ADD 硬件指令

src/main/java/com/iflytop/colortitration/common/enums/Action.java

@@ -19,6 +19,7 @@ public enum Action {
     CLOSE_CLAMP("关闭抱闸"),
     ENABLE("使能"),
     DISABLE("失能"),
+    MOVE_END("移动到末端点"),
     ;
 
     /**

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

@@ -0,0 +1,85 @@
+package com.iflytop.colortitration.hardware.command.handlers;
+
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.common.enums.Action;
+import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.enums.MotorDirection;
+import com.iflytop.colortitration.hardware.command.CommandHandler;
+import com.iflytop.colortitration.hardware.drivers.CeramicPumpDriver;
+import com.iflytop.colortitration.hardware.type.CeramicPumpDriverSlaveId;
+import com.iflytop.colortitration.hardware.type.MId;
+import com.iflytop.colortitration.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.CERAMIC_PUMP_1, CeramicPumpDriverSlaveId.CERAMIC_PUMP1_ID),
+            Map.entry(Device.CERAMIC_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_.stop(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/colortitration/hardware/command/handlers/ClawHandler.java

@@ -1,64 +0,0 @@
-package com.iflytop.colortitration.hardware.command.handlers;
-
-
-import com.iflytop.colortitration.app.core.command.DeviceCommand;
-import com.iflytop.colortitration.common.enums.Action;
-import com.iflytop.colortitration.common.enums.Device;
-import com.iflytop.colortitration.hardware.command.CommandHandler;
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.ClawDriver;
-import com.iflytop.colortitration.hardware.type.MId;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
-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;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class ClawHandler extends CommandHandler {
-    private final ClawDriver clawDriver_;
-
-    private final Map<Device, MiniServoMId> servoMIdMap_ = Map.ofEntries(
-            Map.entry(Device.CLAW, MiniServoMId.CLAW_MID)
-    );
-    private final Map<Device, MId> supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream().
-            collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
-    private final Set<Action> supportActions = Set.of(Action.SET, Action.ORIGIN, Action.MOVE, Action.STOP);
-
-    @Override
-    protected Map<Device, MId> getSupportCmdDeviceMIdMap()
-    {
-        return supportCmdDeviceMIdMap;
-    }
-
-    @Override
-    protected Set<Action> getSupportActions() {
-        return supportActions;
-    }
-
-    @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
-        // 发送命令
-        MiniServoMId servoMId = servoMIdMap_.get(command.getDevice());
-        if (command.getAction() == Action.ORIGIN) {
-            clawDriver_.moveToHome(servoMId);
-        }
-        else if(command.getAction() == Action.STOP) {
-            clawDriver_.stop(servoMId);
-        }
-        else if(command.getAction() == Action.MOVE) {
-            double position = command.getParam().getPosition();
-            clawDriver_.moveTo(servoMId, position);
-        }
-        else if(command.getAction() == Action.SET) {
-            Double speed = command.getParam().getSpeed();
-            if(speed != null) {
-                clawDriver_.setSpeed(servoMId, speed);
-            }
-        }
-    }
-}

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

@@ -0,0 +1,55 @@
+package com.iflytop.colortitration.hardware.command.handlers;
+
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.common.enums.Action;
+import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.hardware.command.CommandHandler;
+import com.iflytop.colortitration.hardware.drivers.OutputIOCtrlDriver;
+import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
+import com.iflytop.colortitration.hardware.type.MId;
+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;
+
+//
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class IOCtrlHandler extends CommandHandler {
+    private final OutputIOCtrlDriver driver_;
+    private final Map<Device, OutputIOMId>  supportCmdDeviceIOOutputMap = Map.ofEntries(
+    );
+
+    private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()
+            .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
+
+    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE);
+
+    @Override
+    protected Map<Device, MId> getSupportCmdDeviceMIdMap()
+    {
+        return supportCmdDeviceMIdMap;
+    }
+
+    @Override
+    protected Set<Action> getSupportActions() {
+        return supportActions;
+    }
+
+    @Override
+    public void handleCommand(DeviceCommand command) throws Exception {
+        // 发送命令
+        if (command.getAction() == Action.OPEN) {
+            log.info("open {}", command.getDevice());
+            driver_.open(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+        } else if (command.getAction() == Action.CLOSE) {
+            log.info("close {}", command.getDevice());
+            driver_.close(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+        }
+    }
+}

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

@@ -0,0 +1,145 @@
+package com.iflytop.colortitration.hardware.command.handlers;
+
+
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.common.enums.Action;
+import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.enums.MotorDirection;
+import com.iflytop.colortitration.hardware.command.CommandHandler;
+import com.iflytop.colortitration.hardware.drivers.MotorWrapperDriver;
+import com.iflytop.colortitration.hardware.type.MId;
+import com.iflytop.colortitration.hardware.type.StepMotor.MotorDirect;
+import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
+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;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class MotorHandler extends CommandHandler {
+    private final MotorWrapperDriver driver_;
+
+    private final Map<Device, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
+            Map.entry(Device.ROBOTIC_ARM_BIG, StepMotorMId.DualRobot1M),
+            Map.entry(Device.ROBOTIC_ARM_SMALL, StepMotorMId.DualRobot2M),
+            Map.entry(Device.Z_MOTOR, StepMotorMId.RobotArmZM),
+            Map.entry(Device.BRUSHLESS_PUMP_1, StepMotorMId.BrushlessPump1M),
+            Map.entry(Device.BRUSHLESS_PUMP_2, StepMotorMId.BrushlessPump2M),
+            Map.entry(Device.BRUSHLESS_PUMP_3, StepMotorMId.BrushlessPump3M),
+            Map.entry(Device.BRUSHLESS_PUMP_4, StepMotorMId.BrushlessPump4M),
+            Map.entry(Device.BRUSHLESS_PUMP_5, StepMotorMId.BrushlessPump5M),
+            Map.entry(Device.BRUSHLESS_PUMP_6, StepMotorMId.BrushlessPump6M),
+            Map.entry(Device.BRUSHLESS_PUMP_7, StepMotorMId.BrushlessPump7M),
+            Map.entry(Device.BRUSHLESS_PUMP_8, StepMotorMId.BrushlessPump8M),
+            Map.entry(Device.BRUSHLESS_PUMP_9, StepMotorMId.BrushlessPump9M),
+            Map.entry(Device.BRUSHLESS_PUMP_10, StepMotorMId.BrushlessPump10M),
+            Map.entry(Device.STEP_PUMP_1, StepMotorMId.StepPump1M),
+            Map.entry(Device.STEP_PUMP_2, StepMotorMId.StepPump2M),
+            Map.entry(Device.STEP_PUMP_3, StepMotorMId.StepPump3M),
+            Map.entry(Device.STIR_MOTOR_1, StepMotorMId.TitratorStir1M),
+            Map.entry(Device.STIR_MOTOR_2, StepMotorMId.TitratorStir2M),
+            Map.entry(Device.TITRATION_MOTOR_1, StepMotorMId.Titrator1M),
+            Map.entry(Device.TITRATION_MOTOR_2, StepMotorMId.Titrator2M)
+    );
+    private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
+            collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
+
+    private final Set<Action> supportActions = Set.of(
+            Action.SET,
+            Action.ENABLE,
+            Action.DISABLE,
+            Action.OPEN_CLAMP,
+            Action.CLOSE_CLAMP,
+            Action.ORIGIN,
+            Action.MOVE,
+            Action.MOVE_BY,
+            Action.ROTATE,
+            Action.STOP,
+            Action.MOVE_END);
+
+    @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
+        StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice());
+
+        switch (command.getAction()) {
+            case ENABLE -> {
+                log.info("Motor {} Enable", stepMotorMId.mid.getDescription());
+                driver_.motorEnable(stepMotorMId, true);
+            }
+            case DISABLE -> {
+                log.info("Motor {} Disable", stepMotorMId.mid.getDescription());
+                driver_.motorEnable(stepMotorMId, false);
+            }
+            case OPEN_CLAMP -> {
+                log.info("Motor {} Open Clamp", stepMotorMId.mid.getDescription());
+                driver_.openClamp(stepMotorMId);
+            }
+            case CLOSE_CLAMP -> {
+                log.info("Motor {} Close Clamp", stepMotorMId.mid.getDescription());
+                driver_.closeClamp(stepMotorMId);
+            }
+            case ORIGIN -> {
+                log.info("Motor {} Move To Origin", stepMotorMId.mid.getDescription());
+                driver_.moveToHome(stepMotorMId);
+            }
+            case MOVE -> {
+                double position = command.getParam().getPosition();
+                log.info("Motor {} Move To Position {}", stepMotorMId.mid.getDescription(), position);
+                driver_.moveTo(stepMotorMId, position);
+            }
+            case MOVE_BY -> {
+                double distance = command.getParam().getPosition();
+                log.info("Motor {} Move By Distance {}", stepMotorMId.mid.getDescription(), distance);
+                driver_.moveBy(stepMotorMId, distance);
+            }
+            case ROTATE -> {
+                MotorDirection cmdDirection = command.getParam().getDirection();
+                MotorDirect direct = getMotorDirect(cmdDirection);
+                log.info("Motor {} Rotate {}", stepMotorMId.mid.getDescription(), direct.name());
+                driver_.rotate(stepMotorMId, direct);
+            }
+            case STOP -> {
+                log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
+                driver_.stop(stepMotorMId);
+            }
+            case SET -> {
+                Double speed = command.getParam().getSpeed();
+                if (speed != null) {
+                    log.info("Motor {} Set Speed {}", stepMotorMId.mid.getDescription(), speed);
+                    driver_.setSpeed(stepMotorMId, speed);
+                }
+            }
+            case MOVE_END -> {
+                driver_.moveToEnd(stepMotorMId);
+            }
+        }
+    }
+}
+
+
+
+

