9 changed files with 20 additions and 335 deletions
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BINapp.db
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3src/main/java/a8k/appbean/ecode/AppRet.java
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7src/main/java/a8k/controller/HbotControlController.java
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51src/main/java/a8k/controller/MotorTubeRackMoveCtrlController.java
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52src/main/java/a8k/controller/SamplesPreProcessModuleCtrlController.java
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70src/main/java/a8k/controller/TmpTestController.java
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1src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java
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138src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
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31src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
@ -1,7 +0,0 @@ |
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package a8k.controller; |
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import com.iflytop.uf.controller.UfApiControllerBase; |
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import org.springframework.stereotype.Controller; |
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@Controller |
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public class HbotControlController extends UfApiControllerBase { |
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|
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} |
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@ -1,51 +0,0 @@ |
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package a8k.controller; |
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import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao; |
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import a8k.service.hardware.MotorTubeRackMoveCtrlService; |
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import com.iflytop.uf.controller.UfApiControllerBase; |
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import com.iflytop.uf.controller.UfApiResponse; |
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import com.iflytop.uf.util.UfClassHelper; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Controller; |
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import org.springframework.web.bind.annotation.PostMapping; |
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import org.springframework.web.bind.annotation.RequestBody; |
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import org.springframework.web.bind.annotation.ResponseBody; |
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import java.lang.reflect.InvocationTargetException; |
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import java.util.List; |
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import java.util.Map; |
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@Controller |
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public class MotorTubeRackMoveCtrlController extends UfApiControllerBase { |
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@Resource |
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private MotorTubeRackMoveCtrlService motorTubeRackMoveCtrlService; |
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@Resource |
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private MotorTubeRackMoveCtrlServiceParameterDao motorTubeRackMoveCtrlServiceParameterDao; |
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@PostMapping("/api/motor-tube-rack-move-ctrl/execute-service-method") |
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@ResponseBody |
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public UfApiResponse executeServiceMethod( @RequestBody Map<String,Object> params ) throws Throwable { |
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Object service = this.motorTubeRackMoveCtrlService; |
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String methodName = (String)params.get("method"); |
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List<Object> methodArgs = (List<Object>)params.get("params"); |
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Object result = UfClassHelper.invokeMethod(service, methodName, methodArgs); |
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return this.success(result); |
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} |
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@PostMapping("/api/motor-tube-rack-move-ctrl/list-options") |
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@ResponseBody |
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public UfApiResponse listAllOptions() throws NoSuchMethodException { |
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var list = this.motorTubeRackMoveCtrlServiceParameterDao.listOptions(); |
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return this.success(list); |
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} |
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|
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@PostMapping("/api/motor-tube-rack-move-ctrl/update-options") |
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@ResponseBody |
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public UfApiResponse updateOptions(@RequestBody Map<String,Object> params ) throws Exception { |
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var options = (List<Map<String,Object>>)params.get("options"); |
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for (Map<String,Object> item : options) { |
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var name = (String)item.get("name"); |
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var option = this.motorTubeRackMoveCtrlServiceParameterDao.getOption(name); |
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option.setValue(item.get("value")); |
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option.save(); |
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} |
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return this.success(); |
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} |
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} |
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@ -1,52 +0,0 @@ |
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package a8k.controller; |
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import a8k.appbean.HardwareException; |
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import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService; |
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import a8k.service.hardware.SamplesPreProcessModuleCtrlService; |
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import com.iflytop.uf.controller.UfApiControllerBase; |
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import com.iflytop.uf.controller.UfApiResponse; |
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import com.iflytop.uf.util.UfClassHelper; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Controller; |
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import org.springframework.web.bind.annotation.PostMapping; |
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import org.springframework.web.bind.annotation.RequestBody; |
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import org.springframework.web.bind.annotation.ResponseBody; |
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import java.lang.reflect.InvocationTargetException; |
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import java.util.List; |
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import java.util.Map; |
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@Controller |
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public class SamplesPreProcessModuleCtrlController extends UfApiControllerBase { |
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@Resource |
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private SamplesPreProcessModuleCtrlService samplesPreProcessModuleCtrlService; |
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@Resource |
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private SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParamsService; |
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@PostMapping("/api/sample-pre-process-module-ctrl/execute-service-method") |
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@ResponseBody |
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public UfApiResponse executeServiceMethod( @RequestBody Map<String,Object> params ) throws Throwable { |
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Object service = this.samplesPreProcessModuleCtrlService; |
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String methodName = (String)params.get("method"); |
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List<Object> methodArgs = (List<Object>)params.get("params"); |
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Object result = UfClassHelper.invokeMethod(service, methodName, methodArgs); |
