fix some bug

src/main/java/a8k/a8k_can_protocol/A8kEcode.java

@@ -20,6 +20,8 @@ public enum A8kEcode {
 	PusherMInitPosError(14, "板夹仓推杆电机没有处于零点位置"),//
 	RecycleBinOverflow(15, "回收仓满"),//
 	MotorLostStep(16, "电机丢步"),//
+	ActionOvertime(17, "动作执行超时"),//
+
 
 	//
 	//	FOR HARDWARE
@@ -39,7 +41,6 @@ public enum A8kEcode {
 	CmdParamNumError(1114, "CmdParamNumError"),//
 	CheckcodeIsError(1115, "CheckcodeIsError"),//
 	IllegalOperation(1116, "IllegalOperation"),//
-	ActionOvertime(1117, "ActionOvertime"),//
 	ModuleOpeationBreakByUser(1202, "ModuleOpeationBreakByUser"),//
 	ModuleNotFindReg(1207, "ModuleNotFindReg"),//
 	XYMotorXFindZeroEdgeFail(1306, "XYMotorXFindZeroEdgeFail"),//

src/main/java/a8k/a8k_can_protocol/A8kPacket.java

@@ -1,6 +1,8 @@
 package a8k.a8k_can_protocol;
 
 import a8k.utils.ByteArray;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
 public class A8kPacket {
 	/**
@@ -18,6 +20,8 @@ public class A8kPacket {
 	 * kptv2_error_ack = 2,
 	 * kptv2_event = 3,
 	 */
+	public static final Logger logger = LoggerFactory.getLogger(A8kPacket.class);
+
 
 	byte[] raw;
 
@@ -63,6 +67,9 @@ public class A8kPacket {
 	}
 
 	public byte[] getCmdContent() {
+		if (raw.length < 8) {
+			return new byte[0];
+		}
 		byte[] cmdcontent = new byte[raw.length - 8];
 		System.arraycopy(raw, 8, cmdcontent, 0, raw.length - 8);
 		return cmdcontent;
@@ -82,21 +89,20 @@ public class A8kPacket {
 
 		CmdId cmdId = CmdId.valueOf(getCmdId());
 		assert cmdId != null;
-
 		if (packetType == PACKET_TYPE_CMD) {
 			if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) {
-				ret = String.format("[CMD  ] index:[%d] (%s %s :i32[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), formatInt32ATTACH(getCmdContent()));
+				ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
 			} else {
-				ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :bytes[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent()));
+				ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent()));
 			}
 		} else if (packetType == PACKET_TYPE_ACK) {
 			if (cmdId.receiptAttachType == CmdId.ATTACH_IS_INT32) {
-				ret = String.format("[ACK  ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
+				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, formatInt32ATTACH(getCmdContent()));
 			} else {
-				ret = String.format("[ACK  ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent()));
+				ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, ByteArray.toByteString(getCmdContent()));
 			}
 		} else if (packetType == PACKET_TYPE_ERROR_ACK) {
-			ret = String.format("[EACK ] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), A8kEcode.toString(getContentI32(0)));
+			ret = String.format("[EACK ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, A8kEcode.toString(getContentI32(0)));
 		} else if (packetType == PACKET_TYPE_EVENT) {
 			if (cmdId.cmdAttachType == CmdId.ATTACH_IS_INT32) {
 				ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId, MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
@@ -112,9 +118,11 @@ public class A8kPacket {
 	private String formatInt32ATTACH(byte[] attach) {
 		StringBuilder ret = new StringBuilder();
 		for (int i = 0; i < attach.length; i += 4) {
-			if (i + 4 >= attach.length)
+			if (i + 3 >= attach.length)
 				break;
-			ret.append(String.format("%d ", ByteArray.read32bit(attach, i)));
+			if (i != 0)
+				ret.append(",");
+			ret.append(String.format("%d", ByteArray.read32bit(attach, i)));
 		}
 		return ret.toString();
 	}

