加酸仪 V2 硬件适配

src/main/java/com/iflytop/handacid/hardware/command/handlers/CeramicPumpHandler.java

@@ -1,85 +1,85 @@
-package com.iflytop.handacid.hardware.command.handlers;
-
-import com.iflytop.handacid.app.core.command.DeviceCommand;
-import com.iflytop.handacid.common.enums.Action;
-import com.iflytop.handacid.common.enums.Device;
-import com.iflytop.handacid.common.enums.MotorDirection;
-import com.iflytop.handacid.hardware.command.CommandHandler;
-import com.iflytop.handacid.hardware.drivers.CeramicPumpDriver;
-import com.iflytop.handacid.hardware.type.CeramicPumpDriverSlaveId;
-import com.iflytop.handacid.hardware.type.MId;
-import com.iflytop.handacid.hardware.type.StepMotor.MotorDirect;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.Set;
-import java.util.stream.Collectors;
-
-import static java.lang.Math.abs;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class CeramicPumpHandler extends CommandHandler {
-    private final CeramicPumpDriver driver_;
-
-    private final Map<Device, CeramicPumpDriverSlaveId> stepMotorMIdMap_ = Map.ofEntries(
-            Map.entry(Device.PUMP_1, CeramicPumpDriverSlaveId.CERAMIC_PUMP1_ID),
-            Map.entry(Device.PUMP_2, CeramicPumpDriverSlaveId.CERAMIC_PUMP2_ID)
-    );
-    private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
-            collect(Collectors.toMap(Map.Entry::getKey, entry -> MId.NotSet));
-
-    private final Set<Action> supportActions = Set.of(
-            Action.SET, Action.CLOSE_CLAMP,
-            Action.MOVE_BY,
-            Action.STOP);
-
-    @Override
-    protected Map<Device, MId> getSupportCmdDeviceMIdMap() {
-        return supportCmdDeviceMIdMap;
-    }
-
-    @Override
-    protected Set<Action> getSupportActions() {
-        return supportActions;
-    }
-
-    public MotorDirect getMotorDirect(MotorDirection cmdDirection)
-    {
-        return switch (cmdDirection) {
-            case FORWARD  -> MotorDirect.FORWARD;
-            case BACKWARD -> MotorDirect.BACKWARD;
-        };
-    }
-
-    @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
-        // 发送命令
-        CeramicPumpDriverSlaveId slaveId = stepMotorMIdMap_.get(command.getDevice());
-
-        switch (command.getAction()) {
-            case MOVE_BY -> {
-                double distance = command.getParam().getPosition();
-                log.info("Motor {} Move By Distance {}", slaveId, distance);
-                CeramicPumpDriver.Direction direction = distance < 0 ?
-                        CeramicPumpDriver.Direction.BACKWARD : CeramicPumpDriver.Direction.FORWARD;
-                driver_.moveByBlock(slaveId, direction, abs((int)(distance)));
-            }
-            case STOP -> {
-                log.info("Motor {} Stop", slaveId);
-                driver_.stopBlock(slaveId);
-            }
-            case SET -> {
-                Double speed = command.getParam().getSpeed();
-                if (speed != null) {
-                    double d_speed = speed;
-                    log.info("Motor {} Set Speed {}", slaveId, speed);
-                    driver_.setSpeed(slaveId, (int)d_speed);
-                }
-            }
-        }
-    }
-}
+//package com.iflytop.handacid.hardware.command.handlers;
+//
+//import com.iflytop.handacid.app.core.command.DeviceCommand;
+//import com.iflytop.handacid.common.enums.Action;
+//import com.iflytop.handacid.common.enums.Device;
+//import com.iflytop.handacid.common.enums.MotorDirection;
+//import com.iflytop.handacid.hardware.command.CommandHandler;
+//import com.iflytop.handacid.hardware.drivers.CeramicPumpDriver;
+//import com.iflytop.handacid.hardware.type.CeramicPumpDriverSlaveId;
+//import com.iflytop.handacid.hardware.type.MId;
+//import com.iflytop.handacid.hardware.type.StepMotor.MotorDirect;
+//import lombok.RequiredArgsConstructor;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//
+//import java.util.Map;
+//import java.util.Set;
+//import java.util.stream.Collectors;
+//
+//import static java.lang.Math.abs;
+//
+//@Slf4j
+//@Component
+//@RequiredArgsConstructor
+//public class CeramicPumpHandler extends CommandHandler {
+//    private final CeramicPumpDriver driver_;
+//
+//    private final Map<Device, CeramicPumpDriverSlaveId> stepMotorMIdMap_ = Map.ofEntries(
+//            Map.entry(Device.PUMP_1, CeramicPumpDriverSlaveId.CERAMIC_PUMP1_ID),
+//            Map.entry(Device.PUMP_2, CeramicPumpDriverSlaveId.CERAMIC_PUMP2_ID)
+//    );
+//    private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
+//            collect(Collectors.toMap(Map.Entry::getKey, entry -> MId.NotSet));
+//
+//    private final Set<Action> supportActions = Set.of(
+//            Action.SET, Action.CLOSE_CLAMP,
+//            Action.MOVE_BY,
+//            Action.STOP);
+//
+//    @Override
+//    protected Map<Device, MId> getSupportCmdDeviceMIdMap() {
+//        return supportCmdDeviceMIdMap;
+//    }
+//
+//    @Override
+//    protected Set<Action> getSupportActions() {
+//        return supportActions;
+//    }
+//
+//    public MotorDirect getMotorDirect(MotorDirection cmdDirection)
+//    {
+//        return switch (cmdDirection) {
+//            case FORWARD  -> MotorDirect.FORWARD;
+//            case BACKWARD -> MotorDirect.BACKWARD;
+//        };
+//    }
+//
+//    @Override
+//    public void handleCommand(DeviceCommand command) throws Exception {
+//        // 发送命令
+//        CeramicPumpDriverSlaveId slaveId = stepMotorMIdMap_.get(command.getDevice());
+//
+//        switch (command.getAction()) {
+//            case MOVE_BY -> {
+//                double distance = command.getParam().getPosition();
+//                log.info("Motor {} Move By Distance {}", slaveId, distance);
+//                CeramicPumpDriver.Direction direction = distance < 0 ?
+//                        CeramicPumpDriver.Direction.BACKWARD : CeramicPumpDriver.Direction.FORWARD;
+//                driver_.moveByBlock(slaveId, direction, abs((int)(distance)));
+//            }
+//            case STOP -> {
+//                log.info("Motor {} Stop", slaveId);
+//                driver_.stopBlock(slaveId);
+//            }
+//            case SET -> {
+//                Double speed = command.getParam().getSpeed();
+//                if (speed != null) {
+//                    double d_speed = speed;
+//                    log.info("Motor {} Set Speed {}", slaveId, speed);
+//                    driver_.setSpeed(slaveId, (int)d_speed);
+//                }
+//            }
+//        }
+//    }
+//}