src/main/java/com/iflytop/colortitration/hardware/command/handlers/TricolorLightHandler.java

@@ -0,0 +1,86 @@
+package com.iflytop.colortitration.hardware.command.handlers;
+
+
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.common.enums.Action;
+import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.enums.TricolorLightColor;
+import com.iflytop.colortitration.hardware.command.CommandHandler;
+import com.iflytop.colortitration.hardware.drivers.TricolorLightDriver;
+import com.iflytop.colortitration.hardware.type.MId;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.security.InvalidParameterException;
+import java.util.Map;
+import java.util.Set;
+
+import static java.awt.Color.blue;
+
+/**
+ * 三色灯
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class TricolorLightHandler extends CommandHandler {
+    private final TricolorLightDriver tricolorLightDriver;
+
+    private final Map<Device, MId> supportCmdDeviceMIdMap = Map.ofEntries(
+            Map.entry(Device.TRICOLOR_LIGHT, MId.IO1_TriColorLight)
+    );
+
+    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE);
+
+    @Override
+    protected Map<Device, MId> getSupportCmdDeviceMIdMap()
+    {
+        return supportCmdDeviceMIdMap;
+    }
+
+    @Override
+    protected Set<Action> getSupportActions() {
+        return supportActions;
+    }
+
+    @Override
+    protected void checkParams(DeviceCommand command) throws Exception {
+        // 检查参数
+        if (command.getAction() == Action.OPEN) {
+            // 检查参数
+            TricolorLightColor cmdColor = command.getParam().getColor();
+            getCmdColor(cmdColor);
+        }
+
+    }
+
+    TricolorLightDriver.Color getCmdColor(TricolorLightColor cmdColor){
+        switch (cmdColor){
+            case RED:
+                return TricolorLightDriver.Color.RED;
+            case GREEN:
+                return TricolorLightDriver.Color.GREEN;
+            case BLUE:
+                return TricolorLightDriver.Color.BLUE;
+            default:
+                throw new InvalidParameterException("颜色参数错误");
+        }
+    }
+
+    MId getMId(Device cmdDevice){
+        return supportCmdDeviceMIdMap.get(cmdDevice);
+    }
+
+    @Override
+    public void handleCommand(DeviceCommand command) throws Exception {
+        // 发送命令
+        if (command.getAction() == Action.OPEN) {
+            TricolorLightColor cmdColor = command.getParam().getColor();
+            TricolorLightDriver.Color color = getCmdColor(cmdColor);
+            tricolorLightDriver.open(getMId(command.getDevice()), color);
+        } else if (command.getAction() == Action.CLOSE) {
+            tricolorLightDriver.close(getMId(command.getDevice()));
+        }
+    }
+}

src/main/java/com/iflytop/colortitration/hardware/config/StepMotorConfig.java

@@ -9,211 +9,12 @@ import java.util.Map;
 @Slf4j
 @Component
 public class StepMotorConfig {
-    // 导程 配置
-    private final static double DEFAULT_LEAD = 10.0; // mm
-    final static Map<StepMotorMId, Double> stepMotorLeadMap = Map.ofEntries(
-            Map.entry(StepMotorMId.TRAY_MOTOR_MID, 5.0),
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 5.0),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 4.0),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 5.0),
-            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, 5.0)
-    );
-    // 电流配置
-    final static int DEFAULT_CURRENT = 8; // [0-31]
-    final static int HEATER_MOTOR_DEFAULT_CURRENT = 20;
-    final static int ACID_PUMP_MOTOR_DEFAULT_CURRENT = 8;
-    final static Map<StepMotorMId, Integer> stepMotorCurrentMap = Map.ofEntries(
-            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 8),
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 31),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 31),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 31),
-            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
-            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT)
-    );
-
-    // 速度配置
-    final static double DEFAULT_SPEED = 1.0; // mm/s
-    final static double HEATER_MOTOR_DEFAULT_SPEED = 1.0;
-    final static double ACID_PUMP_MOTOR_DEFAULT_SPEED = 1.0;
-    final static Map<StepMotorMId, Double> stepMotorSpeedMap = Map.ofEntries(
-            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 1.0),
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 20.0),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 20.0),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 20.0),
-            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
-            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED)
-    );
-
-    // 最小限位配置
-    static final double DEFAULT_MIN_LIMIT = 0.0; // mm
-    static final double HEATER_MOTOR_DEFAULT_MIN_LIMIT = 0.0;
-    static final double ACID_PUMP_MOTOR_DEFAULT_MIN_LIMIT = 0.0;
-    final static Map<StepMotorMId, Double> stepMotorMinLimitMap = Map.ofEntries(
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 0.0),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 0.0),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 0.0)
-    );
 
     // 最大限位配置
-    static final double DEFAULT_MAX_LIMIT = 0.0; // mm
-    static final double HEATER_MOTOR_DEFAULT_MAX_LIMIT = 100.0;
-    static final double ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT = 1000000;
+    static final double DEFAULT_MAX_LIMIT = Double.POSITIVE_INFINITY; // mm
     final static Map<StepMotorMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
-            Map.entry(StepMotorMId.DOOR_MOTOR_MID, 500.0),
-            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 20000.0),
-            Map.entry(StepMotorMId.TRAY_MOTOR_MID, 385.0),
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 1400.0),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 700.0),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 300.0),
-            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
-            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT)
-    );
-
-    // 是否安装编码器
-    private final static boolean DEFAULT_ENCODER_INSTALLED = false;
-    static Map<StepMotorMId, Boolean> stepMotorEncoderMap = Map.ofEntries(
-            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, true),
-            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, true),
-            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, true)
     );
 
