Merge branch 'master' of http://47.92.195.73:8081/project_boditech_vidas_a8000_v3/a8k_app

src/main/java/a8k/A8kApplication.java

@@ -7,9 +7,6 @@ import org.springframework.web.bind.annotation.ControllerAdvice;
 import org.springframework.web.bind.annotation.ExceptionHandler;
 import org.springframework.web.bind.annotation.ResponseBody;
 
-import java.util.HashMap;
-import java.util.Map;
-
 @ControllerAdvice
 public class A8kApplication {
 

src/main/java/a8k/appbean/ecode/AppRet.java

@@ -7,7 +7,7 @@ import a8k.appbean.HardwareException;
 
 public class AppRet<T> {
 
-	boolean         suc;
+	boolean         success = false;
 	AppRetEcodeInfo ecode;
 	T               data;
 	long            timestamp;//接口请求时间
@@ -17,8 +17,8 @@ public class AppRet<T> {
 		this.timestamp = System.currentTimeMillis();
 	}
 
-	public boolean isSuc() {
-		return suc;
+	public boolean isSuccess() {
+		return success;
 	}
 
 	public long getTimestamp() {
@@ -40,8 +40,8 @@ public class AppRet<T> {
 
 	public static <T> AppRet<T> success(T data) {
 		AppRet<T> r = new AppRet<>();
-		r.suc   = true;
-		r.ecode = null;
+		r.success = true;
+		r.ecode   = null;
 		r.data  = data;
 		return r;
 	}
@@ -49,32 +49,32 @@ public class AppRet<T> {
 
 	public static <T> AppRet<T> success() {
 		AppRet<T> r = new AppRet<>();
-		r.suc   = true;
-		r.ecode = null;
+		r.success = true;
+		r.ecode   = null;
 		r.data  = null;
 		return r;
 	}
 
 	public static <T> AppRet<T> fail(A8kEcode errorCode, MId mid, CmdId cmd) {
 		AppRet<T> r = new AppRet<>();
-		r.suc   = false;
-		r.ecode = new AppRetEcodeInfo(errorCode, mid, cmd);
+		r.success = false;
+		r.ecode   = new AppRetEcodeInfo(errorCode, mid, cmd);
 		r.data  = null;
 		return r;
 	}
 
 	public static <T> AppRet<T> fail(A8kEcode errorCode, MId mid) {
 		AppRet<T> r = new AppRet<>();
-		r.suc   = false;
-		r.ecode = new AppRetEcodeInfo(errorCode, mid, null);
+		r.success = false;
+		r.ecode   = new AppRetEcodeInfo(errorCode, mid, null);
 		r.data  = null;
 		return r;
 	}
 
 	public static <T> AppRet<T> fail(A8kEcode errorCode) {
 		AppRet<T> r = new AppRet<>();
-		r.suc   = false;
-		r.ecode = new AppRetEcodeInfo(errorCode, null, null);
+		r.success = false;
+		r.ecode   = new AppRetEcodeInfo(errorCode, null, null);
 		r.data  = null;
 		return r;
 	}
@@ -88,13 +88,13 @@ public class AppRet<T> {
 		AppRet<T> r     = new AppRet<>();
 
 		if (e instanceof HardwareException hexcep) {
-			r.suc       = false;
-			r.ecode     = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
+			r.success = false;
+			r.ecode   = new AppRetEcodeInfo(hexcep.getErrorCode(), hexcep.getModuleId(), hexcep.getCmdId());
 			r.data      = null;
 			r.traceInfo = trace;
 		} else {
-			r.suc       = false;
-			r.ecode     = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);
+			r.success = false;
+			r.ecode   = new AppRetEcodeInfo(A8kEcode.CodeException, null, null);
 			r.data      = null;
 			r.traceInfo = trace;
 		}

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

@@ -161,6 +161,7 @@ public class A8kCanBusService {
 	public A8kPacket codeScanerReadScanerResult(MId id) throws HardwareException {
 		return callcmd(id.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
 	}
+
 	//
 	// module opeation
 	//
@@ -294,9 +295,9 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.step_motor_active_cfg.toInt());
 	}
 
-	public int stepMotorReadIoState(MId id) throws HardwareException {
+	public Boolean stepMotorReadIoState(MId id) throws HardwareException {
 		var packet = callcmd(id.toInt(), CmdId.step_motor_read_io_state.toInt());
-		return packet.getContentI32(0);
+		return packet.getContentI32(0) != 0;
 	}
 
 	public void stepMotorEasyMoveToEndPoint(MId id) throws HardwareException {

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

@@ -35,7 +35,7 @@ public class DeviceInitializationCtrlService {
 
 	@PostMapping("/api/DeviceInitializationCtrlService/initializeDevice")
 	@ResponseBody
-	public AppRet initializeDevice() throws HardwareException, InterruptedException {
+	public AppRet<Object> initializeDevice() throws HardwareException, InterruptedException {
 		logger.info("Initializing device ...");
 		boolean initSuc = false;
 		try {
@@ -47,25 +47,25 @@ public class DeviceInitializationCtrlService {
 			 * 		清空耗材
 			 */
 
