1

src/main/java/a8k/controller/MotorTubeRackMoveCtrlController.java

@@ -0,0 +1,52 @@
+package a8k.controller;
+import a8k.service.db.dao.MotorTubeRackMoveCtrlServiceParameterDao;
+import a8k.service.hardware.MotorTubeRackMoveCtrlService;
+import com.iflytop.uf.controller.UfApiControllerBase;
+import com.iflytop.uf.controller.UfApiResponse;
+import com.iflytop.uf.util.UfClassHelper;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.ResponseBody;
+import java.lang.reflect.InvocationTargetException;
+import java.util.List;
+import java.util.Map;
+@Controller
+public class MotorTubeRackMoveCtrlController extends UfApiControllerBase {
+	@Resource
+	private MotorTubeRackMoveCtrlService motorTubeRackMoveCtrlService;
+	@Resource
+	private MotorTubeRackMoveCtrlServiceParameterDao motorTubeRackMoveCtrlServiceParameterDao;
+
+	@PostMapping("/api/motor-tube-rack-move-ctrl/execute-service-method")
+	@ResponseBody
+	public UfApiResponse executeServiceMethod( @RequestBody Map<String,Object> params )
+	throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+		Object       service    = this.motorTubeRackMoveCtrlService;
+		String       methodName = (String)params.get("method");
+		List<Object> methodArgs = (List<Object>)params.get("params");
+		Object       result     = UfClassHelper.invokeMethod(service, methodName, methodArgs);
+		return this.success(result);
+	}
+
+	@PostMapping("/api/motor-tube-rack-move-ctrl/list-options")
+	@ResponseBody
+	public UfApiResponse listAllOptions() throws NoSuchMethodException {
+		var list = this.motorTubeRackMoveCtrlServiceParameterDao.listOptions();
+		return this.success(list);
+	}
+
+	@PostMapping("/api/motor-tube-rack-move-ctrl/update-options")
+	@ResponseBody
+	public UfApiResponse updateOptions(@RequestBody Map<String,Object> params ) throws Exception {
+		var options = (List<Map<String,Object>>)params.get("options");
+		for (Map<String,Object> item : options) {
+			var name = (String)item.get("name");
+			var option = this.motorTubeRackMoveCtrlServiceParameterDao.getOption(name);
+			option.setValue(item.get("value"));
+			option.save();
+		}
+		return this.success();
+	}
+}

src/main/java/a8k/service/db/dao/MotorTubeRackMoveCtrlServiceParameterDao.java

@@ -1,13 +1,92 @@
 package a8k.service.db.dao;
 
+import a8k.service.db.entity.HardwareServiceSetting;
 import a8k.service.db.entity.MotorTubeRackMoveCtrlServiceParameter;
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
+import java.util.Map;
+
 @Component
 public class MotorTubeRackMoveCtrlServiceParameterDao {
+	/**
+	 * 参数存放在HardwareServiceSetting中，
+	 * 每个参数，依赖于Key+serviceName进行索引
+	 */
+	public final String serviceName = "MotorTubeRackMoveCtrlServiceParameterDao";
+
+	public List<HardwareServiceSetting> listOptions() {
+		return UfActiveRecord.find(HardwareServiceSetting.class, Map.of("serviceName", this.serviceName));
+	}
+
+	public HardwareServiceSetting getOption(String optionName) {
+		return HardwareServiceSetting.getOption(this.serviceName, optionName);
+	}
+
+	// 回零超时时间
+	public int getMoveToZeroOvertime() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "MoveToZeroOvertime", 0);
+	}
+
+	// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间
+	public int getActionOvertime() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "ActionOvertime", 0);
+	}
+
+	//试管扫码位置
+	public int getTubeScanPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeScanPos", 0);
+	}
+
+	//高低试管判断位置
+	public Integer getTubeHeighJudgmentPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeHeighJudgmentPos", 0);
+	}
+
+	//试管预处理位置
+	public Integer getTubePreProcessPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubePreProcessPos", 0);
+	}
+
+	//入料位置
+	public Integer getTubeExistJudgmentPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeExistJudgmentPos", 0);
+	}
+
+	//出料位置
+	public Integer getTubeRackEnterPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeRackEnterPos", 0);
+	}
+
+	//出料位置
+	public Integer getTubeRackExitPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeRackExitPos", 0);
+	}
+
+	//试管架扫码位置
+	public Integer getTubeRackScanCodePos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeRackScanCodePos", 0);
+	}
+
+	//水平电机丢步判断
+	public Integer getHorizontalMotorLostStepThresholdVal() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "HorizontalMotorLostStepThresholdVal", 0);
+	}
+
+	//试管扫码夹紧位置
+	public Integer getScanCodeClampPos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "ScanCodeClampPos", 0);
+	}
+
+	//试管扫码释放位置
+	public Integer getScanCodeReleasePos() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "ScanCodeReleasePos", 0);
+	}
 