-    /* ******************** ********************  ******************** */
-    /* ******************** 导程  ******************** */
-    /* ******************** ********************  ******************** */
-
-    // 从数据库拉取导程信息
-    private Double getLeadFromDB(StepMotorMId stepMotorId)
-    {
-        // TODO: 从数据库中获取导程
-        return null;
-    }
-
-    // 从默认配置中获取导程信息
-    private Double getLeadFromDefault(StepMotorMId stepMotorId)
-    {
-        return stepMotorLeadMap.getOrDefault(stepMotorId, DEFAULT_LEAD);
-    }
-
-    // 获取导程信息
-    public double getLead(StepMotorMId stepMotorId)
-    {
-        Double lead = getLeadFromDB(stepMotorId);
-        if (lead != null) {
-            return lead;
-        } else {
-            return getLeadFromDefault(stepMotorId);
-        }
-    }
-
-    /* ******************** ********************  ******************** */
-    /* ******************** 电流  ******************** */
-    /* ******************** ********************  ******************** */
-    // 从数据库拉取电流信息
-    private Integer getCurrentFromDB(StepMotorMId stepMotorId)
-    {
-        // TODO: 从数据库中获取电流
-        return null;
-    }
-
-    private Integer getCurrentFromDefault(StepMotorMId stepMotorId)
-    {
-        return stepMotorCurrentMap.getOrDefault(stepMotorId, DEFAULT_CURRENT);
-    }
-
-    public int getCurrent(StepMotorMId stepMotorId)
-    {
-        Integer current = getCurrentFromDB(stepMotorId);
-        if (current != null) {
-            return current;
-        } else {
-            return getCurrentFromDefault(stepMotorId);
-        }
-    }
-
-    /* ******************** ********************  ******************** */
-    /* ******************** 速度  ******************** */
-    /* ******************** ********************  ******************** */
-    // 从数据库拉取速度信息
-    private Double getSpeedFromDB(StepMotorMId stepMotorId)
-    {
-        // TODO: 从数据库中获取速度
-        return null;
-    }
-    private Double getSpeedFromDefault(StepMotorMId stepMotorId)
-    {
-        return stepMotorSpeedMap.getOrDefault(stepMotorId, DEFAULT_SPEED);
-    }
-
-    public double getSpeed(StepMotorMId stepMotorId)
-    {
-        Double speed = getSpeedFromDB(stepMotorId);
-        if (speed != null) {
-            return speed;
-        } else {
-            return getSpeedFromDefault(stepMotorId);
-        }
-    }
-
-    /* ******************** ********************  ******************** */
-    /* ******************** 最小限位  ******************** */
-    /* ******************** ********************  ******************** */
-    // 从数据库拉取最小限位信息
-    private Double getMinLimitFromDB(StepMotorMId stepMotorId)
-    {
-        // TODO: 从数据库中获取最小限位
-        return null;
-    }
-
-    private Double getMinLimitFromDefault(StepMotorMId stepMotorId)
-    {
-        return stepMotorMinLimitMap.getOrDefault(stepMotorId, DEFAULT_MIN_LIMIT);
-    }
-
-    public double getMinLimit(StepMotorMId stepMotorId)
-    {
-        Double minLimit = getMinLimitFromDB(stepMotorId);
-        if (minLimit != null) {
-            return minLimit;
-        } else {
-            return getMinLimitFromDefault(stepMotorId);
-        }
-    }
 
     /* ******************** ********************  ******************** */
     /* ******************** 最大限位  ******************** */
@@ -240,28 +41,4 @@ public class StepMotorConfig {
         }
     }
 
-    /* ******************** ********************  ******************** */
-    /* ******************** 编码器  ******************** */
-    /* ******************** ********************  ******************** */
-    // 从数据库拉取编码器信息
-    private Boolean getEncoderFromDB(StepMotorMId stepMotorId)
-    {
-        //TODO: 从数据库中获取编码器
-        return null;
-    }
-
-    private Boolean getEncoderFromDefault(StepMotorMId stepMotorId)
-    {
-        return stepMotorEncoderMap.getOrDefault(stepMotorId, DEFAULT_ENCODER_INSTALLED);
-    }
-
-    public boolean isEncoderInstalled(StepMotorMId stepMotorId)
-    {
-        Boolean encoder = getEncoderFromDB(stepMotorId);
-        if (encoder != null) {
-            return encoder;
-        } else {
-            return getEncoderFromDefault(stepMotorId);
-        }
-    }
 }

src/main/java/com/iflytop/colortitration/hardware/controller/AcidPumpController.java

@@ -1,84 +0,0 @@
-package com.iflytop.colortitration.hardware.controller;
-
-import com.iflytop.colortitration.app.service.DeviceParamConfigService;
-import com.iflytop.colortitration.hardware.drivers.StepMotorDriver.AcidPumpDriver;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
-
-@Tag(name = "加酸泵控制")
-@RestController
-@RequestMapping("/api/acid-pump")
-@RequiredArgsConstructor
-@Slf4j
-public class AcidPumpController {
-    private final AcidPumpDriver driver;
-    private final DeviceParamConfigService deviceParamConfigService;
-
-    @PostMapping("/set-speed")
-    public void setSpeed(@RequestParam StepMotorMId stepMotorMId, @RequestParam int speed) {
-        log.info("Setting acid pump speed to: {}", speed);
-        try {
-            driver.setSpeed(stepMotorMId, speed);
-            deviceParamConfigService.setModuleAndReg(stepMotorMId.mid.name(), StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),speed);
-        } catch (Exception e) {
-            log.error("Failed to set speed for acid pump: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/motor-enable")
-    public void motorEnable(@RequestParam StepMotorMId stepMotorMId, @RequestParam boolean enable) {
-        log.info("Setting acid pump motor enable to: {}", enable);
-        try {
-            driver.motorEnable(stepMotorMId, enable);
-        } catch (Exception e) {
-            log.error("Failed to enable motor for acid pump: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to-home")
-    public void moveToHome(@RequestParam StepMotorMId stepMotorMId) {
-        log.info("Moving acid pump to home position");
-        try {
-            driver.moveToHome(stepMotorMId);
-        } catch (Exception e) {
-            log.error("Failed to move acid pump to home: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to")
-    public void moveTo(@RequestParam StepMotorMId stepMotorMId, @RequestParam int position) {
-        log.info("Moving acid pump to position: {}", position);
-        try {
-            driver.moveTo(stepMotorMId, position);
-        } catch (Exception e) {
-            log.error("Failed to move acid pump to position: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-by")
-    public void moveBy(@RequestParam StepMotorMId stepMotorMId, @RequestParam int offset) {
-        log.info("Moving acid pump by offset: {}", offset);
-        try {
-            driver.moveBy(stepMotorMId, offset);
-        } catch (Exception e) {
-            log.error("Failed to move acid pump by offset: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/stop")
-    public void stop(@RequestParam StepMotorMId stepMotorMId) {
-        log.info("Stopping acid pump");
-        try {
-            driver.stop(stepMotorMId);
-        } catch (Exception e) {
-            log.error("Failed to stop acid pump: {}", e.getMessage());
-        }
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/controller/DualRobotController.java