src/main/java/a8k/a8k_can_protocol/MId.java

@@ -68,53 +68,22 @@ public enum MId {
 	}
 
 	public static MId valueOf(int val) {
-		return switch (val) {
-			case 10 -> HbotBoard;
-			case 11 -> HbotM;
-			//
-			case 20 -> PlatesBoxBoard;
-			case 21 -> PlatesBoxYM;
-			case 22 -> PlatesBoxPusherM;
-			case 23 -> PlatesBoxScanner;
-			//
-			case 30 -> ShakeModBoard;
-			case 31 -> ShakeModClampingM;
-			case 32 -> ShakeModGripperZM;
-			case 33 -> ShakeModShakeM;
-			case 34 -> ShakeModGripperYM;
-			case 35 -> ShakeModGripperSV;
-			case 36 -> ShakeModTubeScanerClampingSV;
-			case 37 -> ShakeModTubeScanerRotateSV;
-			//
-			case 40 -> PlatesBoxTCMBoard;
-			case 41 -> PlatesBoxTCM;
-			case 42 -> WbTubeFanMod;
-			//
-			case 50 -> IncubatorTCMBoard;
-			case 51 -> IncubatorTCM;
-			//
-			case 60 -> FeedingModBoard;
-			case 61 -> FeedingModInfeedM;
-			case 62 -> FeedingModXM;
-			case 63 -> FeedingModOutfeedM;
-			case 64 -> FeedingModScannerMod;
-			//
-			case 70 -> IncubatorRotateBoard;
-			case 71 -> IncubatorRotateCtrlM;
-			//
-			case 80 -> PipetteModBoard;
-			case 81 -> PipetteModZM;
-			case 82 -> PipetteMod;
-			case 83 -> PipetteModCodeScanner;
-			//
-			case 90 -> OptModBoard;
-			case 91 -> OptModScannerM;
-			case 92 -> OptModPullM;
-			case 93 -> OptMod;
-			//
-			case 100 -> A8kIdCardReaderBoard;
-			case 101 -> A8kIdCardReader;
-			default -> NotSet;
-		};
+		MId[] values = MId.values();
+		for (MId e : values) {
+			if (e.toInt() == val)
+				return e;
+		}
+		return null;
 	}
+
+	public static String toString(int val) {
+		MId[] values = MId.values();
+		for (MId e : values) {
+			if (e.toInt() == val) {
+				return e.toString();
+			}
+		}
+		return "unkown(" + val + ")";
+	}
+
 }

src/main/java/a8k/base_hardware/A8kCanBusService.java

@@ -20,6 +20,8 @@ import java.net.URI;
 import java.net.URISyntaxException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.Timer;
 import java.util.TimerTask;
 import java.util.concurrent.BlockingQueue;
@@ -70,6 +72,9 @@ public class A8kCanBusService {
 	// websocket自动重连时间
 	Timer   autoConnectTimer = new Timer();//
 
+
+	Map<MId, CmdId> lastCmdMap = new HashMap<>();
+
 	@PostConstruct
 	public void init() throws URISyntaxException {
 
@@ -372,21 +377,26 @@ public class A8kCanBusService {
 
 	public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
 		long startedAt = System.currentTimeMillis();
+
+		CmdId action = lastCmdMap.get(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) {
 			}
 			long now = System.currentTimeMillis();
 			if (now - startedAt > acitionOvertime) {
-				throw new HardwareException(mid, A8kEcode.Overtime);
+				logger.error("{} waitting for action {} overtime", mid, action);
+				throw new HardwareException(mid, A8kEcode.ActionOvertime);
 			}
 
+
 			Thread.sleep(100);
 		} while (true);
 