src/main/java/com/iflytop/handacid/hardware/command/handlers/IOCtrlHandler.java

@@ -23,6 +23,10 @@ import java.util.stream.Collectors;
 public class IOCtrlHandler extends CommandHandler {
     private final OutputIOCtrlDriver driver_;
     private final Map<Device, OutputIOMId>  supportCmdDeviceIOOutputMap = Map.ofEntries(
+            Map.entry(Device.VALVE_1, OutputIOMId.DO_VALVE1),
+            Map.entry(Device.VALVE_2, OutputIOMId.DO_VALVE2),
+            Map.entry(Device.VALVE_3, OutputIOMId.DO_VALVE3),
+            Map.entry(Device.VALVE_4, OutputIOMId.DO_VALVE4)
     );
 
     private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()

src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java

@@ -25,10 +25,10 @@ public class MotorHandler extends CommandHandler {
     private final MotorWrapperDriver driver_;
 
     private final Map<Device, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
-            Map.entry(Device.PUMP_1, StepMotorMId.BrushlessPump1M),
-            Map.entry(Device.PUMP_2, StepMotorMId.BrushlessPump2M),
-            Map.entry(Device.PUMP_3, StepMotorMId.BrushlessPump3M),
-            Map.entry(Device.PUMP_4, StepMotorMId.BrushlessPump4M)
+            Map.entry(Device.PUMP_1, StepMotorMId.HandAcid1M),
+            Map.entry(Device.PUMP_2, StepMotorMId.HandAcid2M),
+            Map.entry(Device.PUMP_3, StepMotorMId.HandAcid3M),
+            Map.entry(Device.PUMP_4, StepMotorMId.HandAcid4M)
     );
     private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

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

@@ -0,0 +1,62 @@
+package com.iflytop.handacid.hardware.service;
+
+import com.iflytop.handacid.hardware.comm.can.A8kCanBusService;
+import com.iflytop.handacid.hardware.type.A8kPacket;
+import com.iflytop.handacid.hardware.type.CmdId;
+import com.iflytop.handacid.hardware.type.appevent.A8kCanBusOnConnectEvent;
+import com.iflytop.handacid.hardware.type.appevent.A8kHardwareReport;
+import com.iflytop.handacid.hardware.type.appevent.AppEvent;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 蓝牙手柄服务管理
+ *
+ */
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class BleGamepadService {
+    private final A8kCanBusService canBus;
+    private final AppEventBusService eventBus;
+
+    @PostConstruct
+    synchronized public void init() {
+        eventBus.regListener(this::onAppEvent);
+    }
+
+
+    /**
+     * 事件总线事件处理
+     * @param event e
+     */
+    private void onAppEvent(AppEvent event) {
+        if (event instanceof A8kHardwareReport canPacket) {
+            A8kPacket packet = canPacket.getReportPacket();
+            CmdId cmdId  = CmdId.valueOf(packet.getCmdId());
+            if (CmdId.event_ble_gamepad_liquid_acid.equals(cmdId)) {
+                log.info("蓝牙手柄 加酸按钮 按下");
+            } else if (CmdId.event_ble_gamepad_liquid_acid_prefilling.equals(cmdId)) {
+                log.info("蓝牙手柄 预充按钮 按下");
+            }
+            else if (CmdId.event_ble_gamepad_connected.equals(cmdId)) {
+                log.info("蓝牙手柄 连接成功");
+            }
+            else if (CmdId.event_ble_gamepad_disconnected.equals(cmdId)) {
+                log.info("蓝牙手柄 连接断开");
+            }
+
+        } else if (event instanceof A8kCanBusOnConnectEvent canPacket) {
+            log.info("a8k canbus connect sucess");
+        }
+    }
+
+}
+

src/main/java/com/iflytop/handacid/hardware/type/BleGamepadMid.java

@@ -0,0 +1,15 @@
+package com.iflytop.handacid.hardware.type;
+
+import org.springframework.util.Assert;
+public enum BleGamepadMid {
+    BleGamePad(MId.BleGamePad),
+    ;
+
+    final public MId mid;
+
+    BleGamepadMid(MId mid) {
+        Assert.isTrue(this.name().equals(mid.name()), "BleGamepadMid Init fail");
+        this.mid = mid;
+    }
+
+}

src/main/java/com/iflytop/handacid/hardware/type/CmdId.java

@@ -117,6 +117,12 @@ public enum CmdId {
     tec103_heater_set_target_temperature(0x5803, "TEC103_HEATER_SET_TARGET_TEMPERATURE"),
     tec103_heater_read_temperature(0x5804, "TEC103_HEATER_READ_TEMPERATURE"),
     tec103_heater_factory_reset(0x5805, "TEC103_HEATER_FACTORY_RESET"),
+
+    event_ble_gamepad_liquid_acid(0x5901, "EVENT_BLE_GAMEPAD_LIQUID_ACID"),
+    event_ble_gamepad_liquid_acid_prefilling(0x5902, "EVENT_BLE_GAMEPAD_LIQUID_ACID_PREFILLING"),
+    event_ble_gamepad_connected(0x5903, "EVENT_BLE_GAMEPAD_CONNECTED"),
+    event_ble_gamepad_disconnected(0x5904, "EVENT_BLE_GAMEPAD_DISCONNECTED"),
+    ble_gamepad_is_connected(0x5905, "BLE_GAMEPAD_IS_CONNECTED"),
     ;
 
     public final static int    ATTACH_IS_BYTES = 1;