@@ -1,91 +0,0 @@
-package com.iflytop.colortitration.hardware.controller;
-
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.DualRobotDriver;
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.DualRobotDriver.Joint;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
-
-@Tag(name = "双轴机械臂控制")
-@RestController
-@RequestMapping("/api/dual-robot")
-@RequiredArgsConstructor
-@Slf4j
-public class DualRobotController {
-    private final DualRobotDriver driver;
-
-    @PostMapping("/move-joint-to")
-    public void moveJointTo(@RequestParam MiniServoMId sevoMid, @RequestParam double position) {
-        log.info("Moving joint {} to position {}", sevoMid, position);
-        try {
-            driver.moveJointTo(sevoMid, position);
-        } catch (Exception e) {
-            log.error("Failed to move joint {} to position {}: {}", sevoMid, position, e.getMessage());
-        }
-    }
-
-    @PostMapping("/stop-servo")
-    public void stop(@RequestParam MiniServoMId sevoMid) {
-        log.info("Stopping servo {}", sevoMid);
-        try {
-            driver.stop(sevoMid);
-        } catch (Exception e) {
-            log.error("Failed to stop servo {}: {}", sevoMid, e.getMessage());
-        }
-    }
-
-    @PostMapping("/set-speed")
-    public void setSpeed(@RequestParam Joint joint, @RequestParam double speed) {
-        log.info("Setting speed for joint {} to {}", joint, speed);
-        try {
-            driver.setSpeed(joint, speed);
-        } catch (Exception e) {
-            log.error("Failed to set speed for joint {}: {}", joint, e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to-point")
-    public void moveToPoint(@RequestParam double pointX, @RequestParam double pointY) {
-        log.info("Moving to point ({}, {})", pointX, pointY);
-        try {
-            driver.moveToPoint(pointX, pointY);
-        } catch (Exception e) {
-            log.error("Failed to move to point ({}, {}): {}", pointX, pointY, e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to-home")
-    public void moveToHome(@RequestParam Joint joint) {
-        log.info("Moving joint {} to home position", joint);
-        try {
-            driver.moveToHome(joint);
-        } catch (Exception e) {
-            log.error("Failed to move joint {} to home position: {}", joint, e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-joint-to-position")
-    public void moveJointTo(@RequestParam Joint joint, @RequestParam double position) {
-        log.info("Moving joint {} to position {}", joint, position);
-        try {
-            driver.moveJointTo(joint, position);
-        } catch (Exception e) {
-            log.error("Failed to move joint {} to position {}: {}", joint, position, e.getMessage());
-        }
-    }
-
-    @PostMapping("/stop-joint")
-    public void stop(@RequestParam Joint joint) {
-        log.info("Stopping joint {}", joint);
-        try {
-            driver.stop(joint);
-        } catch (Exception e) {
-            log.error("Failed to stop joint {}: {}", joint, e.getMessage());
-        }
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/controller/HeaterMotorController.java

@@ -1,70 +0,0 @@
-package com.iflytop.colortitration.hardware.controller;
-
-import com.iflytop.colortitration.hardware.drivers.StepMotorDriver.HeaterMotorDriver;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
-
-@Tag(name = "加热电机控制")
-@RestController
-@RequestMapping("/api/heater-motor")
-@RequiredArgsConstructor
-@Slf4j
-public class HeaterMotorController {
-    private final HeaterMotorDriver driver;
-
-    @PostMapping("/motor-enable")
-    public void motorEnable(@RequestParam StepMotorMId stepMotorMId, @RequestParam boolean enable) {
-        log.info("Setting heater motor enable to: {}", enable);
-        try {
-            driver.motorEnable(stepMotorMId, enable);
-        } catch (Exception e) {
-            log.error("Failed to enable motor for heater motor: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to-home")
-    public void moveToHome(@RequestParam StepMotorMId stepMotorMId) {
-        log.info("Moving heater motor to home position");
-        try {
-            driver.moveToHome(stepMotorMId);
-        } catch (Exception e) {
-            log.error("Failed to move heater motor to home: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-to")
-    public void moveTo(@RequestParam StepMotorMId stepMotorMId, @RequestParam int position) {
-        log.info("Moving heater motor to position: {}", position);
-        try {
-            driver.moveTo(stepMotorMId, position);
-        } catch (Exception e) {
-            log.error("Failed to move heater motor to position: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/move-by")
-    public void moveBy(@RequestParam StepMotorMId stepMotorMId, @RequestParam int offset) {
-        log.info("Moving heater motor by offset: {}", offset);
-        try {
-            driver.moveBy(stepMotorMId, offset);
-        } catch (Exception e) {
-            log.error("Failed to move heater motor by offset: {}", e.getMessage());
-        }
-    }
-
-    @PostMapping("/stop")
-    public void stop(@RequestParam StepMotorMId stepMotorMId) {
-        log.info("Stopping heater motor");
-        try {
-            driver.stop(stepMotorMId);
-        } catch (Exception e) {
-            log.error("Failed to stop heater motor: {}", e.getMessage());
-        }
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/controller/IOController.java

@@ -1,7 +1,7 @@
 package com.iflytop.colortitration.hardware.controller;
 
 import com.iflytop.colortitration.common.result.Result;
-import com.iflytop.colortitration.hardware.drivers.DODriver.OutputIOCtrlDriver;
+import com.iflytop.colortitration.hardware.drivers.OutputIOCtrlDriver;
 import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;

