diff --git a/src/main/java/a8k/appbean/ecode/AppEcode.java b/src/main/java/a8k/appbean/ecode/AppRet.java similarity index 84% rename from src/main/java/a8k/appbean/ecode/AppEcode.java rename to src/main/java/a8k/appbean/ecode/AppRet.java index 27900f2..d54e54f 100644 --- a/src/main/java/a8k/appbean/ecode/AppEcode.java +++ b/src/main/java/a8k/appbean/ecode/AppRet.java @@ -5,24 +5,24 @@ import a8k.a8k_can_protocol.MId; import a8k.a8k_can_protocol.A8kEcode; import a8k.appbean.HardwareException; -public class AppEcode { +public class AppRet { public A8kEcode errorCode; public MId mid; public CmdId cmd; - public AppEcode(A8kEcode errorCode, MId mid) { + public AppRet(A8kEcode errorCode, MId mid) { this.errorCode = errorCode; this.mid = mid; this.cmd = CmdId.NotSet; } - public AppEcode(A8kEcode errorCode) { + public AppRet(A8kEcode errorCode) { this.errorCode = errorCode; this.mid = MId.NotSet; this.cmd = CmdId.NotSet; } - public AppEcode(HardwareException e) { + public AppRet(HardwareException e) { this.errorCode = e.getErrorCode(); this.mid = e.getModuleId(); } diff --git a/src/main/java/a8k/controller/TmpTestController.java b/src/main/java/a8k/controller/TmpTestController.java index 1351028..89bd84b 100644 --- a/src/main/java/a8k/controller/TmpTestController.java +++ b/src/main/java/a8k/controller/TmpTestController.java @@ -3,7 +3,7 @@ package a8k.controller; import a8k.a8k_can_protocol.CmdId; import a8k.a8k_can_protocol.MId; import a8k.appbean.HardwareException; -import a8k.appbean.ecode.AppEcode; +import a8k.appbean.ecode.AppRet; import a8k.base_hardware.A8kCanBusService; import a8k.service.A8kDebugTaskExecutorService; import a8k.service.ctrl_service.DeviceInitializationCtrlService; @@ -16,7 +16,6 @@ import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.ResponseBody; -import java.lang.reflect.InvocationTargetException; import java.util.List; import java.util.Map; @@ -64,7 +63,7 @@ public class TmpTestController { @PostMapping("/api/zhaohe_test/initialize_device") @ResponseBody - public AppEcode initialize_device() { + public AppRet initialize_device() { return deviceInitializationCtrlService.initializeDevice(); // return "OK"; } diff --git a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java index 006f762..1fd2be3 100644 --- a/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java +++ b/src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java @@ -4,7 +4,7 @@ import a8k.a8k_can_protocol.A8kEcode; import a8k.a8k_can_protocol.IOId; import a8k.a8k_can_protocol.MId; import a8k.appbean.HardwareException; -import a8k.appbean.ecode.AppEcode; +import a8k.appbean.ecode.AppRet; import a8k.base_hardware.A8kCanBusService; import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService; import a8k.service.hardware.CommonHardwareOpeartion; @@ -35,7 +35,7 @@ public class DeviceInitializationCtrlService { @PostMapping("/api/DeviceInitializationCtrlService/initializeDevice") @ResponseBody - public AppEcode initializeDevice() { + public AppRet initializeDevice() { logger.info("Initializing device ..."); boolean initSuc = false; try { @@ -47,7 +47,7 @@ public class DeviceInitializationCtrlService { * 清空耗材 */ - AppEcode ecode; + AppRet ecode; //硬件光电初始化 ecode = hardwareStaticInit(); if (!ecode.isOk()) { @@ -88,11 +88,11 @@ public class DeviceInitializationCtrlService { } } - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } - private AppEcode hardwareStaticInit() throws HardwareException, InterruptedException { + private AppRet hardwareStaticInit() throws HardwareException, InterruptedException { /* * 硬件初始化: * 1.