@@ -455,9 +465,7 @@ public class A8kCanBusService {
 			try {
 				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
 			} catch (HardwareException e) {
-				if (e.getErrorCode() != A8kEcode.Overtime)
-					;
-				{
+				if (e.getErrorCode() != A8kEcode.Overtime) {
 					throw e;
 				}
 			}
@@ -502,8 +510,15 @@ public class A8kCanBusService {
 		String txpacket = pack.toByteString();
 
 		if (debugFlag && pack.getCmdId() != CmdId.module_get_status.toInt()) {
-			logger.info("Tx:|RAW:{}| {}", txpacket, pack);
+			String packstr = pack.toString();
+			logger.info("Tx:|RAW:{}| {}", txpacket, packstr);
 		}
+
+		if (pack.getCmdId() != CmdId.module_get_status.toInt()) {
+			lastCmdMap.put(MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()));
+		}
+
+
 		client.send(txpacket);
 		A8kPacket receipt;
 		try {

src/main/java/a8k/service/ctrl_service/DeviceInitializationCtrlService.java

@@ -1,6 +1,7 @@
 package a8k.service.ctrl_service;
 
 import a8k.a8k_can_protocol.A8kEcode;
+import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.IOId;
 import a8k.a8k_can_protocol.MId;
 import a8k.appbean.HardwareException;
@@ -33,6 +34,7 @@ public class DeviceInitializationCtrlService {
 
 	public AppEcode initializeDevice() {
 		logger.info("Initializing device ...");
+		boolean initSuc = false;
 		try {
 			/*
 			 *	复位思路
@@ -62,6 +64,8 @@ public class DeviceInitializationCtrlService {
 			}
 			//			清空耗材
 
+			initSuc = true;
+
 
 		} catch (HardwareException e) {
 			logger.error("HardwareException ", e);
@@ -70,12 +74,14 @@ public class DeviceInitializationCtrlService {
 			logger.error("InterruptedException", e);
 			throw new RuntimeException(e);
 		} finally {
-			try {
-				canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
-				canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
-				canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
-				commonHardOpera.forceStopAndDisableAllMOtor();
-			} catch (HardwareException | InterruptedException ignored) {
+			if (!initSuc) {
+				try {
+					canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+					canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
+					canBus.waitForMod(MId.ShakeModClampingM, actionOvertime);
+					commonHardOpera.forceStopAndDisableAllMOtor();
+				} catch (HardwareException | InterruptedException ignored) {
+				}
 			}
 		}
 
@@ -145,12 +151,12 @@ public class DeviceInitializationCtrlService {
 	private AppEcode moveMotorToZero() throws HardwareException, InterruptedException {
 
 		//进出料初始化
-//		canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM);
-//		canBus.waitForMod(MId.FeedingModInfeedM, actionOvertime);
+		//		canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM);
+		//		canBus.waitForMod(MId.FeedingModInfeedM, actionOvertime);
 		canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
 		canBus.waitForMod(MId.FeedingModXM, actionOvertime);
-//		canBus.stepMotorEasyMoveToZero(MId.FeedingModOutfeedM);
-//		canBus.waitForMod(MId.FeedingModOutfeedM, actionOvertime);
+		//		canBus.stepMotorEasyMoveToZero(MId.FeedingModOutfeedM);
+		//		canBus.waitForMod(MId.FeedingModOutfeedM, actionOvertime);
 
 		//摇匀模组初始化
 

src/main/java/a8k/utils/ByteArray.java

@@ -21,7 +21,7 @@ public class ByteArray {
 	}
 
 	public static int readU16bit(byte[] code, int index) {
-		if (index + 2 >= code.length)
+		if (index + 1 >= code.length)
 			return 0;
 		return (code[index + 1] & 255) << 8 | code[index] & 255;
 	}
@@ -32,14 +32,14 @@ public class ByteArray {
 	}
 
 	public static int readS16bit(byte[] code, int index) {
-		if (index + 2 >= code.length)
+		if (index + 1 >= code.length)
 			return 0;
 
 		return code[index + 1] << 8 | code[index] & 255;
 	}
 
 	public static int read32bit(byte[] code, int index) {
-		if (index + 4 >= code.length)
+		if (index + 3 >= code.length)
 			return 0;
 		return code[index + 3] << 24 | (code[index + 2] & 255) << 16 | (code[index + 1] & 255) << 8 | code[index] & 255;
 	}