update

doc/TODO.md

@@ -32,4 +32,7 @@
 8. 设备启动任务之时检查一些光电标志位
 9. 解决取样品时，医生忘记打开TIP盖子导致的硬件错误
 10. java程序死掉后，后台电机自动停止工作
+11. BUG2
+    下发指令都是正确的，但单片机接收到数据后报错参数数量错误，通过对照单片机代码，和部分日志，初步分析最大的可能性是
+linux can 底层发送的包的dlc长度不对，导致单片机接收到的数据长度不对，从而导致参数数量错误。
 ```

src/main/java/a8k/app/a8ktype/error/AEHardwareError.java

@@ -7,13 +7,24 @@ import io.swagger.v3.oas.annotations.media.Schema;
 
 public class AEHardwareError extends AppError {
 	@Schema(description = "模块id(辅助调试，直接原始显示就行)")
-	public MId    mid;
+	public MId   mid;
 	@Schema(description = "命令id(辅助调试，直接原始显示就行)")
-	public CmdId  cmdId;
+	public CmdId cmdId;
+
+	public String rawtxcmd;
+	public String rawrxcmd;
+
+	public AEHardwareError(A8kEcode errorCode, MId mid, CmdId cmdId, String rawtxcmd, String rawrxcmd) {
+		super(errorCode);
+		this.mid      = mid;
+		this.cmdId    = cmdId;
+		this.rawtxcmd = rawtxcmd;
+		this.rawrxcmd = rawrxcmd;
+	}
 
 	public AEHardwareError(A8kEcode errorCode, MId mid, CmdId cmdId) {
 		super(errorCode);
-		this.mid       = mid;
-		this.cmdId     = cmdId;
+		this.mid   = mid;
+		this.cmdId = cmdId;
 	}
 }

src/main/java/a8k/app/a8ktype/param/hbotpos/HbotLittleBSPos.java

@@ -23,6 +23,9 @@ public enum HbotLittleBSPos {
 
 	ProbeSubstancePierceZPos("探测物质液刺破Z坐标", Integer.class),
 	ProbeSubstanceSampleZPos("探测物质取样Z坐标", Integer.class),
+
+
+
 	;
 	final public String   chName;
 	final public Class<?> type;

src/main/java/a8k/app/hardware/basedriver/A8kCanBusConnection.java

@@ -39,7 +39,7 @@ public class A8kCanBusConnection extends WebSocketClient {
 		Map<MId, CmdId>          txcmdcache          = new HashMap<>();
 
 
-		public A8kPacket getReceipt(int overtime)  {
+		public A8kPacket getReceipt(int overtime) {
 			long end = System.currentTimeMillis() + overtime;
 			while (System.currentTimeMillis() < end) {
 				int       left   = (int) (end - System.currentTimeMillis());
@@ -215,15 +215,19 @@ public class A8kCanBusConnection extends WebSocketClient {
 
 
 		A8kPacket receipt;
-			receipt = context.getReceipt(overtime);
+		receipt = context.getReceipt(overtime);
 		if (receipt == null) {
 			throw buildOvertimeError(pack);
 		}
 
 		if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
 			throw AppException.of(new AEHardwareError(A8kEcode.fromInt(receipt.getContentI32(0)),
-					MId.valueOf(pack.getModuleId()),
-					CmdId.valueOf(pack.getCmdId())));
+							MId.valueOf(pack.getModuleId()),
+							CmdId.valueOf(pack.getCmdId()),
+							txpacket,
+							receipt.toByteString()
+					)
+			);
 		}
 		OS.forceSleep(10);
 		return receipt;

src/main/java/a8k/app/hardware/driver/PipetteCtrlDriver.java

@@ -166,12 +166,14 @@ public class PipetteCtrlDriver {
 
 	public void pipetteAspirate(Double ul) throws AppException {
 		double nl = ul * 1000;
+		log.info("pipetteAspirate: {}", nl);
 		canBusService.callcmd(MId.PipetteMod, CmdId.pipette_aspirate, (int) nl);
 		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}
 
 	public void pipetteDistribu(Double ul) throws AppException {
 		double nl = ul * 1000;
+		log.info("pipetteDistribu: {}", nl);
 		canBusService.callcmd(MId.PipetteMod, CmdId.pipette_distribu, (int) nl);
 		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java

@@ -9,6 +9,7 @@ import a8k.app.service.statemgr.ProjectContextMgrService;
 import a8k.app.a8ktype.state.IncubationSubTank;
 import a8k.app.a8ktype.state.ProjectTaskContext;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