src/main/java/com/iflytop/colortitration/hardware/drivers/CeramicPumpDriver.java

@@ -0,0 +1,267 @@
+package com.iflytop.colortitration.hardware.drivers;
+
+
+import com.iflytop.colortitration.hardware.comm.modbus.ModbusMasterService;
+import com.iflytop.colortitration.hardware.type.CeramicPumpDriverSlaveId;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class CeramicPumpDriver {
+
+
+    public enum CeramicPumpBaud {
+        CeramicPumpBaud_9600(0x04),
+        CeramicPumpBaud_115200(0x08);
+
+        int getId(){
+            return id;
+        }
+
+        private final  int id;
+
+        CeramicPumpBaud(int id) {
+            this.id = id;
+        }
+    };
+
+    public enum Direction {
+        FORWARD(0x0000),  // 正转
+        BACKWARD(0x0001);  // 反转
+
+        private final int value;
+
+        Direction(int value) {
+            this.value = value;
+        }
+
+        public int getValue() {
+            return value;
+        }
+    }
+
+    private final ModbusMasterService modbusMaster;
+
+    private static final int DEFAULT_ADDRESS = 0x11;
+    private static final int ADDRESS_REGISTER = 0x000A;
+    private static final int BAUDRATE_REGISTER = 0x001C;
+    private static final int SPEED_REGISTER = 0x000C;
+    private static final int RESET_REGISTER = 0x0014;
+    private static final int MOVE_REGISTER = 0x0014;
+    private static final int STOP_RESUME_REGISTER = 0x0010;
+    private static final int DIRECTION_REGISTER = 0x000E;  // 正反转控制寄存器
+    private static final int POSITION_REGISTER = 0x0012;   // 当前圈数查询寄存器
+
+    private final ConcurrentHashMap<CeramicPumpDriverSlaveId, Boolean> runFlags = new ConcurrentHashMap<>();
+
+    /**
+     * 设置注射泵地址
+     */
+    public void setDeviceAddress(CeramicPumpDriverSlaveId pumpId, int newAddress) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, ADDRESS_REGISTER, newAddress)) {
+            throw new Exception("Failed to set device address for pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] address set to {}", slaveId, newAddress);
+    }
+
+    /**
+     * 设置波特率
+     */
+    public void setBaudRate(CeramicPumpDriverSlaveId pumpId, CeramicPumpBaud baudRate) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, BAUDRATE_REGISTER, baudRate.getId())) {
+            throw new Exception("Failed to set baud rate for pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] baud rate set to {}", slaveId, baudRate);
+    }
+
+    /**
+     * 设置注射泵速度
+     */
+    public void setSpeed(CeramicPumpDriverSlaveId pumpId, int speed) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, SPEED_REGISTER, speed)) {
+            throw new Exception("Failed to set speed for pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] speed set to {} rpm", slaveId, speed);
+    }
+
+    /**
+     * 获取注射泵速度
+     */
+    public int getSpeed(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        short[] response = modbusMaster.readHoldingRegisters(slaveId, SPEED_REGISTER, 1);
+        if (response == null || response.length == 0) {
+            throw new Exception("Failed to read speed for pump, slaveId: " + slaveId);
+        }
+        return response[0];
+    }
+
+    /**
+     * 获取注射泵位置（圈数）
+     */
+    public int getTargetPosition(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        short[] response = modbusMaster.readHoldingRegisters(slaveId, MOVE_REGISTER, 1);
+        if (response == null || response.length == 0) {
+            throw new Exception("Failed to read position for pump, slaveId: " + slaveId);
+        }
+        return response[0];
+    }
+
+    /**
+     * 查询注射泵当前地址（ID）
+     */
+    public int getDeviceAddress(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        short[] response = modbusMaster.readHoldingRegisters(slaveId, ADDRESS_REGISTER, 1);
+        if (response == null || response.length == 0) {
+            throw new Exception("Failed to read device address for pump, slaveId: " + slaveId);
+        }
+        return response[0];
+    }
+
+    /**
+     * 复位
+     */
+    public void reset(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, RESET_REGISTER, 0)) {
+            throw new Exception("Failed to reset pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] reset", slaveId);
+    }
+
+    /**
+     * 定量运动
+     */
+    public void moveBy(CeramicPumpDriverSlaveId pumpId, int r) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, MOVE_REGISTER, r)) {
+            throw new Exception("Failed to move pump, slaveId: " + slaveId + ", r: " + r);
+        }
+        log.info("Pump[{}] move {} turns", slaveId, r);
+    }
+
+    /**
+     * 设置正反转方向
+     * @param direction 正转(FORWARD)或反转(REVERSE)
+     */
+    public void setDirection(CeramicPumpDriverSlaveId pumpId, Direction direction) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, DIRECTION_REGISTER, direction.getValue())) {
+            throw new Exception("Failed to set direction for pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] direction set to {}", slaveId, direction);
+    }
+
+
+    public int getCurrentPosition(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        short[] response = modbusMaster.readHoldingRegisters(slaveId, POSITION_REGISTER, 1);
+        if (response == null || response.length == 0) {
+            throw new Exception("Failed to read current position for pump, slaveId: " + slaveId);
+        }
+        return response[0];
+    }
+
+    // 停止运动
+    public void stop(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, STOP_RESUME_REGISTER, 0x0000)) {
+            throw new Exception("Failed to stop pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] stopped", slaveId);
+    }
+
+    /**
+     * 继续运动
+     */
+    public void resume(CeramicPumpDriverSlaveId pumpId) throws Exception {
+        int slaveId = pumpId.getSlaveId();
+        if (!modbusMaster.writeRegister(slaveId, STOP_RESUME_REGISTER, 0x0001)) {
+            throw new Exception("Failed to resume pump, slaveId: " + slaveId);
+        }
+        log.info("Pump[{}] resumed", slaveId);
+    }
+
+    public void moveByBlock(CeramicPumpDriverSlaveId pumpId, Direction direction, int r)
+    {
+        final int targetPosition = r; // 目标位置（圈数）
+        int currentPosition = 0; // 当前位置（圈数）
+        int currentSpeed = 0; // 当前速度（转速）
+
+        if (runFlags.getOrDefault(pumpId, false)) {
+            log.warn("Pump {} is already running, skipping moveByBlock", pumpId);
+            return;
+        }
+
+        runFlags.put(pumpId, true);
+
+        try {
+            // 初始化
+            currentSpeed = getSpeed(pumpId);
+
+            this.reset(pumpId);
+            this.setDirection(pumpId, direction);
+
+            // 计算移动目标位置的时间 速度单位 rpm, 距离 r,
+            int expectedMs = (int) ((targetPosition - currentPosition) * 60.0 * 1000.0 / currentSpeed) ;
+            log.info("Pump {} moveByBlock, targetPosition: {}, currentPosition: {}, currentSpeed: {}, expectedMs: {}",
+                    pumpId, targetPosition, currentPosition, currentSpeed, expectedMs);
+            this.moveBy(pumpId, targetPosition);
+
+            int timoutMs = (int)(expectedMs * 1.5); // 设置超时时间为预期时间的两倍
+            int pollCurrentPosMs = (int)(expectedMs * 0.9); // 轮询当前位置的时间为预期时间的90%后开始
+            long startTime = System.currentTimeMillis();
+            int elapsedTime = 0;    // 已用时间
+            while (elapsedTime < timoutMs) {
+                if (!runFlags.getOrDefault(pumpId, false)) {
+                    log.info("Pump {} stopped before reaching target position", pumpId);
+                    return; // 如果在等待过程中被停止，退出
+                }
+
+                elapsedTime = (int)(System.currentTimeMillis() - startTime);
+
+                if (elapsedTime >= pollCurrentPosMs) {
+                    currentPosition = getCurrentPosition(pumpId);
+
+                    if (currentPosition >= targetPosition) {
+                        log.info("Pump {} reached target position: {}", pumpId, targetPosition);
+                        break;
+                    }
+                }
+                Thread.sleep(20); // 每100ms检查一次
+            }
+        }
+        catch (Exception e) {
+            log.error("Error initializing pump position: {}", e.getMessage());
+            throw  new RuntimeException("Error initializing pump position", e);
+        }
+        finally {
+            runFlags.put(pumpId, false);
+        }
+    }
+
+    public void stopBlock(CeramicPumpDriverSlaveId pumpId) {
+        if (!runFlags.getOrDefault(pumpId, false)) {
+            log.warn("Pump {} is not running, cannot stop", pumpId);
+            return;
+        }
+        runFlags.put(pumpId, false);
+        try {
+            this.stop(pumpId);
+        } catch (Exception e) {
+            log.error("Error stopping pump {}: {}", pumpId, e.getMessage());
+        } finally {
+            runFlags.put(pumpId, false);
+        }
+    }
+}

src/main/java/com/iflytop/colortitration/hardware/drivers/ColdTrapDriver.java

@@ -1,53 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers;
-
-import com.iflytop.colortitration.hardware.drivers.DODriver.OutputIOCtrlDriver;
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Component;
-
-import static com.iflytop.colortitration.hardware.type.IO.OutputIOMId.DO_COLD_TRAP_POWER;
-
-
-/**
- * 物理冷阱
- */
-@Component
-@RequiredArgsConstructor
-public class ColdTrapDriver {
-    private final OutputIOCtrlDriver outputIOCtrlDriver_;
-
-    public void setTemperature(Double temperature) throws Exception {
-
-    }
-
-    public void openPower()  throws Exception{
-        outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, true);
-    }
-
-    public void closePower() throws Exception{
-        outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, false);
-    }
-
-    public boolean openCircle() {
-        return false;
-    }
-
-    public boolean closeCircle() {
-        return false;
-    }
-
-    public boolean openHeart() {
-        return false;
-    }
-
-    public boolean closeHeart() {
-        return false;
-    }
-
-    public boolean openCool() {
-        return false;
-    }
-
-    public boolean closeCool() {
-        return false;
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/FanDriver.java

@@ -1,24 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.DODriver;
-
-import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class FanDriver {
-    private final OutputIOCtrlDriver outputIOCtrlDriver_;
-
-    public void open(OutputIOMId outputIOMId) throws Exception
-    {
-        log.info("Opening FanD {}", outputIOMId.mid.getDescription());
-        outputIOCtrlDriver_.setIOState(outputIOMId, true);
-    }
-    public void close(OutputIOMId outputIOMId) throws Exception
-    {
-        log.info("Closing FanD {}", outputIOMId.mid.getDescription());
-        outputIOCtrlDriver_.setIOState(outputIOMId, false);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/VentilatorDriver.java

@@ -1,22 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.DODriver;
-
-import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class VentilatorDriver {
-    private final OutputIOCtrlDriver outputIOCtrlDriver_;
-
-    public void openPower(OutputIOMId outputIOMId) throws Exception
-    {
-        outputIOCtrlDriver_.setIOState(outputIOMId, true);
-    }
-    public void closePower(OutputIOMId outputIOMId) throws Exception
-    {
-        outputIOCtrlDriver_.setIOState(outputIOMId, false);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/WaterPumpDriver.java

