DISTRIBUT"),//
pipette_shake_up(0x720b, "PIPETTE_SHAKE_UP"),//
pipette_enable_zmotor(0x7214, "PIPETTE_ENABLE_ZMOTOR"),//
pipette_write_cmd_direct(0x7215, "PIPETTE_WRITE_CMD_DIRECT"),//
pipette_get_sensor_sample_data(0x7216, "PIPETTE_GET_SENSOR_SAMPLE_DATA"),//
pipette_get_sensor_sample_data_num(0x7217, "PIPETTE_GET_SENSOR_SAMPLE_DATA_NUM"),//
pipette_sensor_sample_data_report(0x7232, "PIPETTE_SENSOR_SAMPLE_DATA_REPORT"),//
pipette_aspirate_llf(0x720c, "PIPETTE_ASPIRATE_LLF"),//
pipette_distribut_llf(0x720d, "PIPETTE_DISTRIBUT_LLF"),//
pipette_shake_up_llf(0x720e, "PIPETTE_SHAKE_UP_LLF"),//
a8k_opt_v2_read_raw(0x0609, "A8K_OPT_V2_READ_RAW", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
//
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_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"),//
//
step_motor_enable(0x0201, "step_motor_enable"),//
step_motor_read_pos(0x020b, "step_motor_read_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_active_cfg(0x0229, "step_motor_active_cfg"),//
step_motor_read_io_state(0x022a, "step_motor_read_io_state", false),//
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"),//
step_motor_enable(0x0201, "STEP_MOTOR_ENABLE"),//
step_motor_read_pos(0x020b, "STEP_MOTOR_READ_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_active_cfg(0x0229, "STEP_MOTOR_ACTIVE_CFG"),//
step_motor_read_io_state(0x022a, "STEP_MOTOR_READ_IO_STATE", false),//
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"),//
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"),//
//
extboard_read_inio(0x6701, "extboard_read_inio", false),//
extboard_write_outio(0x6702, "extboard_write_outio"),//
extboard_read_muti_inio(0x6703, "extboard_read_muti_inio", false),//
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"),//
extboard_read_inio(0x6701, "EXTBOARD_READ_INIO", false),//
extboard_write_outio(0x6702, "EXTBOARD_WRITE_OUTIO"),//
extboard_read_muti_inio(0x6703, "EXTBOARD_READ_MUTI_INIO", false),//
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"),//
//
fan_controler_set_speed(0x6900, "fan_controler_set_speed"),//
fan_controler_set_speed(0x6900, "FAN_CONTROLER_SET_SPEED"),//
//
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"),//
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"),//
//
a8000_idcard_reader_read_raw(0x7100, "a8000_idcard_reader_read_raw", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
a8000_idcard_write_raw(0x7101, "a8000_idcard_write_raw", CmdId.ATTACH_IS_BYTES, CmdId.ATTACH_IS_INT32),//
a8000_idcard_erase(0x7102, "a8000_idcard_erase"),//
a8000_idcard_earse_unlock(0x7103, "a8000_idcard_earse_unlock"),//
a8000_idcard_reader_read_raw(0x7100, "A8000_IDCARD_READER_READ_RAW", CmdId.ATTACH_IS_INT32, CmdId.ATTACH_IS_BYTES),//
a8000_idcard_write_raw(0x7101, "A8000_IDCARD_WRITE_RAW", CmdId.ATTACH_IS_BYTES, CmdId.ATTACH_IS_INT32),//
a8000_idcard_erase(0x7102, "A8000_IDCARD_ERASE"),//
a8000_idcard_earse_unlock(0x7103, "A8000_IDCARD_EARSE_UNLOCK"),//
//
event_a8000_idcard_online(0x71c8, "event_a8000_idcard_online"),//
event_a8000_idcard_offline(0x71c9, "event_a8000_idcard_offline"),//
event_a8000_idcard_online(0x71c8, "EVENT_A8000_IDCARD_ONLINE"),//
event_a8000_idcard_offline(0x71c9, "EVENT_A8000_IDCARD_OFFLINE"),//
//
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"),//
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"),//
;
public final static int ATTACH_IS_BYTES = 1;

10
src/main/java/a8k/service/hardware/HbotControlService.java
View File

@ -73,8 +73,8 @@ public class HbotControlService implements HardwareCtrlModule {
new Pos2d(887, -15),
new Pos2d(2413, -15),
new Pos2d(3947, -15),
92,
92,
92.4,
92.4,
585));
}
@ -354,14 +354,14 @@ public class HbotControlService implements HardwareCtrlModule {
}
@HardwareServiceAction(name = "取全部Tip", group = "测试脚本")
public AppRet<Map<String, String>> testTakeAllTip(Integer group, Integer startFrom) throws HardwareException, InterruptedException {
public AppRet<Map<String, String>> testTakeAllTip(Integer groupId, Integer startFrom) throws HardwareException, InterruptedException {
// ObjectMapper mapper = new ObjectMapper();
testTakeTipFlag = true;
Map<String, String> result = new HashMap<>();
for (int i = startFrom; i < TipPickUpPosInfo.COL_MAX * TipPickUpPosInfo.ROW_MAX; i++) {
var ret = takeTipTestStep(group, i);
var ret = takeTipTestStep(groupId, i);
result.put("Tip" + i, ret.getData() ? "suc" : "fail");
logger.info("Take Tip {}-{} => {}", group, i, ret.getData());
logger.info("Take Tip {}-{} => {}", groupId, i, ret.getData());
if (!testTakeTipFlag) {
break;
}

Write Preview
Loading…
Cancel
Save