Merge remote-tracking branch 'origin/master'

# Conflicts:
#	src/main/java/com/iflytop/handacid/hardware/drivers/BleGamepadDriver.java

src/main/java/com/iflytop/handacid/app/command/control/SolutionAddStartCommand.java

@@ -2,6 +2,7 @@ package com.iflytop.handacid.app.command.control;
 
 import com.iflytop.handacid.app.common.annotation.CommandMapping;
 import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.state.DeviceState;
 import com.iflytop.handacid.app.model.dto.CommandDTO;
 import com.iflytop.handacid.app.service.ChannelCtrlService;
 import lombok.RequiredArgsConstructor;
@@ -11,7 +12,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 开始加液(废弃)
+ * 开始加液
  */
 @Slf4j
 @Component
@@ -19,9 +20,11 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("solution_add_start")
 public class SolutionAddStartCommand extends BaseCommandHandler {
     private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+
         return runAsync(() -> {
             channelCtrlService.solutionAddStart();
         });

src/main/java/com/iflytop/handacid/app/command/control/SolutionAddStopCommand.java

@@ -32,9 +32,7 @@ public class SolutionAddStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
 
-        return runAsync(() -> {
-            channelCtrlService.solutionAddStop();
-        });
+        return runAsync(channelCtrlService::solutionAddStop);
     }
 }
 

src/main/java/com/iflytop/handacid/app/core/listener/BleGamepadEventListener.java

@@ -14,6 +14,7 @@ import org.springframework.stereotype.Component;
 
 /**
  * 蓝牙手柄按钮事件监听
+ *
  */
 
 @Component
@@ -55,10 +56,10 @@ public class BleGamepadEventListener {
                 }
             } else if (CmdId.event_ble_gamepad_connected.equals(cmdId)) {
                 log.info("蓝牙手柄 连接成功");
-                deviceState.setBluetoothConnected(true);
+                deviceState.getRemoteControlState().setConnected(true);
             } else if (CmdId.event_ble_gamepad_disconnected.equals(cmdId)) {
                 log.info("蓝牙手柄 连接断开");
-                deviceState.setBluetoothConnected(false);
+                deviceState.getRemoteControlState().setConnected(false);
             }
 
         }

src/main/java/com/iflytop/handacid/app/core/state/DeviceState.java

@@ -40,13 +40,16 @@ public class DeviceState {
     @Schema(description = "是否是急停状态，true为急停")
     private volatile boolean emergencyStop = false;
 
-    @Schema(description = "蓝牙是否连接")
-    private volatile boolean bluetoothConnected = false;
+    @Schema(description = "遥控器状态")
+    private volatile RemoteControlState remoteControlState;
 
     @Schema(description = "当前登录用户")
     private volatile User currentUser;
 
-    public JSONObject toJSON() {
+    /**
+     * 获得当前设备的json快照，增加synchronized保证强一致
+     */
+    public synchronized JSONObject toJSON() {
         JSONObject json = new JSONObject();
         json.putOnce("channelState", new ArrayList<>(channelStateMap.values()));
         json.putOnce("mode", mode);
@@ -54,7 +57,7 @@ public class DeviceState {
         json.putOnce("virtual", virtual);
         json.putOnce("initComplete", initComplete);
         json.putOnce("emergencyStop", emergencyStop);
-        json.putOnce("bluetoothConnected", bluetoothConnected);
+        json.putOnce("remoteControlState", remoteControlState);
         json.putOnce("currentUser", currentUser);
         return json;
     }

src/main/java/com/iflytop/handacid/app/core/state/RemoteControlState.java

@@ -0,0 +1,27 @@
+package com.iflytop.handacid.app.core.state;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import org.springframework.context.annotation.Scope;
+import org.springframework.stereotype.Component;
+
+@Schema(description = "遥控器状态")
+@Data
+@Component
+@Scope("prototype")
+@RequiredArgsConstructor
+@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
+public class RemoteControlState {
+
+    @Schema(description = "遥控器是否连接")
+    private volatile boolean connected = false;
+
+    @Schema(description = "当前电量（0-100%）")
+    private volatile int batteryLevel = 0;
+
+    @Schema(description = "是否正在充电")
+    private volatile boolean charging = false;
+
+}

src/main/java/com/iflytop/handacid/app/scheduled/BleGamepadStateScheduledTask.java

@@ -0,0 +1,39 @@
+package com.iflytop.handacid.app.scheduled;
+
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.hardware.drivers.BleGamepadDriver;
+import com.iflytop.handacid.hardware.type.BleGamepadMid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Service;
+
+/**
+ * 定时采集蓝牙的连接状态和电量
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class BleGamepadStateScheduledTask {
+    private final BleGamepadDriver bleGamepadDriver;
+    private final DeviceState deviceState;
+
+    @Scheduled(fixedRate = 30 * 1000)
+    public void fetchTrayState() {
+        try {
+
+            if (!deviceState.isVirtual()) {
+                boolean is_connect = bleGamepadDriver.is_connected(BleGamepadMid.BleGamePad);
+                deviceState.getRemoteControlState().setConnected(is_connect);
+                if (is_connect) {
+                    Integer[] power_state = bleGamepadDriver.get_power_state(BleGamepadMid.BleGamePad);
+                    deviceState.getRemoteControlState().setBatteryLevel(power_state[0]);
+                    deviceState.getRemoteControlState().setCharging(power_state[1] != 0);
+                }
+            }
+        } catch (Exception e) {
+            log.error("定时采集蓝牙的连接状态和电量错误", e);
+        }
+
+    }
+}

src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java

@@ -1,6 +1,5 @@
 package com.iflytop.handacid.app.service;
 