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return this.success(result); |
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} |
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@PostMapping("/api/sample-pre-process-module-ctrl/list-options") |
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@ResponseBody |
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public UfApiResponse listAllOptions() throws NoSuchMethodException { |
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var list = this.samplesPreProcessModuleCtrlParamsService.listOptions(); |
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return this.success(list); |
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} |
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|
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@PostMapping("/api/sample-pre-process-module-ctrl/update-options") |
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@ResponseBody |
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public UfApiResponse updateOptions(@RequestBody Map<String,Object> params ) throws Exception { |
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var options = (List<Map<String,Object>>)params.get("options"); |
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for (Map<String,Object> item : options) { |
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var name = (String)item.get("name"); |
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var option = this.samplesPreProcessModuleCtrlParamsService.getOption(name); |
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option.setValue(item.get("value")); |
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option.save(); |
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} |
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return this.success(); |
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} |
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} |
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@ -1,70 +0,0 @@ |
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package a8k.controller; |
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|
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import a8k.a8k_can_protocol.CmdId; |
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import a8k.a8k_can_protocol.MId; |
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import a8k.appbean.HardwareException; |
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import a8k.appbean.ecode.AppRet; |
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import a8k.base_hardware.A8kCanBusService; |
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import a8k.service.A8kDebugTaskExecutorService; |
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import a8k.service.ctrl_service.DeviceInitializationCtrlService; |
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import a8k.service.hardware.MotorTubeRackMoveCtrlService; |
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import com.iflytop.uf.util.UfClassHelper; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Controller; |
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import org.springframework.web.bind.annotation.GetMapping; |
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import org.springframework.web.bind.annotation.PostMapping; |
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import org.springframework.web.bind.annotation.RequestBody; |
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import org.springframework.web.bind.annotation.ResponseBody; |
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import java.util.List; |
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import java.util.Map; |
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@Controller |
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public class TmpTestController { |
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@Resource |
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private A8kCanBusService a8kCanBusService; |
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@Resource |
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private MotorTubeRackMoveCtrlService motorTubeRackMoveCtrlService; |
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@Resource |
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private A8kDebugTaskExecutorService a8kDebugTaskExecutorService; |
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@Resource |
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private DeviceInitializationCtrlService deviceInitializationCtrlService; |
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@PostMapping("/api/tmp-test/execute-service-method") |
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@ResponseBody |
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public String executeServiceMethod(@RequestBody Map<String, Object> params) throws Throwable { |
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Object service = this.motorTubeRackMoveCtrlService; |
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String methodName = (String) params.get("method"); |
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List<Object> methodArgs = (List<Object>) params.get("params"); |
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Object result = UfClassHelper.invokeMethod(service, methodName, methodArgs); |
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return "OK"; |
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} |
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@PostMapping("/api/tmp-test/update-service-params") |
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@ResponseBody |
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public String updateServiceParams(@RequestBody Map<String, Object> params) { |
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return "OK"; |
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} |
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@PostMapping("/api/tmp-test/get-service-params") |
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@ResponseBody |
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public String getServiceParams() { |
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return "OK"; |
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} |
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@GetMapping("/tmp-test/a8k-can-bus-service-call") |
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@ResponseBody |
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public String a8kCanBusServiceCall() throws HardwareException, InterruptedException { |
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this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_enable.toInt(), new Integer[]{1}); |
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this.a8kCanBusService.callblockcmd(MId.FeedingModInfeedM.toInt(), CmdId.step_motor_easy_move_by.toInt(), new Integer[]{5000}, 20000); |
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return "OK"; |
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} |
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@PostMapping("/api/zhaohe_test/initialize_device") |
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@ResponseBody |
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public AppRet initialize_device() throws HardwareException, InterruptedException { |
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return deviceInitializationCtrlService.initializeDevice(); |
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// return "OK"; |
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} |
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} |
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@ -1,138 +0,0 @@ |
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package a8k.service.db.dao; |
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import a8k.service.db.entity.HardwareServiceSetting; |
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import a8k.service.hardware.SamplesPreProcessModuleCtrlService; |
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import a8k.utils.HardwareServiceParam; |
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import a8k.utils.HardwareServiceParams; |
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import com.iflytop.uf.UfActiveRecord; |
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import org.springframework.stereotype.Component; |
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import java.util.List; |
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import java.util.Map; |
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/** |
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* 样本预处理相关参数访问 |
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*/ |
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@Component |
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@HardwareServiceParams(service=SamplesPreProcessModuleCtrlService.class) |
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public class SamplesPreProcessModuleCtrlParamsService { |
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/** |
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* 参数存放在HardwareServiceSetting中， |
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* 每个参数，依赖于Key+serviceName进行索引 |
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*/ |
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public final String serviceName = "SamplesPreProcessModuleCtrlService"; |
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@HardwareServiceParam(name="回零超时时间") |
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public int getMoveToZeroOvertime() { |
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// 索引为 "SamplesPreProcessModuleCtrlService" "MoveToZeroOvertime" |
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return HardwareServiceSetting.getInteger(this.serviceName, "MoveToZeroOvertime", 0); |
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} |
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@HardwareServiceParam(name="执行动作的超时时间") |
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public int getActionOvertime() { |
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// 索引为 "SamplesPreProcessModuleCtrlService" "MoveToZeroOvertime" |
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return HardwareServiceSetting.getInteger(this.serviceName, "ActionOvertime", 0); |
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} |
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@HardwareServiceParam(name="5ML全血试管取试管位置", group="升降电机") |
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public int getZMotor_HighBloodTakeTubeHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_HighBloodTakeTubeHeight", 0); |
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} |
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@HardwareServiceParam(name="3ML全血试管取试管位置", group="升降电机") |
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public int getZMotor_ShortBloodTakeTubeHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_ShortBloodTakeTubeHeight", 0); |
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} |
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@HardwareServiceParam(name="5ML全血试管取帽位置", group="升降电机") |
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public int getZMotor_HighBloodTakeCapHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_HighBloodTakeCapHeight", 0); |
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} |
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@HardwareServiceParam(name="3ML全血试管取帽位置", group="升降电机") |
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public int getZMotor_ShortBloodTakeCapHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_ShortBloodTakeCapHeight", 0); |
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} |
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@HardwareServiceParam(name="5ML全血试管帽子判断位置", group="升降电机") |
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public int getZMotor_HighBloodCapJudgeHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_HighBloodCapJudgeHeight", 0); |
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} |
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@HardwareServiceParam(name="3ML全血试管帽子判断位置", group="升降电机") |
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public int getZMotor_ShortBloodCapJudgeHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_ShortBloodCapJudgeHeight", 0); |
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} |
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@HardwareServiceParam(name="摇匀位放置高度", group="升降电机") |
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public int getZMotor_placeShakeHeight() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_placeShakeHeight", 0); |
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} |
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|
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@HardwareServiceParam(name="待机位置", group="水平移动电机") |
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public int getHorizontalMotor_standbyPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "HorizontalMotor_standbyPos", 0); |
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} |
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|
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@HardwareServiceParam(name="取帽位置", group="水平移动电机") |
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public int getHorizontalMotor_takeCapPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "HorizontalMotor_takeCapPos", 0); |
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} |
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|
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@HardwareServiceParam(name="放帽位置", group="水平移动电机") |
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public int getHorizontalMotor_takePushCapPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "HorizontalMotor_takePushCapPos", 0); |
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} |
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@HardwareServiceParam(name="待机位置", group="抓手舵机") |
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public int getGripperServo_standbyPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "GripperServo_standbyPos", 0); |
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} |
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@HardwareServiceParam(name="取帽扭矩", group="抓手舵机") |
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public int getGripperServo_takeCapTorque() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "GripperServo_takeCapTorque", 0); |
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} |
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@HardwareServiceParam(name="取试管位置", group="抓手舵机") |
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public int getGripperServo_takeTubePos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "GripperServo_takeTubePos", 0); |
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} |
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|
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@HardwareServiceParam(name="判断是否有帽子的位置阈值", group="抓手舵机") |
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public int getGripperServo_hatDeterminesPosThres() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "GripperServo_hatDeterminesPosThres", 0); |
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} |
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@HardwareServiceParam(name="待机位置", group="摇匀电机") |
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public int getShakeMotor_standbyPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ShakeMotor_standbyPos", 0); |
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} |
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|
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@HardwareServiceParam(name="摇匀角度", group="摇匀电机") |
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public int getShakeMotor_shakeDegree() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "ShakeMotor_shakeDegree", 0); |
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} |
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|
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@HardwareServiceParam(name="待机位置", group="试管夹紧电机") |
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public int getTubeClampMotor_standbyPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "TubeClampMotor_standbyPos", 0); |
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} |
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@HardwareServiceParam(name="夹紧位置", group="试管夹紧电机") |
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public int getTubeClampMotor_ClampPos() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "TubeClampMotor_ClampPos", 0); |
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} |
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|
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@HardwareServiceParam(name="气溶胶风扇风力大小") |
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public int getAerosolFanLevel() { |
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return HardwareServiceSetting.getInteger(this.serviceName, "AerosolFanLevel", 100); |
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} |
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|
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public List<HardwareServiceSetting> listOptions() { |
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return UfActiveRecord.find(HardwareServiceSetting.class, Map.of("serviceName", this.serviceName)); |
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} |
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public HardwareServiceSetting getOption(String optionName) { |
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return HardwareServiceSetting.getOption(this.serviceName, optionName); |
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} |
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} |
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