Merge remote-tracking branch 'origin/master'

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

src/main/java/com/iflytop/handacid/hardware/HardwareService.java

@@ -70,8 +70,9 @@ public class HardwareService {
 
             if (cmdHandlers.containsKey(cmd.getDevice())) {
                 log.trace("cmdHandlers: {}", cmd);
-                cmdHandlers.get(cmd.getDevice()).sendCommand(cmd);
+                Object result = cmdHandlers.get(cmd.getDevice()).sendCommand(cmd);
                 response.setSuccess(Boolean.TRUE);
+                response.setData(result);
             } else {
                 log.error("不支持的设备类型: {}", cmd.getDevice());
                 throw new InvalidParameterException(StrUtil.format("[Device]: {}", cmd.getDevice()));

src/main/java/com/iflytop/handacid/hardware/command/CommandHandler.java

@@ -22,7 +22,7 @@ public abstract class CommandHandler {
     /**
      * 发送指令
      */
-    public void sendCommand(DeviceCommand command) throws Exception
+    public Object sendCommand(DeviceCommand command) throws Exception
     {
         // 校验动作是否合法
         checkAction(command.getAction());
@@ -30,10 +30,10 @@ public abstract class CommandHandler {
         checkParams(command);
 
         // 处理指令
-        handleCommand(command);
+        return handleCommand(command);
     }
 
-    abstract protected void handleCommand(DeviceCommand command) throws Exception;
+    abstract protected Object handleCommand(DeviceCommand command) throws Exception;
 
     /**
      * 获取支持的设备

src/main/java/com/iflytop/handacid/hardware/command/DeviceResponse.java

@@ -8,5 +8,5 @@ public class DeviceResponse {
     Integer cmdId;
     Boolean success;
     String errorMsg;
-    JSONObject data;
+    Object data;
 }

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

@@ -4,6 +4,7 @@ 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.hardware.command.CommandHandler;
+import com.iflytop.handacid.hardware.drivers.BleGamepadDriver;
 import com.iflytop.handacid.hardware.drivers.OutputIOCtrlDriver;
 import com.iflytop.handacid.hardware.type.BleGamepadMid;
 import com.iflytop.handacid.hardware.type.IO.OutputIOMId;
@@ -12,6 +13,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.HashMap;
 import java.util.Map;
 import java.util.Set;
 import java.util.stream.Collectors;
@@ -22,12 +24,12 @@ import java.util.stream.Collectors;
 @Component
 @RequiredArgsConstructor
 public class BleGamepadHandler extends CommandHandler {
-    private final OutputIOCtrlDriver driver_;
-    private final Map<Device, BleGamepadMid>  supportCmdDeviceIOOutputMap = Map.ofEntries(
+    private final BleGamepadDriver driver_;
+    private final Map<Device, BleGamepadMid> supportCmdDeviceBletMap = Map.ofEntries(
             Map.entry(Device.BLE_GAMEPAD, BleGamepadMid.BleGamePad)
     );
 
-    private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()
+    private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceBletMap.entrySet().stream()
             .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
 
     private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE);
@@ -44,7 +46,25 @@ public class BleGamepadHandler extends CommandHandler {
     }
 
     @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
+    public Object handleCommand(DeviceCommand command) throws Exception {
         // 发送命令
+        Object result = null;
+        Device device = command.getDevice();
+        if (!supportCmdDeviceBletMap.containsKey(device)) {
+            throw new IllegalArgumentException("Device " + device + " not supported by BleGamepadHandler");
+        }
+        BleGamepadMid bleGamepadMid = supportCmdDeviceBletMap.get(device);
+
+        if (command.getAction() == Action.GET)
+        {
+            Double power = driver_.get_power_state(bleGamepadMid);
+            Boolean is_connected = driver_.is_connected(bleGamepadMid);
+            result = new HashMap<String, Object>()
+            {{
+                put("power", power);
+                put("is_connected", is_connected);
+            }};
+        }
+        return result;
     }
 }