-import cn.hutool.json.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
 import com.iflytop.handacid.app.common.enums.ChannelStateCode;

src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java

@@ -8,6 +8,7 @@ import com.iflytop.handacid.app.core.command.DeviceCommand;
 import com.iflytop.handacid.app.core.command.DeviceCommandGenerator;
 import com.iflytop.handacid.app.core.state.ChannelState;
 import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.core.state.RemoteControlState;
 import com.iflytop.handacid.common.model.bo.DeviceInitializationData;
 import com.iflytop.handacid.common.model.entity.Channel;
 import com.iflytop.handacid.common.model.entity.DeviceParamConfig;
@@ -38,6 +39,7 @@ public class DeviceInitService {
     private boolean isLink = false;
     private final DeviceState deviceState;
     private final ObjectProvider<ChannelState> channelStateObjectProvider;
+    private final ObjectProvider<RemoteControlState> remoteControlStateObjectProvider;
     private final ChannelService channelService;
     private final DeviceCommandService deviceCommandService;
     private final DeviceParamConfigService deviceParamConfigService;
@@ -52,10 +54,9 @@ public class DeviceInitService {
         new Thread(() -> {
             try {
                 log.info("初始化开始");
-                initDeviceState();
                 initDeviceSetData();//初始化设备参数
                 initEnable();//使能
-                // initDeviceState();//初始化设备状态
+                initDeviceState();
                 log.info("初始化完毕");
             } catch (Exception e) {
                 throw new RuntimeException(e);
@@ -99,8 +100,8 @@ public class DeviceInitService {
             ChannelState channelState = channelStateObjectProvider.getObject(code, solution.getId(), solution.getName(), channel.getConcentration(), channel.getTargetVolume(), channel.getReceivedVolume(), channel.getCurrentVolume());
             deviceState.getChannelStateMap().put(code, channelState);
         }
-        SolutionAddMode mode = SolutionAddMode.valueOf(systemConfigService.getValueByKey(SystemConfigKey.SOLUTION_ADD_MODE));
-        deviceState.setMode(mode);
+        deviceState.setMode(SolutionAddMode.valueOf(systemConfigService.getValueByKey(SystemConfigKey.SOLUTION_ADD_MODE)));
+        deviceState.setRemoteControlState(remoteControlStateObjectProvider.getObject());
         log.info("初始化 initDeviceState完毕");
     }
 

src/main/java/com/iflytop/handacid/hardware/comm/can/A8kCanBusConnection.java

@@ -9,6 +9,7 @@ import com.iflytop.handacid.hardware.type.CmdId;
 import com.iflytop.handacid.hardware.type.MId;
 import com.iflytop.handacid.hardware.type.ModuleStatus;
 import com.iflytop.handacid.hardware.type.appevent.A8kCanBusOnConnectEvent;
+import com.iflytop.handacid.hardware.type.appevent.A8kHardwareReport;
 import com.iflytop.handacid.hardware.type.error.A8kEcode;
 import com.iflytop.handacid.hardware.type.error.AEHardwareError;
 import com.iflytop.handacid.hardware.utils.OS;
@@ -38,8 +39,8 @@ public class A8kCanBusConnection extends WebSocketClient {
     @Resource
     AppEventBusService eventBus;
 
-    String  datachurl = null;
-    String  cmdchurl  = null;
+    String datachurl = null;
+    String cmdchurl = null;
     Boolean firstCall = true;
 
     @Value("${device.enableCanBus}")
@@ -48,12 +49,12 @@ public class A8kCanBusConnection extends WebSocketClient {
 
     static class ProcessContext {
         BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<>(); //
-        A8kPacket                cmdPacket;
-        Map<MId, CmdId>          txcmdcache   = new HashMap<>();
+        A8kPacket cmdPacket;
+        Map<MId, CmdId> txcmdcache = new HashMap<>();
 
 
         public A8kPacket getReceipt(int overtime) {
-            long      end    = System.currentTimeMillis() + overtime;
+            long end = System.currentTimeMillis() + overtime;
             A8kPacket packet = null;
             while (System.currentTimeMillis() < end) {
                 try {
@@ -96,7 +97,7 @@ public class A8kCanBusConnection extends WebSocketClient {
 
 
         synchronized void storageTxLastCmd(A8kPacket pack) {
-            MId   mid   = MId.valueOf(pack.getModuleId());
+            MId mid = MId.valueOf(pack.getModuleId());
             CmdId cmdId = CmdId.valueOf(pack.getCmdId());
             if (cmdId != null && cmdId.isActionCmd())
                 txcmdcache.put(mid, cmdId);
@@ -108,8 +109,8 @@ public class A8kCanBusConnection extends WebSocketClient {
     }
 