@@ -1,22 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.DODriver;
-
-import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class WaterPumpDriver {
-    private final OutputIOCtrlDriver outputIOCtrlDriver_;
-
-    public void openPower(OutputIOMId outputIOMId) throws Exception
-    {
-        outputIOCtrlDriver_.setIOState(outputIOMId, true);
-    }
-    public void closePower(OutputIOMId outputIOMId) throws Exception
-    {
-        outputIOCtrlDriver_.setIOState(outputIOMId, false);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/FillLightDriver.java

@@ -1,23 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers;
-
-import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
-import com.iflytop.colortitration.hardware.type.CmdId;
-import com.iflytop.colortitration.hardware.type.MId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class FillLightDriver {
-    private final A8kCanBusService canBus;
-
-    public void open(MId mId, Integer brightness) throws Exception {
-        // 模拟打开
-        canBus.callcmd(mId, CmdId.pwm_light_on, brightness);
-    }
-    public void close(MId mId) throws Exception {
-        canBus.callcmd(mId, CmdId.pwm_light_off);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/HeaterRodDriver.java

@@ -1,122 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers;
-
-import cn.hutool.core.util.StrUtil;
-import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
-import com.iflytop.colortitration.hardware.comm.modbus.ModbusMasterService;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.A8kPacket;
-import com.iflytop.colortitration.hardware.type.CmdId;
-import com.iflytop.colortitration.hardware.type.driver.HeaterRodSlavedId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class HeaterRodDriver {
-    private final A8kCanBusService canBus;
-    private final ModbusMasterService modbusMaster;
-
-    private static final int SV_ADDRESS = 0x2000;
-    private static final int PV_ADDRESS = 0x2010;
-
-    private static final int CONTROL_REGISTER = 0x2106;
-    private static final int DP_ADDRESS = 0x2107;
-    private static final int DEVICE_ADDRESS_REGISTER = 0x2112;
-
-    private final Map<Integer, Integer> dpCache = new ConcurrentHashMap<>();
-    private static final int DEFAULT_DP = 1;
-
-    public void setDeviceAddress(HeaterRodSlavedId heaterRodId, int newAddress) throws Exception {
-        int slaveId = heaterRodId.getSlaveId();
-
-        if (!modbusMaster.writeRegister(slaveId, DEVICE_ADDRESS_REGISTER, newAddress)) {
-            throw new Exception("Failed to set device address for heater rod with ID: " + heaterRodId.name());
-        }
-
-        log.info("Device address for heater rod with ID: {} set to: {}", heaterRodId.name(), newAddress);
-    }
-
-    private int getDecimalPoint(int slaveId) throws Exception {
-        return dpCache.computeIfAbsent(slaveId, id -> {
-            try {
-                short[] response = modbusMaster.readHoldingRegisters(id, DP_ADDRESS, 1);
-                if (response != null && response.length > 0) {
-                    return (int) response[0];
-                }
-            } catch (Exception e) {
-                log.warn("Failed to read DP for slave ID: {}, using default DP: {}", id, DEFAULT_DP);
-            }
-            return DEFAULT_DP;
-        });
-    }
-
-    public void openPower(HeaterRodSlavedId heaterRodId) throws Exception
-    {
-        int slaveId = heaterRodId.getSlaveId();
-        if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 1)) { // 1 = Start
-            throw new Exception("Failed to start heater rod with ID: " + heaterRodId.name());
-        }
-    }
-
-    public void closePower(HeaterRodSlavedId heaterRodId) throws Exception
-    {
-        int slaveId = heaterRodId.getSlaveId();
-
-        if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 2)) { // 2 = Stop
-            throw new Exception("Failed to stop heater rod with ID: " + heaterRodId.name());
-        }
-
-        log.info("{} stopped.", heaterRodId.name());
-    }
-
-    public void setTemperature(HeaterRodSlavedId heaterRodId, double temperature) throws Exception {
-        int slaveId = heaterRodId.getSlaveId();
-        int decimalPoint = getDecimalPoint(slaveId);
-        int scaledTemperature = (int) (temperature * Math.pow(10, decimalPoint));
-
-        if (!modbusMaster.writeRegister(slaveId, SV_ADDRESS, scaledTemperature)) {
-            throw new Exception("Failed to set temperature for heater rod with ID: " + heaterRodId.name());
-        }
-
-        log.info("{} started with temperature: {}", heaterRodId.name(), temperature);
-    }
-
-    public double getTemperature(HeaterRodSlavedId heaterRodId) throws Exception {
-        int slaveId = heaterRodId.getSlaveId();
-        int decimalPoint = getDecimalPoint(slaveId);
-
-        short[] response = modbusMaster.readHoldingRegisters(slaveId, PV_ADDRESS, 1);
-        if (response == null || response.length == 0) {
-            throw new Exception(StrUtil.format("Failed to read temperature {}", heaterRodId.name()));
-        }
-        double temperature = response[0] / Math.pow(10, decimalPoint);
-        log.info("{} GET temperature {}", heaterRodId.name(), temperature);
-        return temperature;
-    }
-
-    /**
-     * 获取电流
-     * @return
-     */
-    public Integer getCurrent(HeaterRodSlavedId heaterRodId) throws HardwareException
-    {
-        A8kPacket packet = canBus.callcmd(heaterRodId.getMid(), CmdId.adc_read_adc, heaterRodId.getAdcCurrentIndex());
-        Integer current = packet.getContentI32(0);
-        return current;
-    }
-
-    // ==== ==== ==== ==== ==== ====  application  ==== ==== ==== ==== ==== ====
-    public void open(HeaterRodSlavedId heaterRodId, double temperature) throws Exception {
-        this.openPower(heaterRodId);
-        this.setTemperature(heaterRodId, temperature);
-    }
-
-    public void close(HeaterRodSlavedId heaterRodId) throws Exception {
-        this.closePower(heaterRodId);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/DIDriver/InputDetectDriver.java → src/main/java/com/iflytop/colortitration/hardware/drivers/InputDetectDriver.java

@@ -1,4 +1,4 @@
-package com.iflytop.colortitration.hardware.drivers.DIDriver;
+package com.iflytop.colortitration.hardware.drivers;
 
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
 import com.iflytop.colortitration.hardware.exception.HardwareException;

src/main/java/com/iflytop/colortitration/hardware/drivers/LeisaiServoDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.colortitration.hardware.drivers;
 
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
 import com.iflytop.colortitration.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
@@ -8,6 +9,7 @@ import com.iflytop.colortitration.hardware.type.CmdId;
 import com.iflytop.colortitration.hardware.type.Servo.LeisaiRegIndex;
 import com.iflytop.colortitration.hardware.type.Servo.LeisaiServoMId;
 import com.iflytop.colortitration.hardware.type.Servo.LeisaiServoSpeedLevel;
+import com.iflytop.colortitration.hardware.utils.ZJsonHelper;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -18,7 +20,6 @@ import org.springframework.stereotype.Component;
 public class LeisaiServoDriver {
     final private A8kCanBusService canBus;
     private final ActionOvertimeConstant actionOvertimeConstant;
-    static public final Integer          actionOvertime = 10000;
     
     public void moduleStop(LeisaiServoMId id) throws HardwareException {
         log.info("moduleStop called with id: {}", id);
@@ -36,10 +37,10 @@ public class LeisaiServoDriver {
         return packet.getContentI32(0);
     }
 
