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
8b0f60b3bb
commit
ce34294247
5 changed files with 83 additions and 70 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. 5
      src/main/java/a8k/appbean/TargetPosMeasureDirection.java
  2. 12
      src/main/java/a8k/appbean/ecode/AppRet.java
  3. 12
      src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java
  4. 46
      src/main/java/a8k/canbus/A8kCanBusService.java
  5. 78
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

5
src/main/java/a8k/appbean/TargetPosMeasureDirection.java
View File

@ -0,0 +1,5 @@
package a8k.appbean;
public enum TargetPosMeasureDirection {
NOTCARE, POSITIVE, NEGATIVE;
}

12
src/main/java/a8k/appbean/ecode/AppRet.java
View File

@ -38,6 +38,9 @@ public class AppRet<T> {
return traceInfo;
}
public String getMessage() {
return message;
}
public static <T> AppRet<T> success(T data) {
AppRet<T> r = new AppRet<>();
@ -56,11 +59,14 @@ public class AppRet<T> {
return r;
}
public static <T> AppRet<T> fail(A8kEcode errorCode, MId mid, CmdId cmd) {
AppRet<T> r = new AppRet<>();
r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, mid, cmd);
r.data = null;
r.message = r.ecode.toDisPlayString();
return r;
}
@ -69,6 +75,7 @@ public class AppRet<T> {
r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, mid, null);
r.data = null;
r.message = r.ecode.toDisPlayString();
return r;
}
@ -77,6 +84,7 @@ public class AppRet<T> {
r.success = false;
r.ecode = new AppRetEcodeInfo(errorCode, null, null);
r.data = null;
r.message = r.ecode.toDisPlayString();
return r;
}
@ -85,6 +93,8 @@ public class AppRet<T> {
r.success = false;
r.ecode = new AppRetEcodeInfo(ret.getEcode().errorCode, ret.getEcode().mid, ret.getEcode().cmd);
r.data = null;
r.message = r.ecode.toDisPlayString();
return r;
}
@ -101,7 +111,7 @@ public class AppRet<T> {
r.ecode = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
r.data = null;
r.traceInfo = trace;
r.message = e.getMessage();
r.message = r.ecode.toDisPlayString();
} else {
r.success = false;
r.ecode = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);

12
src/main/java/a8k/appbean/ecode/AppRetEcodeInfo.java
View File

@ -74,4 +74,16 @@ public class AppRetEcodeInfo {
}
return cmd.toString();
}
public String toDisPlayString() {
if (errorCode != null && mid != null && cmd != null) {
return String.format("ECode:%s, MID:%s, CMD:%s", errorCode, mid, cmd);
} else if (errorCode != null && mid != null) {
return String.format("ECode:%s, MID:%s", errorCode, mid);
} else if (errorCode != null) {
return String.format("ECode:%s", errorCode);
} else {
return String.format("ECode:%s, MID:%s, CMD:%s", null, mid, cmd);
}
}
}

