From bd323249e559305c5777d780775c64ebeb52e2fb Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 29 Jul 2024 11:49:42 +0800 Subject: [PATCH] update --- .../java/a8k/appbean/cfg/TipPickUpPosInfo.java | 10 +- .../java/a8k/appbean/ecode/AppRetEcodeInfo.java | 9 +- src/main/java/a8k/canbus/protocol/A8kEcode.java | 22 +- src/main/java/a8k/canbus/protocol/CmdId.java | 222 ++++++++++----------- .../a8k/service/hardware/HbotControlService.java | 10 +- 5 files changed, 137 insertions(+), 136 deletions(-) diff --git a/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java b/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java index 1972613..73593f4 100644 --- a/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java +++ b/src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java @@ -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; diff --git a/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java b/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java index 9b8a696..7be16ed 100644 --- a/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java +++ b/src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java @@ -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); } } } diff --git a/src/main/java/a8k/canbus/protocol/A8kEcode.java b/src/main/java/a8k/canbus/protocol/A8kEcode.java index 4f8fa86..dec9d8a 100644 --- a/src/main/java/a8k/canbus/protocol/A8kEcode.java +++ b/src/main/java/a8k/canbus/protocol/A8kEcode.java @@ -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"),// diff --git a/src/main/java/a8k/canbus/protocol/CmdId.java b/src/main/java/a8k/canbus/protocol/CmdId.java index 255d0f3..32a839a 100644 --- a/src/main/java/a8k/canbus/protocol/CmdId.java +++ b/src/main/java/a8k/canbus/protocol/CmdId.java @@ -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; diff --git a/src/main/java/a8k/service/hardware/HbotControlService.java b/src/main/java/a8k/service/hardware/HbotControlService.java index 00711ee..3c25e05 100644 --- a/src/main/java/a8k/service/hardware/HbotControlService.java +++ b/src/main/java/a8k/service/hardware/HbotControlService.java @@ -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> testTakeAllTip(Integer group, Integer startFrom) throws HardwareException, InterruptedException { + public AppRet> testTakeAllTip(Integer groupId, Integer startFrom) throws HardwareException, InterruptedException { // ObjectMapper mapper = new ObjectMapper(); testTakeTipFlag = true; Map 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; }