-    public Boolean readIoState(LeisaiServoMId id, Integer io_index) throws HardwareException {
+    public Integer readIoState(LeisaiServoMId id, Integer io_index) throws HardwareException {
         log.info("readIoState called with id: {}, io_index: {}", id, io_index);
         A8kPacket packet = canBus.callcmd(id.mid, CmdId.leisai_servo_read_io_state, io_index);
-        return packet.getContentI32(0)  != 0;
+        return packet.getContentI32(0);
     }
 
     public void moveTo(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer pos) throws HardwareException {
@@ -62,6 +63,11 @@ public class LeisaiServoDriver {
         canBus.callcmd(id.mid, CmdId.leisai_servo_move_to_zero);
     }
 
+    public void setReg(LeisaiServoMId id, LeisaiRegIndex regindex, int val) throws HardwareException {
+        log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val);
+        canBus.moduleSetReg(id.mid, regindex.regIndex, val);
+    }
+
     // ====== ===== ====== ===== ====== ===== Block ====== ===== ====== ===== ====== =====
     public void moveToBlock(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer pos) throws HardwareException {
         log.info("moveToBlock called with id: {}, speedLevel: {}, pos: {}", id, speedLevel, pos);
@@ -85,14 +91,20 @@ public class LeisaiServoDriver {
         canBus.waitForMod(id.mid, overtime);
     }
 
-    public void setReg(LeisaiServoMId id, LeisaiRegIndex regindex, int val) throws HardwareException {
-        log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val);
-        canBus.moduleSetReg(id.mid, regindex.regIndex, val);
-    }
-
 
     public Integer getReg(LeisaiServoMId id, LeisaiRegIndex regindex) throws HardwareException {
         log.info("getReg called with id: {}, regindex: {}", id, regindex);
         return canBus.moduleGetReg(id.mid, regindex.regIndex);
     }
+
+    public Object getAllReg(LeisaiServoMId id) throws HardwareException {
+        log.info("getAllReg called with id: {}", id);
+        ObjectNode node = ZJsonHelper.createObjectNode();
+        for (LeisaiRegIndex regIndex : LeisaiRegIndex.values()) {
+            Integer regVal = getReg(id, regIndex);
+            log.info("read reg {} -> {}", regIndex, regVal);
+            node.put(regIndex.name(), getReg(id, regIndex));
+        }
+        return node;
+    }
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/LiquidDistributionArmDriver.java

@@ -1,54 +1,34 @@
 package com.iflytop.colortitration.hardware.drivers;
 
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
 import com.iflytop.colortitration.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
 import com.iflytop.colortitration.hardware.type.CmdId;
 import com.iflytop.colortitration.hardware.type.Servo.LiquidArmMId;
 import com.iflytop.colortitration.hardware.type.Servo.LiquidArmRegIndex;
+import com.iflytop.colortitration.hardware.utils.ZJsonHelper;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-/**
- * 加液臂接口
- */
 @Component
 @Slf4j
 @RequiredArgsConstructor
 public class LiquidDistributionArmDriver {
-    private final ActionOvertimeConstant actionOvertimeConstant;
     final private A8kCanBusService canBus;
-    /**
-     * 使能
-     * @param id
-     * @param enable
-     * @throws HardwareException
-     */
+    private final ActionOvertimeConstant actionOvertimeConstant;
+
     public void liquidDistributionArmEnable(LiquidArmMId id, int enable) throws HardwareException {
         log.info("liquidDistributionArmEnable called with id: {}, enable: {}", id, enable);
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_enable, enable);
     }
 
-    /**
-     * 移动到指定试管架
-     * @param id
-     * @param index
-     * @throws HardwareException
-     */
     public void liquidDistributionArmMoveTo(LiquidArmMId id, int index) throws HardwareException {
         log.info("liquidDistributionArmMoveTo called with id: {}, index: {}", id, index);
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_move_to, index);
     }
 
-    public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException {
-        liquidDistributionArmMoveTo(id,index);
-        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.liquid_distribution_arm_move_to));
-    }
-    public void waitForMod(LiquidArmMId id, Integer overtime) throws HardwareException {
-        canBus.waitForMod(id.mid, overtime);
-    }
-
     public int liquidDistributionReadPos(LiquidArmMId id) throws HardwareException {
         log.info("liquidDistributionReadPos called with id: {}", id);
         var packet = canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_read_pos);
@@ -65,16 +45,22 @@ public class LiquidDistributionArmDriver {
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_set_cur_pos_as_mid_pos);
     }
 
-    /**
-     * 停止
-     * @param id
-     * @throws HardwareException
-     */
     public void moduleStop(LiquidArmMId id) throws HardwareException {
         log.info("moduleStop called with id: {}", id);
         canBus.moduleStop(id.mid);
     }
 
+    // ====== ===== ====== ===== ====== ===== Block ====== ===== ====== ===== ====== =====
+    public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException {
+        liquidDistributionArmMoveTo(id, index);
+        waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.liquid_distribution_arm_move_to));
+    }
+
+
+    public void waitForMod(LiquidArmMId id, Integer overtime) throws HardwareException {
+        canBus.waitForMod(id.mid, overtime);
+    }
+
     public void setReg(LiquidArmMId id, LiquidArmRegIndex regindex, int val) throws HardwareException {
         log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val);
         canBus.moduleSetReg(id.mid, regindex.regIndex, val);
@@ -85,14 +71,14 @@ public class LiquidDistributionArmDriver {
         return canBus.moduleGetReg(id.mid, regindex.regIndex);
     }
 
-//    public Object getAllReg(LiquidArmMId id) throws HardwareException {
-//        log.info("getAllReg called with id: {}", id);
-//        ObjectNode node = ZJsonHelper.createObjectNode();
-//        for (LiquidArmRegIndex regIndex : LiquidArmRegIndex.values()) {
-//            Integer regVal = getReg(id, regIndex);
-//            log.info("read reg {} -> {}", regIndex, regVal);
-//            node.put(regIndex.name(), getReg(id, regIndex));
-//        }
-//        return node;
-//    }
+    public Object getAllReg(LiquidArmMId id) throws HardwareException {
+        log.info("getAllReg called with id: {}", id);
+        ObjectNode node = ZJsonHelper.createObjectNode();
+        for (LiquidArmRegIndex regIndex : LiquidArmRegIndex.values()) {
+            Integer regVal = getReg(id, regIndex);
+            log.info("read reg {} -> {}", regIndex, regVal);
+            node.put(regIndex.name(), getReg(id, regIndex));
+        }
+        return node;
+    }
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/MiniServoDriver.java → src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver.java

@@ -1,14 +1,17 @@
-package com.iflytop.colortitration.hardware.drivers.MiniServoDriver;
+package com.iflytop.colortitration.hardware.drivers;
+
 
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
-import com.iflytop.colortitration.hardware.constants.MiniServoConstant;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
+import com.iflytop.colortitration.hardware.type.A8kPacket;
 import com.iflytop.colortitration.hardware.type.CmdId;
+import com.iflytop.colortitration.hardware.type.MId;
 import com.iflytop.colortitration.hardware.type.RegIndex;
 import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
 import com.iflytop.colortitration.hardware.type.Servo.MiniServoRegIndex;
 import com.iflytop.colortitration.hardware.type.error.A8kEcode;
 import com.iflytop.colortitration.hardware.type.error.AEHardwareError;
+import com.iflytop.colortitration.hardware.utils.OS;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -19,6 +22,8 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 public class MiniServoDriver {
 	final private A8kCanBusService canBus;
+	static public final Integer          actionOvertime = 10000;
+
 
 	public void moduleStop(MiniServoMId id) throws HardwareException {
 		canBus.moduleStop(id.mid);
@@ -26,7 +31,7 @@ public class MiniServoDriver {
 
 	public void miniServoEnable(MiniServoMId id, int enable) throws HardwareException {
 		log.debug("{} miniServoEnable {}", id.mid, enable);
-		canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable);
+		callcmd(id.mid, CmdId.mini_servo_enable, enable);
 	}
 
 	public void miniServoForceEnable(MiniServoMId id, int enable) {
@@ -47,66 +52,73 @@ public class MiniServoDriver {
 	}
 
 	public int miniServoReadPos(MiniServoMId id) throws HardwareException {
-		var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos);
+		var packet = callcmd(id.mid, CmdId.mini_servo_read_pos);
 		return packet.getContentI32(0);
 	}
 
