update

README.md

@@ -16,7 +16,13 @@
         
     
     舵机位置约定:
-        1.抓手夹紧位置为1800
+        抓手
+            1.夹紧位置为0
+            2.最大张开位置为300
+            3.垂直位置70
+        水平位置
+            初始位置为0
+        
         2.水平移动舵机初始化位置为200(处于设备最后端)
         
         

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

@@ -23,6 +23,8 @@ public enum A8kEcode {
 	ActionOvertime(17, "动作执行超时"),//
 	CodeException(18, "代码异常"),//
 	ShakeModGripperZMNotInZeroPos(19, "抓手升降电机没有在零位"),//
+	MNotInZeroPos(20, "电机没有在零点"),//
+	TubeXChannelIsNotEmpty(21, "试管架平移通道不为空"),//
 
 	//
 	//	FOR HARDWARE

src/main/java/a8k/a8k_can_protocol/RegIndex.java

@@ -149,7 +149,7 @@ public enum RegIndex {
 	kreg_mini_servo_limit_velocity(10251),  // 限制速度
 	kreg_mini_servo_limit_torque(10252),  // 限制扭矩
 	kreg_mini_servo_protective_torque(10253),  // 保护扭矩
-
+	kreg_mini_servo_is_move(10254),  // 是否在运动
 	/***********************************************************************************************************************
 	 *                                                   ID_CARD_READER                                                    *
 	 ***********************************************************************************************************************/
@@ -180,5 +180,4 @@ public enum RegIndex {
 	}
 
 
-
 }

src/main/java/a8k/appbean/HardwareException.java

@@ -29,6 +29,13 @@ public class HardwareException extends Exception {
 		this.cmdId     = cmd;
 	}
 
+	public HardwareException(A8kEcode ecode) {
+		super(String.format("Error code %s", ecode));
+		this.errorCode = ecode;
+		this.moduleId  = null;
+		this.cmdId     = null;
+	}
+
 	public MId getModuleId() {
 		return moduleId;
 	}

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

@@ -203,11 +203,11 @@ public class A8kCanBusService {
 	}
 
 	public void moduleSetReg(MId id, RegIndex regindex, int reg) throws HardwareException {
-		callcmd(id.toInt(), CmdId.module_set_reg.toInt(), regindex.ordinal(), reg);
+		callcmd(id.toInt(), CmdId.module_set_reg.toInt(), regindex.index, reg);
 	}
 
 	public int moduleGetReg(MId id, RegIndex regindex) throws HardwareException {
-		var packet = callcmd(id.toInt(), CmdId.module_get_reg.toInt(), regindex.ordinal());
+		var packet = callcmd(id.toInt(), CmdId.module_get_reg.toInt(), regindex.index);
 		return packet.getContentI32(0);
 	}
 
@@ -318,8 +318,8 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.step_motor_active_cfg.toInt());
 	}
 
-	public Boolean stepMotorReadIoState(MId id) throws HardwareException {
-		var packet = callcmd(id.toInt(), CmdId.step_motor_read_io_state.toInt());
+	public Boolean stepMotorReadIoState(MId id, int ioindex) throws HardwareException {
+		var packet = callcmd(id.toInt(), CmdId.step_motor_read_io_state.toInt(), ioindex);
 		return packet.getContentI32(0) != 0;
 	}
 
@@ -373,6 +373,21 @@ public class A8kCanBusService {
 		callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque);
 	}
 
+	public void miniServoWaitIsNotMove(MId id, int acitionOvertime) throws HardwareException, InterruptedException {
+		long startedAt = System.currentTimeMillis();
+		do {
+			var isMove = moduleGetReg(id, RegIndex.kreg_mini_servo_is_move);
+			if (isMove != 0) {
+				break;
+			}
+			long now = System.currentTimeMillis();
+			if (now - startedAt > acitionOvertime) {
+				throw new HardwareException(id, A8kEcode.Overtime);
+			}
+			Thread.sleep(100);
+		} while (true);
+	}
+
 	public Boolean getIOState(IOId ioid) throws HardwareException {
 		if (ioid.mtype == ModuleType.kboard) {
 			return callcmd(ioid.mid.toInt(), CmdId.extboard_read_inio.toInt(), ioid.ioIndex).getContentI32(0) != 0;
@@ -415,6 +430,11 @@ public class A8kCanBusService {
 