+import a8k.app.utils.ZList;
 import a8k.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
@@ -67,7 +68,8 @@ public class AC20ProcessCompletedPlate extends A8kActionTask {
 		try {
 			doEjectPlate(tank);
 		} catch (AppException e) {
-			logger.error("catch e,{}", e.getMessage(), e);
+			logger.error("处理已孵育完的反应板失败", e);
+			return ZList.of(e.getError());
 		}
 		toBeProcesstank = tank;
 

src/main/java/a8k/extui/page/test/driver/MotorCtrlPage.java

@@ -0,0 +1,84 @@
+package a8k.extui.page.test.driver;
+
+import a8k.app.a8ktype.exception.AppException;
+import a8k.app.hardware.driver.StepMotorCtrlDriver;
+import a8k.app.hardware.driver.type.StepMotorMId;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@Component
+public class MotorCtrlPage {
+	@Resource
+	StepMotorCtrlDriver stepMotorCtrlDriver;
+
+	@Resource
+	ExtApiPageMgr extApiPageMgr;
+
+	StepMotorMId id   = StepMotorMId.FeedingModXM;
+	Integer      dpos = 10;
+
+
+	public void setStepMotorId(StepMotorMId id) {
+		this.id = id;
+	}
+
+	public void setStepMotorDpos(Integer dpos) {
+		this.dpos = dpos;
+	}
+
+	//
+
+	public void enableMotor() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(id, 1);
+	}
+
+	public void disableMotor() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(id, 0);
+	}
+
+
+	public void stepMotorEasyMoveToZero() throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(id, 10000);
+	}
+
+	public void stepMotorEasyMoveForward() throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(id, dpos, 10000);
+	}
+
+	public void stepMotorEasyMoveBackward() throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(id, -dpos, 10000);
+	}
+
+	public void stepMotorEasyMoveTo(Integer pos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(id, pos, 10000);
+	}
+
+
+	@PostConstruct
+	void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("上下文");
+		page.addFunction("设置电机ID", this::setStepMotorId).setParamVal("id", () -> id);
+
+
+		page.newGroup("基础操作");
+		page.addFunction("使能电机", this::enableMotor);
+		page.addFunction("失能电机", this::disableMotor);
+		page.addFunction("快速归零", this::stepMotorEasyMoveToZero);
+
+		page.newGroup("相对移动");
+		page.addFunction("设置相对移动距离", this::setStepMotorDpos).setParamVal("dpos", () -> dpos);
+		page.addFunction("正向移动", this::stepMotorEasyMoveForward);
+		page.addFunction("反向移动", this::stepMotorEasyMoveBackward);
+
+		page.newGroup("绝对移动");
+		page.addFunction("绝对移动", this::stepMotorEasyMoveTo);
+
+		extApiPageMgr.addPage(page);
+
+
+	}
+}

src/main/java/a8k/extui/page/test/verification/P31ReactionPlatesTransmitPosVerificationPage.java

@@ -39,6 +39,7 @@ public class P31ReactionPlatesTransmitPosVerificationPage {
 
 	public void trunableMoveToPushPos(IncubatorPos index) throws AppException {
 		turnableMoveCtrlService.trunableMoveToPushPos(index);
+		plateBoxCtrlService.pushPlateQuick(ConsumableGroup.CG1, index);
 	}
 
 	public void trunableMoveToPullPos(IncubatorPos index) throws AppException {
@@ -89,11 +90,11 @@ public class P31ReactionPlatesTransmitPosVerificationPage {
 		page.addFunction("移动到滴液位置", this::trunableMoveToDropLiquidPos);
 
 		page.newGroup("反应板夹仓-脚本测试");
+		page.addFunction("推入&&推出(One)", this::pushOneAndRemove);
 		page.addFunction("推入&&推出(测试板夹仓位置)", this::pushAllAndRemoveAll);
 		page.addFunction("推入&&推出(测试孵育盘位置)", this::pushAllAndRemoveAll2);
 		extApiPageMgr.addPage(page);
 	}
 
 
-
 }