 
-    ProcessContext context     = new ProcessContext();
-    int            packetIndex = 0;//发送包的packetIndex
+    ProcessContext context = new ProcessContext();
+    int packetIndex = 0;//发送包的packetIndex
 
 
     public A8kCanBusConnection(String cmdchurl, String datachurl) {
@@ -117,26 +118,30 @@ public class A8kCanBusConnection extends WebSocketClient {
         log.info("new A8kCanBusConnection: {} {}", cmdchurl, datachurl);
 
         this.datachurl = datachurl;
-        this.cmdchurl  = cmdchurl;
-        packetIndex    = 0;
+        this.cmdchurl = cmdchurl;
+        packetIndex = 0;
 
     }
 
-    @Override public void onOpen(ServerHandshake serverHandshake) {
+    @Override
+    public void onOpen(ServerHandshake serverHandshake) {
         log.info("a8k canbus connect sucess");
         eventBus.pushEvent(new A8kCanBusOnConnectEvent());
     }
 
-    @Override public void onMessage(String s) {
+    @Override
+    public void onMessage(String s) {
         log.trace("RX-RAW: {}", s);
         processCanRxMessage(s);
     }
 
-    @Override public void onClose(int i, String s, boolean b) {
+    @Override
+    public void onClose(int i, String s, boolean b) {
         log.warn("a8k canbus lost connection...");
     }
 
-    @Override public void onError(Exception e) {
+    @Override
+    public void onError(Exception e) {
         log.info("a8k can-websocket-channel on error");
     }
 
@@ -293,7 +298,7 @@ public class A8kCanBusConnection extends WebSocketClient {
     }
 
     /**
-     *	处理接收到的消息
+     * 处理接收到的消息
      */
     private void processCanRxMessage(String s) {
         byte[] rx = ByteArray.hexStringToBytes(s);
@@ -321,11 +326,11 @@ public class A8kCanBusConnection extends WebSocketClient {
 
 
         if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) {
-            log.trace("RX-ACK |RAW:{}| {}", s, packet);
+            log.debug("RX-ACK |RAW:{}| {}", s, packet);
             context.pushReceipt(packet);
         } else if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) {
-            log.trace("RX-REPORT |RAW:{}| {}", s, packet);
-//            eventBus.pushEvent(new A8kHardwareReport(packet));
+            log.debug("RX-REPORT |RAW:{}| {}", s, packet);
+            eventBus.pushEvent(new A8kHardwareReport(packet));
         } else {
             log.warn("RX-UNPROCESSABLE: |RAW:{}| {}", s, packet);
         }
@@ -342,9 +347,9 @@ public class A8kCanBusConnection extends WebSocketClient {
 
     public HttpResponse<String> callLocalCmd(String path) {
         // 创建一个HttpClient实例
-        HttpClient           httpClient  = HttpClient.newHttpClient();
-        HttpRequest          httpRequest = HttpRequest.newBuilder().uri(URI.create(String.format("%s/%s", cmdchurl, path))).build();
-        HttpResponse<String> ret         = null;
+        HttpClient httpClient = HttpClient.newHttpClient();
+        HttpRequest httpRequest = HttpRequest.newBuilder().uri(URI.create(String.format("%s/%s", cmdchurl, path))).build();
+        HttpResponse<String> ret = null;
         try {
             ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString());
         } catch (Exception e) {
@@ -355,9 +360,9 @@ public class A8kCanBusConnection extends WebSocketClient {
     }
 
     public static void main(String[] args) {
-        HttpClient           httpClient  = HttpClient.newHttpClient();
-        HttpRequest          httpRequest = HttpRequest.newBuilder().uri(URI.create("http://192.168.8.10:19004/zexcan/restart")).build();
-        HttpResponse<String> ret         = null;
+        HttpClient httpClient = HttpClient.newHttpClient();
+        HttpRequest httpRequest = HttpRequest.newBuilder().uri(URI.create("http://192.168.8.10:19004/zexcan/restart")).build();
+        HttpResponse<String> ret = null;
         try {
             ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString());
             log.info("ret: \t{}", ret.body());

src/main/java/com/iflytop/handacid/hardware/service/AppEventBusService.java

@@ -15,7 +15,6 @@ import java.util.concurrent.LinkedBlockingQueue;
 
 /**
  * 事件总线
- *
  */
 @Component
 public class AppEventBusService implements ApplicationListener<ContextRefreshedEvent> {
@@ -27,9 +26,9 @@ public class AppEventBusService implements ApplicationListener<ContextRefreshedE
     }
 
 
-    Thread                  eventProcessorThread;
+    Thread eventProcessorThread;
     BlockingQueue<AppEvent> eventQueue = new LinkedBlockingQueue<>();
-    List<AppEventListener>  listeners  = new ArrayList<>();
+    List<AppEventListener> listeners = new ArrayList<>();
 
     @PostConstruct
     public void init() {