 	}
 
+	public void waitForMods(MId[] mids, Integer acitionOvertime) throws InterruptedException, HardwareException {
+		for (MId mid : mids) {
+			waitForMod(mid, acitionOvertime);
+		}
+	}
 
 	public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException {
 		long startedAt = System.currentTimeMillis();
@@ -503,7 +523,7 @@ public class A8kCanBusService {
 		// 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。
-		for (int i = 0; i < 3; i++) {
+		for (int i = 0; i < 5; i++) {
 			try {
 				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
 			} catch (HardwareException e) {
@@ -511,8 +531,9 @@ public class A8kCanBusService {
 					throw e;
 				}
 			}
+
 		}
-		return null;
+		throw new HardwareException(MId.valueOf(pack.getModuleId()), A8kEcode.Overtime);
 	}
 
 	public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {

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

@@ -8,6 +8,7 @@ import a8k.appbean.ecode.AppRet;
 import a8k.base_hardware.A8kCanBusService;
 import a8k.service.db.dao.SamplesPreProcessModuleCtrlParamsService;
 import a8k.service.hardware.CommonHardwareOpeartion;
+import a8k.service.hardware.SamplesPreProcessModuleCtrlService;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -30,7 +31,7 @@ public class DeviceInitializationCtrlService {
 	CommonHardwareOpeartion commonHardOpera;
 
 	@Resource
-	SamplesPreProcessModuleCtrlParamsService samplesPreProcessModuleCtrlParams;
+	SamplesPreProcessModuleCtrlService samplesPreProcessModuleCtrlService;
 
 
 	@PostMapping("/api/DeviceInitializationCtrlService/initializeDevice")
@@ -116,7 +117,7 @@ public class DeviceInitializationCtrlService {
 		if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
 			logger.warn("THChInterPPS or THChOuterPPS is trigger");
 			//			throw new HardwareException(MId.A8kIdCardReaderBoard, A8kEcode.PlateStuckDetectorSensorTrigger);
-			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
+			return AppRet.fail(A8kEcode.TubeXChannelIsNotEmpty);
 		}
 
 		//板夹仓盖子是否盖上
@@ -163,11 +164,13 @@ public class DeviceInitializationCtrlService {
 
 		//摇匀模组初始化
 
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 1800);
+
+
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 10);
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, actionOvertime);
-		canBus.miniServoMoveTo(MId.ShakeModGripperSV, 1800);
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, 10);
 		canBus.waitForMod(MId.ShakeModGripperSV, actionOvertime);
-		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, 200);
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, 10);
 		canBus.waitForMod(MId.ShakeModGripperYSV, actionOvertime);
 
 		canBus.stepMotorEasyMoveToZero(MId.ShakeModClampingM);
@@ -177,6 +180,8 @@ public class DeviceInitializationCtrlService {
 		canBus.stepMotorEasyMoveToZero(MId.ShakeModShakeM);
 		canBus.waitForMod(MId.ShakeModShakeM, actionOvertime);
 
+		canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM,90);
+
 		//canBus.miniServoMoveTo(MId.ShakeModTubeScanerRotateSV, 1800);
 
 		//板夹仓初始化

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

@@ -0,0 +1,34 @@
+package a8k.service.hardware;
+
+import a8k.appbean.HardwareException;
+import a8k.appbean.ecode.AppRet;
+
+public interface HardwareCtrlModule {
+	/**
+	 * 模块使能
+	 * @param enable 1:使能 0:禁用
+	 * @throws HardwareException 硬件异常
+	 */
+	public void modGroupEnable(Boolean enable) throws HardwareException, InterruptedException;
+
+	/**
+	 * 模块停止
+	 * @throws HardwareException 硬件异常
+	 */
+	public void modGroupStop() throws HardwareException;
+
+	/**
+	 * 电机归零
+	 * @throws HardwareException 硬件异常
+	 * @throws InterruptedException 打断异常
+	 */
+	public void modGroupMoveToZero() throws HardwareException, InterruptedException;
+
+	/**
+	 * 电机快速归零
+	 * @throws HardwareException 硬件异常
+	 * @throws InterruptedException 打断异常
+	 */
+	public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException;
+
+}

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

@@ -12,7 +12,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 @Component
-public class MotorTubeRackMoveCtrlService {
+public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 	/**
 	 *
 	 *	主要用来控制试管架的平移动作控制
@@ -40,45 +40,7 @@ public class MotorTubeRackMoveCtrlService {
 	private CommonHardwareOpeartion comHardwareOpear;
 
 	/*=========================================================================================
-	 * 											基础方法
-	 *========================================================================================*/
-
-	/**
-	 * 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
-	 */
-	public AppRet<Object> moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
-		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
-			return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
-		}
-		scanClampModRelease();
-
-		canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
-		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
-		return AppRet.success();
-	}
-
-	/**
-	 * 扫描夹紧机构夹紧
-	 */
-	public void scanClampModClamp() throws HardwareException, InterruptedException {
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeClampPos());
-		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
-	}
-
-	/**
-	 * 扫描夹紧机构复位
-	 */
-	public void scanClampModRelease() throws HardwareException, InterruptedException {
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
-		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
-	}
-
-
-	/*=========================================================================================
-	 * 											公共方法
+	 * 											Overrid
 	 *========================================================================================*/
 