-			AppRet ecode;
+			AppRet<Object> ecode;
 			//硬件光电初始化
 			logger.info("hardwareStaticInit");
 			ecode = hardwareStaticInit();
-			if (!ecode.isSuc()) {
+			if (!ecode.isSuccess()) {
 				return ecode;
 			}
 
 			//检查设备状态
 			logger.info("checkDeviceState");
 			ecode = checkDeviceState();
-			if (!ecode.isSuc()) {
+			if (!ecode.isSuccess()) {
 				return ecode;
 			}
 
 			//			复位设备
 			logger.info("moveMotorToZero");
 			ecode = moveMotorToZero();
-			if (!ecode.isSuc()) {
+			if (!ecode.isSuccess()) {
 				return ecode;
 			}
 			//			清空耗材
@@ -91,7 +91,7 @@ public class DeviceInitializationCtrlService {
 	}
 
 
-	private AppRet hardwareStaticInit() throws HardwareException, InterruptedException {
+	private AppRet<Object> hardwareStaticInit() throws HardwareException, InterruptedException {
 		/*
 		 * 		硬件初始化:
 		 * 			1.使能所有舵机
@@ -111,7 +111,7 @@ public class DeviceInitializationCtrlService {
 		return AppRet.success();
 	}
 
-	private AppRet checkDeviceState() throws HardwareException {
+	private AppRet<Object> 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");
@@ -151,7 +151,7 @@ public class DeviceInitializationCtrlService {
 		return AppRet.success();
 	}
 
-	private AppRet moveMotorToZero() throws HardwareException, InterruptedException {
+	private AppRet<Object> moveMotorToZero() throws HardwareException, InterruptedException {
 
 		//进出料初始化
 		//		canBus.stepMotorEasyMoveToZero(MId.FeedingModInfeedM);

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

@@ -1,6 +1,5 @@
 package a8k.service.hardware;
 
-import a8k.a8k_can_protocol.A8kEcode;
 import a8k.a8k_can_protocol.MId;
 import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;

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

@@ -2,6 +2,7 @@ package a8k.service.hardware;
 
 import a8k.a8k_can_protocol.*;
 import a8k.appbean.HardwareException;
+import a8k.appbean.ecode.AppRet;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.A8kTubeInfoDao;
 import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao;
@@ -40,25 +41,53 @@ public class MotorTubeRackMoveCtrlService {
 	@Resource
 	private CommonHardwareOpeartion comHardwareOpear;
 
-	public void setEnable(Boolean enable) throws HardwareException {
-		comHardwareOpear.enableAllMotor(enable);
-	}
+	/*=========================================================================================
+	 * 											私有方法
+	 *========================================================================================*/
 
-	public void stop() throws HardwareException {
-		comHardwareOpear.forceStopAllMOtor();
+	/**
+	 * 移动试管架到指定位置
+	 * @param pos 指定位置
+	 * @throws HardwareException 硬件异常
+	 * @throws InterruptedException 打断异常
+	 */
+	private void moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
+		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
+
+		canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
+		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
 	}
 
-	//
-	// 电机基础控制
-	//
+	/*=========================================================================================
+	 * 											公共方法
+	 *========================================================================================*/
 
+	/**
+	 * 模块使能
+	 * @param enable 1:使能 0:禁用
+	 * @throws HardwareException 硬件异常
+	 */
+	public AppRet modGroupEnable(Boolean enable) throws HardwareException {
+		comHardwareOpear.enableAllMotor(enable);
+		return AppRet.success();
+	}
 
 	/**
-	 * 电机归零，设备初始化时调用，特点是直接调用MoveToZero
+	 * 模块停止
 	 * @throws HardwareException 硬件异常
-	 * @throws InterruptedException 打断异常
 	 */
-	public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
+	public void modGroupStop() throws HardwareException {
+		comHardwareOpear.forceStopAllMOtor();
+	}
+
+	public void modGroupMoveToZero() throws HardwareException, InterruptedException {
+		Boolean state = canBus.stepMotorReadIoState(MId.ShakeModGripperZM);
+		if (!state) {
+			//			return AppRet;
+		}
+
+
 		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
 
@@ -66,6 +95,7 @@ public class MotorTubeRackMoveCtrlService {
 		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
 	}
 
+
 	/**
 	 * 电机归零，电机运行时归零，特点是通过归零判断设备是否丢步
 	 * @throws HardwareException
@@ -93,10 +123,7 @@ public class MotorTubeRackMoveCtrlService {
 		if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal()) {
 			throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
 		}
-
 	}
-
-
 	//
 	// 试管架移动
 	//
@@ -105,6 +132,10 @@ public class MotorTubeRackMoveCtrlService {
 	 * 移动试管架到入口位置
 	 */
 	public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
+		/*
+		 * 1. 先控制试管架夹紧机构复位，让开通道
+		 * 2. 移动到入口位置
+		 */
 		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
 
@@ -116,6 +147,9 @@ public class MotorTubeRackMoveCtrlService {
 	 * 移动试管架到出口位置
 	 */
 	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
+		/*
+		 * 1. 先控制试管架夹紧机构复位，让开通道
+		 */
 		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());