使能所有舵机 @@ -109,49 +109,49 @@ public class DeviceInitializationCtrlService { // 试管夹紧电机打开一点，好方便有试管夹住的时，突然断电时，将试管取出 canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2); canBus.waitForMod(MId.ShakeModClampingM, actionOvertime); - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } - private AppEcode checkDeviceState() throws HardwareException { + private AppRet checkDeviceState() throws HardwareException { //试管平移通道是否有障碍 if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) { logger.warn("THChInterPPS or THChOuterPPS is trigger"); - return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger); + return new AppRet(A8kEcode.PlateStuckDetectorSensorTrigger); } //板夹仓盖子是否盖上 if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) { logger.warn("PlateBoxCoverClosure is open"); - return new AppEcode(A8kEcode.PlateBoxNotCover); + return new AppRet(A8kEcode.PlateBoxNotCover); } //板夹仓卡板检测 if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) { logger.warn("PlateBoxPlateStuckPPS is trigger"); - return new AppEcode(A8kEcode.PlateStuckDetectorSensorTrigger); + return new AppRet(A8kEcode.PlateStuckDetectorSensorTrigger); } //检查钩板电机是否处于终点位置 if (!canBus.getIOState(IOId.PullerMZeroPPS)) { logger.warn("PullerM is not in zero pos"); - return new AppEcode(A8kEcode.PullerMInitPosError); + return new AppRet(A8kEcode.PullerMInitPosError); } //检查板夹仓光电是否处于起点位置 if (!canBus.getIOState(IOId.PusherMZeroPPS)) { logger.warn("PusherM is not in zero pos"); - return new AppEcode(A8kEcode.PusherMInitPosError); + return new AppRet(A8kEcode.PusherMInitPosError); } //板夹仓光电 if (canBus.getIOState(IOId.RecycleBinOverflowPPS)) { logger.warn("RecycleBinOverflow is trigger"); - return new AppEcode(A8kEcode.RecycleBinOverflow); + return new AppRet(A8kEcode.RecycleBinOverflow); } - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } - private AppEcode moveMotorToZero() throws HardwareException, InterruptedException { + private AppRet moveMotorToZero() throws HardwareException, InterruptedException { //进出料初始化 // canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM); @@ -204,7 +204,7 @@ public class DeviceInitializationCtrlService { //canBus.waitForMod(MId.ShakeModGripperZM, actionOvertime); - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } diff --git a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java b/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java index 02b8055..7c3866c 100644 --- a/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java +++ b/src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java @@ -3,7 +3,7 @@ package a8k.service.hardware; import a8k.a8k_can_protocol.A8kEcode; import a8k.a8k_can_protocol.MId; import a8k.appbean.HardwareException; -import a8k.appbean.ecode.AppEcode; +import a8k.appbean.ecode.AppRet; import a8k.base_hardware.A8kCanBusService; import jakarta.annotation.Resource; import org.springframework.stereotype.Controller; @@ -19,24 +19,24 @@ public class CommonHardwareOpeartion { @PostMapping("/api/CommonHardwareOpeartion/enableAllMotorNoExcep") @ResponseBody - public AppEcode enableAllMotorNoExcep() { + public AppRet enableAllMotorNoExcep() { try { enableAllMotor(); } catch (HardwareException e) { - return new AppEcode(e); + return new AppRet(e); } - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } @PostMapping("/api/CommonHardwareOpeartion/disableAllMotorNoExcep") @ResponseBody - public AppEcode disableAllMotorNoExcep() { + public AppRet disableAllMotorNoExcep() { try { enableAllMotor(); } catch (HardwareException e) { - return new AppEcode(e); + return new AppRet(e); } - return new AppEcode(A8kEcode.Success); + return new AppRet(A8kEcode.Success); } public void enableAllMotor(Boolean enable) throws HardwareException {