 	/**
@@ -86,68 +48,95 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param enable 1:使能 0:禁用
 	 * @throws HardwareException 硬件异常
 	 */
-	public AppRet<Object> modGroupEnable(Boolean enable) throws HardwareException {
+	@Override
+	public void modGroupEnable(Boolean enable) throws HardwareException {
 		comHardwareOpear.enableAllMotor(enable);
-		return AppRet.success();
 	}
 
 	/**
 	 * 模块停止
 	 * @throws HardwareException 硬件异常
 	 */
+	@Override
 	public void modGroupStop() throws HardwareException {
 		comHardwareOpear.forceStopAllMOtor();
 	}
-
-	public AppRet<Object> modGroupMoveToZero() throws HardwareException, InterruptedException {
-		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM)) {
-			return AppRet.fail(A8kEcode.ShakeModGripperZMNotInZeroPos);
+	@Override
+	public void modGroupMoveToZero() throws HardwareException, InterruptedException {
+		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
+			throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
 		}
 		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
 
 		canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
 		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
-		return AppRet.success();
 	}
 
+	@Override
+	public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
+		moveTubeRackTo(0);
+		canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
+		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
+
+	}
+
+	/*=========================================================================================
+	 * 											基础方法
+	 *========================================================================================*/
+
 	/**
-	 * 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
+	 * 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
 	 */
-	public AppRet<Object> modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
-		var ret = moveTubeRackTo(0);
-		if (!ret.isSuccess()) {
-			return AppRet.fail(ret);
+	public void moveTubeRackTo(int pos) throws HardwareException, InterruptedException {
+		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
+			throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
 		}
+		scanClampModRelease();
 
-		moveTubeRackTo(0);
-		canBus.stepMotorEasyMoveToZero(MId.FeedingModXM);
+		canBus.stepMotorEasyMoveTo(MId.FeedingModXM, pos);
 		canBus.waitForMod(MId.FeedingModXM, paramDao.getActionOvertime());
+	}
 
-		return AppRet.success();
+	/**
+	 * 扫描夹紧机构夹紧
+	 */
+	public void scanClampModClamp() throws HardwareException, InterruptedException {
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeClampPos());
+		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
+	}
+
+	/**
+	 * 扫描夹紧机构复位
+	 */
+	public void scanClampModRelease() throws HardwareException, InterruptedException {
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, paramDao.getScanCodeReleasePos());
+		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, paramDao.getActionOvertime());
 	}
 
+
 	/**
 	 * 移动试管架到入口位置
 	 */
-	public AppRet<Object> tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
-		return moveTubeRackTo(paramDao.getTubeRackEnterPos());
+	public void tubeRackMoveToEnterPos() throws HardwareException, InterruptedException {
+		moveTubeRackTo(paramDao.getTubeRackEnterPos());
 	}
 
 	/**
 	 * 移动试管架到出口位置
 	 */
-	public AppRet<Object> moveTubeRackToExitPos() throws HardwareException, InterruptedException {
-		return moveTubeRackTo(paramDao.getTubeRackExitPos());
+	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
+		moveTubeRackTo(paramDao.getTubeRackExitPos());
 	}
 
 	/**
 	 * 移动试管架到试管架扫码位置
 	 */
-	public AppRet<Object> moveTubeRackToScanPos() throws HardwareException, InterruptedException {
-		return moveTubeRackTo(paramDao.getTubeRackScanCodePos());
+	public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
+		moveTubeRackTo(paramDao.getTubeRackScanCodePos());
 	}
 
 	/**
@@ -155,10 +144,8 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public AppRet<String> moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
 		String result;
-		var    ret = moveTubeRackToScanPos();
-		if (!ret.isSuccess()) {
-			return AppRet.fail(ret);
-		}
+		moveTubeRackToScanPos();
+
 		scanClampModClamp();
 		canBus.codeScanerStartScan(MId.FeedingModScannerMod);
 		result = canBus.codeScanerWaittingForResult(MId.FeedingModScannerMod, 1000);

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

@@ -40,8 +40,7 @@ public class ReactionPlatesTransmitCtrlService {
 		//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");
-			//			throw new HardwareException(MId.A8kIdCardReaderBoard, A8kEcode.PlateStuckDetectorSensorTrigger);
-			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
+			return AppRet.fail(A8kEcode.TubeXChannelIsNotEmpty);
 		}
 		//板夹仓卡板检测
 		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {