14 changed files with 226 additions and 153 deletions
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170src/main/java/com/iflytop/handacid/hardware/command/handlers/CeramicPumpHandler.java
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4src/main/java/com/iflytop/handacid/hardware/command/handlers/IOCtrlHandler.java
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8src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java
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62src/main/java/com/iflytop/handacid/hardware/service/BleGamepadService.java
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15src/main/java/com/iflytop/handacid/hardware/type/BleGamepadMid.java
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6src/main/java/com/iflytop/handacid/hardware/type/CmdId.java
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9src/main/java/com/iflytop/handacid/hardware/type/IO/OutputIOMId.java
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44src/main/java/com/iflytop/handacid/hardware/type/MId.java
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5src/main/java/com/iflytop/handacid/hardware/type/ModuleType.java
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2src/main/java/com/iflytop/handacid/hardware/type/Servo/MiniServoId.java
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2src/main/java/com/iflytop/handacid/hardware/type/Servo/MiniServoMId.java
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24src/main/java/com/iflytop/handacid/hardware/type/StepMotor/StepMotorMId.java
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4src/main/java/com/iflytop/handacid/hardware/type/TecHeaterRodMId.java
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24src/main/java/com/iflytop/handacid/hardware/type/appevent/A8kHardwareReport.java
@ -1,85 +1,85 @@ |
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package com.iflytop.handacid.hardware.command.handlers; |
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|
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import com.iflytop.handacid.app.core.command.DeviceCommand; |
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import com.iflytop.handacid.common.enums.Action; |
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import com.iflytop.handacid.common.enums.Device; |
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import com.iflytop.handacid.common.enums.MotorDirection; |
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import com.iflytop.handacid.hardware.command.CommandHandler; |
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import com.iflytop.handacid.hardware.drivers.CeramicPumpDriver; |
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import com.iflytop.handacid.hardware.type.CeramicPumpDriverSlaveId; |
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import com.iflytop.handacid.hardware.type.MId; |
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import com.iflytop.handacid.hardware.type.StepMotor.MotorDirect; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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|
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import java.util.Map; |
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import java.util.Set; |
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import java.util.stream.Collectors; |
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|
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import static java.lang.Math.abs; |
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|
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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public class CeramicPumpHandler extends CommandHandler { |
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private final CeramicPumpDriver driver_; |
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|
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private final Map<Device, CeramicPumpDriverSlaveId> stepMotorMIdMap_ = Map.ofEntries( |
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Map.entry(Device.PUMP_1, CeramicPumpDriverSlaveId.CERAMIC_PUMP1_ID), |
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Map.entry(Device.PUMP_2, CeramicPumpDriverSlaveId.CERAMIC_PUMP2_ID) |
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); |
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private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). |
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collect(Collectors.toMap(Map.Entry::getKey, entry -> MId.NotSet)); |
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|
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private final Set<Action> supportActions = Set.of( |
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Action.SET, Action.CLOSE_CLAMP, |
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Action.MOVE_BY, |
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Action.STOP); |
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|
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@Override |
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protected Map<Device, MId> getSupportCmdDeviceMIdMap() { |
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return supportCmdDeviceMIdMap; |
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} |
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|
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@Override |
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protected Set<Action> getSupportActions() { |
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return supportActions; |
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} |
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|
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public MotorDirect getMotorDirect(MotorDirection cmdDirection) |
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{ |
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return switch (cmdDirection) { |
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case FORWARD -> MotorDirect.FORWARD; |
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case BACKWARD -> MotorDirect.BACKWARD; |
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}; |
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} |
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|
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@Override |
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public void handleCommand(DeviceCommand command) throws Exception { |
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// 发送命令 |
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CeramicPumpDriverSlaveId slaveId = stepMotorMIdMap_.get(command.getDevice()); |
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|
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switch (command.getAction()) { |
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case MOVE_BY -> { |
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double distance = command.getParam().getPosition(); |
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log.info("Motor {} Move By Distance {}", slaveId, distance); |
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CeramicPumpDriver.Direction direction = distance < 0 ? |
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CeramicPumpDriver.Direction.BACKWARD : CeramicPumpDriver.Direction.FORWARD; |
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driver_.moveByBlock(slaveId, direction, abs((int)(distance))); |
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} |
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case STOP -> { |
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log.info("Motor {} Stop", slaveId); |
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driver_.stopBlock(slaveId); |
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} |
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case SET -> { |
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Double speed = command.getParam().getSpeed(); |
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if (speed != null) { |
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double d_speed = speed; |
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log.info("Motor {} Set Speed {}", slaveId, speed); |
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driver_.setSpeed(slaveId, (int)d_speed); |
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} |
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} |
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} |
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} |
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} |
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//package com.iflytop.handacid.hardware.command.handlers; |
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// |
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//import com.iflytop.handacid.app.core.command.DeviceCommand; |
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//import com.iflytop.handacid.common.enums.Action; |
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//import com.iflytop.handacid.common.enums.Device; |
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//import com.iflytop.handacid.common.enums.MotorDirection; |
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//import com.iflytop.handacid.hardware.command.CommandHandler; |
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//import com.iflytop.handacid.hardware.drivers.CeramicPumpDriver; |
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//import com.iflytop.handacid.hardware.type.CeramicPumpDriverSlaveId; |
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//import com.iflytop.handacid.hardware.type.MId; |
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//import com.iflytop.handacid.hardware.type.StepMotor.MotorDirect; |
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//import lombok.RequiredArgsConstructor; |
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//import lombok.extern.slf4j.Slf4j; |
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//import org.springframework.stereotype.Component; |
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// |
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//import java.util.Map; |
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//import java.util.Set; |
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//import java.util.stream.Collectors; |
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// |
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//import static java.lang.Math.abs; |
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// |
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//@Slf4j |
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//@Component |
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//@RequiredArgsConstructor |
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//public class CeramicPumpHandler extends CommandHandler { |
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// private final CeramicPumpDriver driver_; |
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// |
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// private final Map<Device, CeramicPumpDriverSlaveId> stepMotorMIdMap_ = Map.ofEntries( |
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// Map.entry(Device.PUMP_1, CeramicPumpDriverSlaveId.CERAMIC_PUMP1_ID), |
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// Map.entry(Device.PUMP_2, CeramicPumpDriverSlaveId.CERAMIC_PUMP2_ID) |
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// ); |
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// private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). |
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// collect(Collectors.toMap(Map.Entry::getKey, entry -> MId.NotSet)); |
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// |
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// private final Set<Action> supportActions = Set.of( |
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// Action.SET, Action.CLOSE_CLAMP, |
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// Action.MOVE_BY, |
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// Action.STOP); |
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// |
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// @Override |
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// protected Map<Device, MId> getSupportCmdDeviceMIdMap() { |
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// return supportCmdDeviceMIdMap; |
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// } |
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// |
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// @Override |
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// protected Set<Action> getSupportActions() { |
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// return supportActions; |
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// } |
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// |
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// public MotorDirect getMotorDirect(MotorDirection cmdDirection) |
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// { |
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// return switch (cmdDirection) { |
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// case FORWARD -> MotorDirect.FORWARD; |
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// case BACKWARD -> MotorDirect.BACKWARD; |
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// }; |
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// } |
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// |
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// @Override |
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// public void handleCommand(DeviceCommand command) throws Exception { |
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// // 发送命令 |
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// CeramicPumpDriverSlaveId slaveId = stepMotorMIdMap_.get(command.getDevice()); |
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// |
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// switch (command.getAction()) { |
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// case MOVE_BY -> { |
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// double distance = command.getParam().getPosition(); |
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// log.info("Motor {} Move By Distance {}", slaveId, distance); |
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// CeramicPumpDriver.Direction direction = distance < 0 ? |
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// CeramicPumpDriver.Direction.BACKWARD : CeramicPumpDriver.Direction.FORWARD; |
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// driver_.moveByBlock(slaveId, direction, abs((int)(distance))); |
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// } |
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// case STOP -> { |
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// log.info("Motor {} Stop", slaveId); |
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// driver_.stopBlock(slaveId); |
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// } |
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// case SET -> { |
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// Double speed = command.getParam().getSpeed(); |
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// if (speed != null) { |
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// double d_speed = speed; |