46
src/main/java/a8k/canbus/A8kCanBusService.java
View File

@ -297,7 +297,7 @@ public class A8kCanBusService {
callcmd(mid.toInt(), CmdId.step_motor_enable.toInt(), enable);
}
public int stepMotorReadPos(MId id) throws HardwareException {
public Integer stepMotorReadPos(MId id) throws HardwareException {
A8kPacket packet = callcmd(id.toInt(), CmdId.step_motor_read_pos.toInt());
return packet.getContentI32(0);
}
@ -488,17 +488,15 @@ public class A8kCanBusService {
// CmdId action = lastCmdMap.get(mid);
CmdId action = lastCmdMapGet(mid);
do {
try {
var status = getModuleStatus(mid);
if (status == ModuleStatus.IDLE) {
break;
} else if (status == ModuleStatus.ERROR) {
logger.error("{} waitting for action {} , catch error {}", mid, action, moduleGetError(mid));
throw new HardwareException(mid, moduleGetError(mid));
}
} catch (HardwareException ignored) {
ModuleStatus statu = null;
try {statu = getModuleStatus(mid);} catch (HardwareException ignored) {}
if (statu == ModuleStatus.IDLE) {
break;
} else if (statu == ModuleStatus.ERROR) {
logger.error("{} waitting for action {} , catch error {}", mid, action, moduleGetError(mid));
throw new HardwareException(mid, moduleGetError(mid));
}
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
logger.error("{} waitting for action {} overtime", mid, action);
@ -535,7 +533,7 @@ public class A8kCanBusService {
return sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
}
public A8kPacket sendCmdAutoResend(A8kPacket pack, int overtime) throws HardwareException {
synchronized public A8kPacket sendCmdAutoResend(A8kPacket pack, int overtime) throws HardwareException {
// 调用sendCmd,
// 如果捕获到超时异常，则重发，最多重发三次
// 如果是其他异常，则直接抛出异常。
@ -555,30 +553,6 @@ public class A8kCanBusService {
throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
}
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {
var packet = this.packParamsToPacket(moduleId, cmdId, params);
this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
// 调用sendCmdAutoResend
// 通过kmodule_get_status判断指令是否完成,超时未完成则报错,则调用module_stop,同时抛出异常
//
long startedAt = System.currentTimeMillis();
do {
var pack = this.callcmd(moduleId, CmdId.module_get_status.toInt(), new Integer[]{});
var status = pack.getContentI32(0);
if (0 == status) {
break;
}
long now = System.currentTimeMillis();
if (now - startedAt > acitionOvertime) {
throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
}
Thread.sleep(100);
} while (true);
}
private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException {
pack.setPacketIndex(packetIndex);