-	public MotorTubeRackMoveCtrlServiceParameter getParameter() {
-		//TODO:
-		return null;
+	//
+	public Integer getTubeSpacing() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "TubeSpacing", 0);
 	}
 }

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

@@ -51,16 +51,21 @@ public class MotorTubeRackMoveCtrlService {
 	//
 
 	public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM, 
+			CmdId.kstep_motor_easy_move_to_zero, 
+			new Integer[]{}, 
+			params.getMoveToZeroOvertime()
+		);
 	}
 
 
 	public void moveToZero() throws HardwareException, InterruptedException {
-		var params            = this.serviceParameterDao.getParameter();
+		var params            = this.serviceParameterDao;
 		var beforePosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
 		var beforePos         = beforePosResponse.getContentI32(0);
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
+		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.getMoveToZeroOvertime());
 		var afterPosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
 		var afterPos         = afterPosResponse.getContentI32(0);
 		var distance         = beforePos - afterPos;
@@ -68,7 +73,7 @@ public class MotorTubeRackMoveCtrlService {
 
 		var dval = a8kCanBusService.module_read_reg(ModId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
 
-		if (Math.abs(dval - distance) > params.horizontalMotorLostStepThresholdVal) {
+		if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal() ) {
 			throw new HardwareException(ModId.FeedingModXM, Errorcode.kstep_motor_lost_step);
 		}
 
@@ -91,24 +96,39 @@ public class MotorTubeRackMoveCtrlService {
 	 * 移动试管架到入口位置
 	 */
 	public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackEnterPos}, params.actionOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			new Integer[]{params.getTubeRackEnterPos()},
+			params.getActionOvertime()
+		);
 	}
 
 	/**
 	 * 移动试管架到出口位置
 	 */
 	public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeExistJudgmentPos}, params.actionOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			new Integer[]{params.getTubeExistJudgmentPos()},
+			params.getActionOvertime()
+		);
 	}
 
 	/**
 	 * 移动试管架到试管架扫码位置
 	 */
 	public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{params.tubeRackScanCodePos}, params.actionOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			new Integer[]{params.getTubeRackScanCodePos()},
+			params.getActionOvertime()
+		);
 	}
 
 	/**
@@ -135,10 +155,15 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeIndex
 	 */
 	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
-		var params   = this.serviceParameterDao.getParameter();
+		var params   = this.serviceParameterDao;
 		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var scanPos  = params.tubeScanPos + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{scanPos}, params.actionOvertime);
+		var scanPos  = params.getTubeScanPos() + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			new Integer[]{scanPos},
+			params.getActionOvertime()
+		);
 	}
 
 	/**
@@ -163,10 +188,10 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeIndex
 	 */
 	public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
-		var params    = this.serviceParameterDao.getParameter();
+		var params    = this.serviceParameterDao;
 		var tubeInfo  = this.tubeInfoDao.getTubeInfo(tubeType);
-		var detectPos = params.tubeHeighJudgmentPos + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.actionOvertime);
+		var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.getActionOvertime());
 	}
 
 	/**
@@ -175,10 +200,10 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeIndex
 	 */
 	public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
-		var params   = this.serviceParameterDao.getParameter();
+		var params   = this.serviceParameterDao;
 		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var pos      = params.tubePreProcessPos + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
+		var pos      = params.getTubePreProcessPos() + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.getActionOvertime());
 	}
 
 	//
@@ -191,10 +216,10 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param tubeIndex
 	 */
 	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
-		var params   = this.serviceParameterDao.getParameter();
+		var params   = this.serviceParameterDao;
 		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var pos      = params.tubeRackExitPos + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.actionOvertime);
+		var pos      = params.getTubeRackExitPos() + tubeIndex * tubeInfo.tubeSpacing;
+		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.getActionOvertime());
 	}
 
 	public boolean isTubeRackInEnterPos() throws HardwareException {
@@ -227,16 +252,26 @@ public class MotorTubeRackMoveCtrlService {
 	 * 扫描夹紧机构夹紧
 	 */
 	public void scanClampModuleCompress() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeClampPos}, params.actionOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.ShakeModTubeScanerClampingSV,
+			CmdId.kmini_servo_move_to,
+			new Integer[]{params.getScanCodeClampPos()},
+			params.getActionOvertime()
+		);
 	}
 
 	/**
 	 * 扫描夹紧机构复位
 	 */
 	public void scanClampModuleReset() throws HardwareException, InterruptedException {
-		var params = this.serviceParameterDao.getParameter();
-		this.a8kCanBusService.callblockcmd(ModId.ShakeModTubeScanerClampingSV, CmdId.kmini_servo_move_to, new Integer[]{params.scanCodeReleasePos}, params.actionOvertime);
+		var params = this.serviceParameterDao;
+		this.a8kCanBusService.callblockcmd(
+			ModId.ShakeModTubeScanerClampingSV,
+			CmdId.kmini_servo_move_to,
+			new Integer[]{params.getScanCodeReleasePos()},
+			params.getActionOvertime()
+		);
 	}