1

src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java

@@ -49,7 +49,7 @@ public class A8kDirectCtrlPosDao {
 		return new PosBean(pos.posX, pos.posY, pos.posZ);
 	}
 
-	A8kDirectCtrlPos getPos(String posName) {
+	public A8kDirectCtrlPos getPos(String posName) {
 		A8kDirectCtrlPos pos = UfActiveRecord.findOne(A8kDirectCtrlPos.class, Map.of("posName", posName));
 		assert pos != null;
 		return pos;

src/main/java/a8k/service/db/dao/MotorParameterDao.java

@@ -9,7 +9,7 @@ import java.util.Map;
 
 @Component
 public class MotorParameterDao {
-	MotorParameter getMotorParameter(int mid) {
+	public MotorParameter getMotorParameter(int mid) {
 		var param = UfActiveRecord.findOne(MotorParameter.class, Map.of("mid", mid));
 		assert param != null;
 		return param;

src/main/java/a8k/service/db/entity/MotorParameter.java

@@ -14,7 +14,7 @@ public class MotorParameter extends UfActiveRecord {
 	Integer zeroPosOff; //零点偏移
 
 	@UfActiveRecordField
-	Integer moveToZeroOvertime;// 回零超时时间
+	public Integer moveToZeroOvertime;// 回零超时时间
 
 	@UfActiveRecordField
 	Integer defaultVelocity; //默认速度

src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

@@ -1,13 +1,22 @@
 package a8k.service.hardware;
 
+import a8k.a8k_can_protocol.CmdId;
+import a8k.a8k_can_protocol.Errorcode;
+import a8k.a8k_can_protocol.ModuleId;
+import a8k.a8k_can_protocol.RegIndex;
+import a8k.appbean.HardwareException;
+import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kDirectCtrlPosDao;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.MotorParameterDao;
+import jakarta.annotation.Resource;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 @Component
 public class MotorTubeRackMoveCtrlService {
+	private static final Integer MOVE_TO_ZERO_MAX_DPOS = 10;
+
 	/**
 	 *
 	 *	主要用来控制试管架的平移动作控制
@@ -39,18 +48,30 @@ public class MotorTubeRackMoveCtrlService {
 	A8kTubeInfoDao      tubeInfoDao;
 	@Autowired
 	MotorParameterDao   motorParameterDao;
-
+	@Resource
+	private A8kCanBusService a8kCanBusService;
 
 	//
 	// 电机基础控制
 	//
 
-	public void moveToZeroWhenDeviceSetup() {
-
+	public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, 30*1000);
 	}
 
 
-	public void moveToZero() {
+	public void moveToZero() throws HardwareException, InterruptedException {
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{0}, 30*1000);
+
+		var motorParams = this.motorParameterDao.getMotorParameter(ModuleId.MotorTubeRackMoveModule);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, motorParams.moveToZeroOvertime);
+
+		var response = this.a8kCanBusService.callcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kmodule_get_reg, new Integer[]{RegIndex.kreg_step_motor_dpos});
+		var dval = response.getContentI32(0);
+		if ( dval > MotorTubeRackMoveCtrlService.MOVE_TO_ZERO_MAX_DPOS ) {
+			throw new HardwareException(ModuleId.MotorTubeRackMoveModule, Errorcode.kstep_motor_lost_step);
+		}
+
 		//先通过move_to 指令移动到零点
 		//再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao
 		//最后读取 寄存器dval,判断move_to_zero移动了多少距离，如果dval过大，则抛出电机丢步异常。
@@ -64,26 +85,38 @@ public class MotorTubeRackMoveCtrlService {
 	/**
 	 * 移动试管架到入口位置
 	 */
-	public void moveTubeRackToEnterPos() {
+	public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
+		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackEnterPos);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
 	}
 
 	/**
 	 * 移动试管架到出口位置
 	 */
-	public void moveTubeRackToExitPos() {
+	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
+		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackExitPos);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
 	}
 
 	/**
 	 * 移动试管架到试管架扫码位置
 	 */
-	public void moveTubeRackToScanPos() {
+	public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
+		var pos = this.directCtrlPosTableDao.getPos(A8kDirectCtrlPosDao.MotorTubeRackMotor_tubeRackScanCodePos);
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to, new Integer[]{pos.posX}, 30*1000);
 	}
 
 	/**
 	 * 移动试管架到试管架扫码并扫码
 	 */
-	public String moveTubeRackToScanPosAndScan() {
-		return "";
+	public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
+		this.moveTubeRackToScanPos();
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_start_scan, new Integer[]{});
+		Thread.sleep(500);
+		var response = this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModuleId.TubeRackScannerModule, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		var contentBytes = response.getCmdContent();
+		return new String(contentBytes);
 	}
 
 	//