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

@@ -11,6 +11,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.HashMap;
 import java.util.Map;
 import java.util.Set;
 import java.util.stream.Collectors;
@@ -46,14 +47,30 @@ public class IOCtrlHandler extends CommandHandler {
     }
 
     @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
+    public Object handleCommand(DeviceCommand command) throws Exception {
         // 发送命令
+        Object result = null;
+        Device device = command.getDevice();
+        if (!supportCmdDeviceIOOutputMap.containsKey(device)) {
+            throw new IllegalArgumentException("Device " + device + " not supported by IOCtrlHandler");
+        }
+        OutputIOMId outputIOMId = supportCmdDeviceIOOutputMap.get(device);
+
         if (command.getAction() == Action.OPEN) {
-            log.info("open {}", command.getDevice());
-            driver_.open(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+            log.info("open {}", device);
+            driver_.open(outputIOMId);
         } else if (command.getAction() == Action.CLOSE) {
-            log.info("close {}", command.getDevice());
-            driver_.close(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+            log.info("close {}", device);
+            driver_.close(outputIOMId);
+        }
+        else if (command.getAction() == Action.GET)
+        {
+            Boolean state = driver_.getIOState(outputIOMId);
+            result = new HashMap<String, Object>()
+            {{
+                put("state", state);
+            }};
         }
+        return result;
     }
 }

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

@@ -14,6 +14,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.HashMap;
 import java.util.Map;
 import java.util.Set;
 import java.util.stream.Collectors;
@@ -65,10 +66,12 @@ public class MotorHandler extends CommandHandler {
     }
 
     @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
+    public Object handleCommand(DeviceCommand command) throws Exception {
         // 发送命令
         StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice());
 
+        Object result = null;
+
         switch (command.getAction()) {
             case ENABLE -> {
                 log.info("Motor {} Enable", stepMotorMId.mid.getDescription());
@@ -120,7 +123,16 @@ public class MotorHandler extends CommandHandler {
             case MOVE_END -> {
                 driver_.moveToEnd(stepMotorMId);
             }
+            case GET -> {
+                log.info("Motor {} Get Position", stepMotorMId.mid.getDescription());
+                double position = driver_.getPosition(stepMotorMId);
+                result = new HashMap<String, Object>()
+                {{
+                    put("position", position);
+                }};
+            }
         }
+        return result;
     }
 }
 

src/main/java/com/iflytop/handacid/hardware/drivers/BleGamepadDriver.java

@@ -21,11 +21,12 @@ public class BleGamepadDriver {
     }
 
 
-    public Integer[] get_power_state(BleGamepadMid id) throws HardwareException {
+    public Double get_power_state(BleGamepadMid id) throws HardwareException {
         A8kPacket packet = canBus.callcmd(id.mid, CmdId.ble_gamepad_power_info);
-        Integer power = packet.getContentI32(0);
-        Integer charge_state = packet.getContentI32(1);
+        int power = packet.getContentI32(0);
+        int charge_state = packet.getContentI32(1);
         log.info("power: {}, charge_state: {}", power, charge_state);
-        return new Integer[]{power, charge_state};
+        Double powerPercent = (double) power;
+        return powerPercent;
     }
 }

src/main/java/com/iflytop/handacid/hardware/drivers/MotorWrapperDriver.java

@@ -34,6 +34,15 @@ public class MotorWrapperDriver {
         stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
     }
 
+    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ====
+    public Double getPosition(StepMotorMId stepMotorMId) throws HardwareException {
+        // 从单片机中获取位置
+        int motorPosition = stepMotorCtrlDriver_.stepMotorReadPos(stepMotorMId);
+        // 转换为实际位置
+        double position = (double) motorPosition;
+        return position;
+    }
+
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
     public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws HardwareException {
         Integer i_enable = enable ? 1 : 0;