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// log.info("Motor {} Set Speed {}", slaveId, speed); |
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// driver_.setSpeed(slaveId, (int)d_speed); |
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// } |
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// } |
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// } |
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// } |
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//} |
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@ -0,0 +1,62 @@ |
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package com.iflytop.handacid.hardware.service; |
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|
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import com.iflytop.handacid.hardware.comm.can.A8kCanBusService; |
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import com.iflytop.handacid.hardware.type.A8kPacket; |
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import com.iflytop.handacid.hardware.type.CmdId; |
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import com.iflytop.handacid.hardware.type.appevent.A8kCanBusOnConnectEvent; |
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import com.iflytop.handacid.hardware.type.appevent.A8kHardwareReport; |
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import com.iflytop.handacid.hardware.type.appevent.AppEvent; |
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import jakarta.annotation.PostConstruct; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import jakarta.annotation.PostConstruct; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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|
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/** |
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* 蓝牙手柄服务管理 |
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* |
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*/ |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class BleGamepadService { |
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private final A8kCanBusService canBus; |
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private final AppEventBusService eventBus; |
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@PostConstruct |
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synchronized public void init() { |
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eventBus.regListener(this::onAppEvent); |
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} |
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/** |
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* 事件总线事件处理 |
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* @param event e |
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*/ |
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private void onAppEvent(AppEvent event) { |
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if (event instanceof A8kHardwareReport canPacket) { |
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A8kPacket packet = canPacket.getReportPacket(); |
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CmdId cmdId = CmdId.valueOf(packet.getCmdId()); |
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if (CmdId.event_ble_gamepad_liquid_acid.equals(cmdId)) { |
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log.info("蓝牙手柄 加酸按钮 按下"); |
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} else if (CmdId.event_ble_gamepad_liquid_acid_prefilling.equals(cmdId)) { |
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log.info("蓝牙手柄 预充按钮 按下"); |
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} |
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else if (CmdId.event_ble_gamepad_connected.equals(cmdId)) { |
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log.info("蓝牙手柄 连接成功"); |
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} |
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else if (CmdId.event_ble_gamepad_disconnected.equals(cmdId)) { |
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log.info("蓝牙手柄 连接断开"); |
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} |
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|
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} else if (event instanceof A8kCanBusOnConnectEvent canPacket) { |
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log.info("a8k canbus connect sucess"); |
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} |
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} |
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|
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} |
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|
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@ -0,0 +1,15 @@ |
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package com.iflytop.handacid.hardware.type; |
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|
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import org.springframework.util.Assert; |
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public enum BleGamepadMid { |
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BleGamePad(MId.BleGamePad), |
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; |
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final public MId mid; |
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BleGamepadMid(MId mid) { |
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Assert.isTrue(this.name().equals(mid.name()), "BleGamepadMid Init fail"); |
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this.mid = mid; |
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} |
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|
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} |
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@ -0,0 +1,24 @@ |
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package com.iflytop.handacid.hardware.type.appevent; |
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|
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import com.iflytop.handacid.hardware.type.A8kPacket; |
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import org.springframework.lang.NonNull; |
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|
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/** |
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* A8k底层硬件上报事件 |
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*/ |
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public class A8kHardwareReport extends AppEvent{ |
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A8kPacket reportPacket; |
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public A8kHardwareReport(@NonNull A8kPacket packet) { |
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super(A8kHardwareReport.class.getSimpleName()); |
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this.reportPacket = packet; |
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} |
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|
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public A8kPacket getReportPacket(){ |
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return reportPacket; |
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} |
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|
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public String toString(){ |
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return String.format("|Event A8kHardwareReport :%s|", reportPacket.toString()); |
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} |
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} |
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|
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