78
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -1,5 +1,6 @@
package a8k.service.hardware;
import a8k.appbean.TargetPosMeasureDirection;
import a8k.canbus.protocol.*;
import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppRet;
@ -52,7 +53,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
@HardwareServiceParam(name = "出料X位置", group = "试管架位置信息")
public Integer getTRExitXPos() {
return 4001;
return 3980;
}
@HardwareServiceParam(name = "试管架扫码X位置", group = "试管架位置信息")
@ -127,12 +128,10 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
@Override
@HardwareServiceAction(name = "模块归零", group = "基础操作")
public void modGroupMoveToZero() throws HardwareException, InterruptedException {
// if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
// throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
// }
canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 0);
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, getActionOvertime());
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
}
scanClampModRelease();
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
@ -142,10 +141,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
@Override
@HardwareServiceAction(name = "模块快速归零", group = "基础操作")
public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
moveTubeRackTo(0);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.FeedingModXM, getActionOvertime());
}
/*=========================================================================================
@ -159,14 +155,32 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
* @throws InterruptedException 打断异常
*/
@HardwareServiceAction(name = "移动到X", group = "模块基础动作")
public void moveTubeRackTo(Integer pos) throws HardwareException, InterruptedException {
public void moveTubeRackTo(Integer pos, TargetPosMeasureDirection moveDiretion, Boolean moveToZero) throws HardwareException, InterruptedException {
if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
}
//打开扫码夹具
scanClampModRelease();
//使能电机
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
canBus.waitForMod(MId.FeedingModXM, getActionOvertime());
if (moveToZero) {
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.FeedingModXM, getActionOvertime());
}
// 处理试管架和试管架之间的间隙导致的运行位置误差
Integer nowPos = canBus.stepMotorReadPos(MId.FeedingModXM);
if (TargetPosMeasureDirection.POSITIVE.equals(moveDiretion)) {
if (nowPos > (pos + 1)) {
canBus.stepMotorEasyMoveToBlock(MId.FeedingModXM, pos + 30, getActionOvertime());
}
} else if (TargetPosMeasureDirection.NEGATIVE.equals(moveDiretion)) {
if (nowPos < (pos - 1)) {
canBus.stepMotorEasyMoveToBlock(MId.FeedingModXM, pos - 30, getActionOvertime());
}
}
canBus.stepMotorEasyMoveToBlock(MId.FeedingModXM, pos, getActionOvertime());
}
/**
@ -217,13 +231,12 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
@HardwareServiceAction(name = "通过归零读取当前电机位置", group = "模块基础动作")
public AppRet<Integer> readXPosByMoveZero() throws HardwareException, InterruptedException {
canBus.stepMotorEnable(MId.FeedingModXM, 1);
canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
canBus.waitForMod(MId.FeedingModXM, getActionOvertime());
canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, getActionOvertime());
Integer nowpos = canBus.stepMotorReadPos(MId.FeedingModXM);
Integer measurepos = -canBus.moduleGetReg(MId.FeedingModXM, RegIndex.kreg_step_motor_dpos) + nowpos;
canBus.stepMotorEnable(MId.FeedingModXM, 0);
return AppRet.success(-canBus.moduleGetReg(MId.FeedingModXM, RegIndex.kreg_step_motor_dpos));
return AppRet.success(measurepos);
}
@ -238,8 +251,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "移动<试管架>到入口位置", group = "片段")
public void tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
moveTubeRackTo(getTREnterXPos());
moveTubeRackTo(getTREnterXPos(), TargetPosMeasureDirection.NOTCARE, true);
}
/**
@ -247,14 +259,16 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "移动<试管架>到出口位置", group = "片段")
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
moveTubeRackTo(getTRExitXPos());
moveTubeRackTo(getTRExitXPos(), TargetPosMeasureDirection.NOTCARE, false);
moveTubeRackTo(getTRExitXPos() - 10, TargetPosMeasureDirection.NOTCARE, false);
// moveTubeRackTo(getTRExitXPos(), TargetPosMeasureDirection.NOTCARE, false);
}
/**
* 移动<试管架>到试管架扫码位置
*/
private void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
moveTubeRackTo(getTRScanXPos());
moveTubeRackTo(getTRScanXPos(), TargetPosMeasureDirection.POSITIVE, false);
}
/**
@ -279,11 +293,10 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
* 移动试管到扫码位置
* @param tubeIndex 试管索引
*/
private AppRet<Object> moveTubeToScanPos(Integer tubeIndex) throws HardwareException, InterruptedException {
private void moveTubeToScanPos(Integer tubeIndex) throws HardwareException, InterruptedException {
var scanPos = getTScanXPos() + tubeIndex * getTubeSpacing();
canBus.stepMotorEasyMoveTo(MId.FeedingModXM, scanPos);
canBus.waitForMod(MId.FeedingModXM, getActionOvertime());
return AppRet.success();
scanClampModClamp();
moveTubeRackTo(scanPos, TargetPosMeasureDirection.NEGATIVE, false);
}
/**
@ -292,11 +305,10 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "扫描<试管X>编码", group = "片段")
public AppRet<String> moveTubeToScanPosAndScan(Integer tubeIndex) throws HardwareException, InterruptedException {
var ret = this.moveTubeToScanPos(tubeIndex);
if (!ret.isSuccess()) {return AppRet.fail(ret);}
moveTubeToScanPos(tubeIndex);
try {
scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
canBus.miniServoRotateWithTorque(MId.ShakeModTubeScanerClampingSV, getTubeScanServoTorque());
String result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, getTubeScanOvertime());
@ -314,7 +326,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "判断<试管N>高低", group = "片段")
public AppRet<Boolean> moveTubeToAltitJudgXPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(getTAltitJudgXPos() + tubeIndex * getTubeSpacing());
moveTubeRackTo(getTAltitJudgXPos() + tubeIndex * getTubeSpacing(), TargetPosMeasureDirection.NEGATIVE, false);
return AppRet.success(isHighTube());
}
@ -324,7 +336,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "移动<试管N>摇匀位", group = "片段")
public void moveTubeToPreProcessPos(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(getTPreProcessXPos() + tubeIndex * getTubeSpacing());
moveTubeRackTo(getTPreProcessXPos() + tubeIndex * getTubeSpacing(), TargetPosMeasureDirection.POSITIVE, false);
}
/**
@ -333,7 +345,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
*/
@HardwareServiceAction(name = "判断<试管N>是否存在", group = "片段")
public AppRet<Boolean> judgeTubeExist(Integer tubeIndex) throws HardwareException, InterruptedException {
moveTubeRackTo(getTExistJudgXPos() + tubeIndex * getTubeSpacing());
moveTubeRackTo(getTExistJudgXPos() + tubeIndex * getTubeSpacing(), TargetPosMeasureDirection.NEGATIVE, false);
return AppRet.success(isTubeExist());
}

Write Preview
Loading…
Cancel
Save