src/main/java/com/iflytop/handacid/hardware/type/IO/OutputIOMId.java

@@ -4,11 +4,10 @@ import com.iflytop.handacid.hardware.type.MId;
 
 
 public enum OutputIOMId {
-	DO_FAN1("FAN1", MId.IO1_IO, 0, false),
-	DO_FAN2("FAN2", MId.IO1_IO, 1, false),
-	DO_FAN3("FAN3", MId.IO1_IO, 2, false),
-	DO_FAN4("FAN4", MId.IO1_IO, 3, false),
-	SYSTEM_POWER("SYSTEM_POWER", MId.IO1_IO, 4, false),
+	DO_VALVE1("电磁阀1", MId.IO1_IO, 0, false),
+	DO_VALVE2("电磁阀2", MId.IO1_IO, 1, false),
+	DO_VALVE3("电磁阀3", MId.IO1_IO, 2, false),
+	DO_VALVE4("电磁阀4", MId.IO1_IO, 3, false),
 	;
 
 	final public String description;

src/main/java/com/iflytop/handacid/hardware/type/MId.java

@@ -7,41 +7,15 @@ public enum MId {
     NotSet(0, "未设置"),
     IO1Board(5, "台面 IO 板模块"),
     IO1_IO(6, "台面 IO 板模块"),
-    IO1_TriColorLight(7, "三色灯"),
-    IO1_ADC(9, "台面 ADC 板模块"),
-
-    RobotArmBoard(40, "机械臂控制板"),
-    DualRobot1M(41, "机械臂X轴电机"),
-    DualRobot2M(42, "机械臂Y轴电机"),
-    RobotArmZM(43, "机械臂Z轴电机"),
-    RobotArmClawSV(44, "机械臂夹爪伺服"),
-
-    BrushlessPumpBoard(50, "无刷泵控制板"),
-    BrushlessPump1M(51, "无刷泵1号电机"),
-    BrushlessPump2M(52, "无刷泵2号电机"),
-    BrushlessPump3M(53, "无刷泵3号电机"),
-    BrushlessPump4M(54, "无刷泵4号电机"),
-    BrushlessPump5M(55, "无刷泵5号电机"),
-    BrushlessPump6M(56, "无刷泵6号电机"),
-    BrushlessPump7M(57, "无刷泵7号电机"),
-    BrushlessPump8M(58, "无刷泵8号电机"),
-    BrushlessPump9M(59, "无刷泵9号电机"),
-    BrushlessPump10M(60, "无刷泵10号电机"),
-
-
-    StepPumpBoard(65, "步进泵控制板"),
-    StepPump1M(66, "步进泵1号"),
-    StepPump2M(67, "步进泵2号"),
-    StepPump3M(68, "步进泵3号"),
-
-
-    TitratorBoard(75, "滴定仪控制板"),
-    TitratorStir1M(76, "滴定仪搅拌1泵"),
-    TitratorStir2M(77, "滴定仪搅拌2泵"),
-    Titrator1M(78, "滴定仪1泵"),
-    Titrator2M(79, "滴定仪2泵"),
-    HeaterRod1(80, "加热棒1"),
-    HeaterRod2(81, "加热棒2"),
+//	IO1_TriColorLight(7, "三色灯"),
+//	IO1_ADC(9, "台面 ADC 板模块"),
+
+    HandAcidBoard(40, "加酸控制模块"),
+    HandAcid1M(41, "加酸泵1"),
+    HandAcid2M(42, "加酸泵2"),
+    HandAcid3M(43, "加酸泵3"),
+    HandAcid4M(44, "加酸泵4"),
+    BleGamePad(45, "蓝牙手柄模块"),
     ;
 
     final public String description;

src/main/java/com/iflytop/handacid/hardware/type/ModuleType.java

@@ -12,6 +12,11 @@ public enum ModuleType {
 	ADC(103),    // ADC扩展
 	LeiSaiServo(104),  // 雷赛伺服
 	LiquidDistributionArm(105), // 液体分配机械臂控制
+	ChimeBuzzer(106), // 和弦蜂鸣器
+	LiquidValve(107), // 加液四通阀
+	Tec103Heater(108), // TEC 103加热头
+	BleGamePad(109), // 蓝牙游戏手柄
+	CodeScanner(201), // 条形码扫描器
 
 	UNKNOWN(999); // 未知类型
 	public final int code;

src/main/java/com/iflytop/handacid/hardware/type/Servo/MiniServoId.java

@@ -1,7 +1,7 @@
 package com.iflytop.handacid.hardware.type.Servo;
 
 public enum MiniServoId {
-    claw(MiniServoMId.RobotArmClawSV, "夹爪"),
+//    claw(MiniServoMId.RobotArmClawSV, "夹爪"),
     ;
 
     private MiniServoMId servoMId;

src/main/java/com/iflytop/handacid/hardware/type/Servo/MiniServoMId.java

@@ -4,7 +4,7 @@ import com.iflytop.handacid.hardware.type.MId;
 
 public enum MiniServoMId {
 	NotSet(MId.NotSet),//
-	RobotArmClawSV(MId.RobotArmClawSV),
+//	RobotArmClawSV(MId.RobotArmClawSV),
 	;
 
 	final public MId mid;

src/main/java/com/iflytop/handacid/hardware/type/StepMotor/StepMotorMId.java

@@ -3,26 +3,10 @@ package com.iflytop.handacid.hardware.type.StepMotor;
 import com.iflytop.handacid.hardware.type.MId;
 
 public enum StepMotorMId {
-	DualRobot1M(MId.DualRobot1M),
-	DualRobot2M(MId.DualRobot2M),
-	RobotArmZM(MId.RobotArmZM),
-	BrushlessPump1M(MId.BrushlessPump1M),
-	BrushlessPump2M(MId.BrushlessPump2M),
-	BrushlessPump3M(MId.BrushlessPump3M),
-	BrushlessPump4M(MId.BrushlessPump4M),
-	BrushlessPump5M(MId.BrushlessPump5M),
-	BrushlessPump6M(MId.BrushlessPump6M),
-	BrushlessPump7M(MId.BrushlessPump7M),
-	BrushlessPump8M(MId.BrushlessPump8M),
-	BrushlessPump9M(MId.BrushlessPump9M),
-	BrushlessPump10M(MId.BrushlessPump10M),
-	StepPump1M(MId.StepPump1M),
-	StepPump2M(MId.StepPump2M),
-	StepPump3M(MId.StepPump3M),
-	TitratorStir1M(MId.TitratorStir1M),
-	TitratorStir2M(MId.TitratorStir2M),
-	Titrator1M(MId.Titrator1M),
-	Titrator2M(MId.Titrator2M)
+	HandAcid1M(MId.HandAcid1M),
+	HandAcid2M(MId.HandAcid2M),
+	HandAcid3M(MId.HandAcid3M),
+	HandAcid4M(MId.HandAcid4M),
 	;
 	final public MId mid;
 

src/main/java/com/iflytop/handacid/hardware/type/TecHeaterRodMId.java

@@ -3,8 +3,8 @@ package com.iflytop.handacid.hardware.type;
 import org.springframework.util.Assert;
 
 public enum TecHeaterRodMId {
-    HeaterRod1(MId.HeaterRod1),
-    HeaterRod2(MId.HeaterRod2),
+//    HeaterRod1(MId.HeaterRod1),
+//    HeaterRod2(MId.HeaterRod2),
     ;
 
     final public MId mid;

src/main/java/com/iflytop/handacid/hardware/type/appevent/A8kHardwareReport.java

@@ -0,0 +1,24 @@
+package com.iflytop.handacid.hardware.type.appevent;
+
+import com.iflytop.handacid.hardware.type.A8kPacket;
+import org.springframework.lang.NonNull;
+
+/**
+ *	A8k底层硬件上报事件
+ */
+public class A8kHardwareReport extends AppEvent{
+    A8kPacket reportPacket;
+    public A8kHardwareReport(@NonNull A8kPacket packet) {
+        super(A8kHardwareReport.class.getSimpleName());
+        this.reportPacket = packet;
+    }
+
+    public A8kPacket getReportPacket(){
+        return reportPacket;
+    }
+
+    public String toString(){
+        return String.format("|Event A8kHardwareReport :%s|", reportPacket.toString());
+    }
+}
+