-	public void miniServoMoveToZeroBlock(MiniServoMId id) throws HardwareException {
-		log.debug("{} miniServoMoveToZeroBlock", id.mid);
-		miniServoMoveToBlock(id, MiniServoConstant.getZeroPos(id));
+
+	private void miniServoMoveTo(MiniServoMId id, int pos) throws HardwareException {
+		callcmd(id.mid, CmdId.mini_servo_move_to, pos);
 	}
 
-	public void miniServoMoveToZero(MiniServoMId id) throws HardwareException {
-		log.debug("{} miniServoMoveToZero", id.mid);
-		miniServoMoveTo(id, MiniServoConstant.getZeroPos(id));
+	public void miniServoMoveToBlock(MiniServoMId id, int pos) throws HardwareException {
+		log.debug("{} miniServoMoveTo {}", id.mid, pos);
+		int retry = 0;
+		do {
+			try {
+				miniServoMoveTo(id, pos);
+				canBus.waitForMod(id.mid, actionOvertime);
+				return;
+			} catch (HardwareException e) {
+				if (e.getError().code.equals(A8kEcode.LOW_ERROR_SUBDEVICE_OVERTIME)) {
+					log.warn("CALL miniServoMoveToBlock {} FAIL, SUB DEVICE OVERTIME", id);
+					if (retry > 3) {
+						throw e;
+					}
+				} else {
+					throw e;
+				}
+			}
+			OS.hsleep(1000);
+			retry++;
+		} while (true);
 	}
 
 
+	public void miniServoRotate(MiniServoMId id, int direction) throws HardwareException {
+		log.debug("{} miniServoRotate {}", id.mid, direction);
+		callcmd(id.mid, CmdId.mini_servo_rotate, direction);
+	}
+
 	public void miniServoActiveCfg(MiniServoMId id) throws HardwareException {
-		canBus.callcmd(id.mid, CmdId.mini_servo_active_cfg);
+		callcmd(id.mid, CmdId.mini_servo_active_cfg);
 	}
 
 	public void miniServoStop(MiniServoMId id) throws HardwareException {
-		canBus.callcmd(id.mid, CmdId.mini_servo_stop);
+		callcmd(id.mid, CmdId.mini_servo_stop);
 	}
 
 	public void miniServoSetMidPoint(MiniServoMId id) throws HardwareException {
-		canBus.callcmd(id.mid, CmdId.mini_servo_set_mid_point);
+		callcmd(id.mid, CmdId.mini_servo_set_mid_point);
 	}
 
 	public int miniServoReadIoState(MiniServoMId id) throws HardwareException {
-		var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_io_state);
+		var packet = callcmd(id.mid, CmdId.mini_servo_read_io_state);
 		return packet.getContentI32(0);
 	}
 
-	public void miniServoMoveTo(MiniServoMId id, int pos) throws HardwareException {
-		canBus.callcmd(id.mid, CmdId.mini_servo_move_to, pos);
-	}
-
-	public void miniServoMoveToBlock(MiniServoMId id, int pos) throws HardwareException {
-		log.debug("{} miniServoMoveTo {}", id.mid, pos);
-		miniServoMoveTo(id, pos);
-		canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime);
-	}
-
-
-	public void miniServoRotate(MiniServoMId id, int direction) throws HardwareException {
-		log.debug("{} miniServoRotate {}", id.mid, direction);
-		canBus.callcmd(id.mid, CmdId.mini_servo_rotate, direction);
-	}
-
 	public void miniServoRotateBlock(MiniServoMId id, int direction) throws HardwareException {
 		miniServoRotate(id, direction);
-		canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime);
+		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
 	public void miniServoRotateWithTorque(MiniServoMId id, int torque) throws HardwareException {
 		log.debug("{} miniServoRotateWithTorque {}", id.mid, torque);
-		canBus.callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque);
+		callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque);
 	}
 
 	public void waitForMod(MiniServoMId mid) throws HardwareException {
-		canBus.waitForMod(mid.mid, MiniServoConstant.actionOvertime);
+		canBus.waitForMod(mid.mid, actionOvertime);
 	}
 
 	public void waitForMod(MiniServoMId... mid) throws HardwareException {
@@ -119,13 +131,10 @@ public class MiniServoDriver {
 	//	kmini_servo_set_cur_pos
 	private void miniServoSetCurPos(MiniServoMId id, Integer pos) throws HardwareException {
 		log.debug("{} miniServoSetCurPos {}", id.mid, pos);
-		canBus.callcmd2(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos);
+		callcmd2(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos);
 	}
 
-	public Integer miniServoSetRefPos(MiniServoMId id) throws HardwareException {
-		miniServoSetCurPos(id, MiniServoConstant.getRefPos(id));
-		return MiniServoConstant.getRefPos(id);
-	}
+
 
 	public void setReg(MiniServoMId id, MiniServoRegIndex regindex, int val) throws HardwareException {
 		log.debug("{} setReg {} {}", id.mid, regindex, val);
@@ -159,4 +168,46 @@ public class MiniServoDriver {
 
 		} while (true);
 	}
+
+	private A8kPacket callcmd(MId id, CmdId cmdId, Integer... args) throws HardwareException {
+		int retry = 0;
+		do {
+			try {
+				return canBus.callcmd(id, cmdId, args);
+			} catch (HardwareException e) {
+				if (e.getError().code.equals(A8kEcode.LOW_ERROR_SUBDEVICE_OVERTIME)) {
+					log.warn("CALL CMD {} FAIL, SUB DEVICE OVERTIME", cmdId);
+					if (retry > 3) {
+						throw e;
+					}
+				} else {
+					throw e;
+				}
+			}
+			OS.hsleep(1000);
+			retry++;
+		} while (true);
+	}
+
+	private A8kPacket callcmd2(MId id, CmdId cmdId, Integer timeout, Integer... args) throws HardwareException {
+		int retry = 0;
+		do {
+			try {
+				return canBus.callcmd2(id, cmdId, timeout, args);
+			} catch (HardwareException e) {
+				if (e.getError().code.equals(A8kEcode.LOW_ERROR_SUBDEVICE_OVERTIME)) {
+					log.warn("CALL CMD2 {} FAIL, SUB DEVICE OVERTIME", cmdId);
+					if (retry > 3) {
+						throw e;
+					}
+				} else {
+					throw e;
+				}
+			}
+			OS.hsleep(1000);
+			retry++;
+		} while (true);
+	}
+
+
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/ClawDriver.java

@@ -1,110 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.MiniServoDriver;
-
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
-import com.iflytop.colortitration.hardware.utils.Math.ServoPositionConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class ClawDriver {
-    private static final double MIN_DISTANCE = 34.0;
-    private static final double MAX_DISTANCE = 54.0;
-
-    private static double MIN_SERVO_POSITION = 2048;
-    private static double MAX_SERVO_POSITION = 3000;
-
-    private final MiniServoDriver miniServoDriver;
-
-    private double speed_ = 10.0;         // mm/s
-
-    // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ====
-    /**
-     * 将距离转换为舵机位置
-     * @param distance 距离值，范围在 MIN_DISTANCE 到 MAX_DISTANCE 之间
-     * @return 对应的舵机位置，范围在 MIN_SERVO_POSITION 到 MAX_SERVO_POSITION 之间
-     */
-    public static double distanceToServoPosition(double distance) {
-        if (distance < MIN_DISTANCE) {
-            distance = MIN_DISTANCE;
-        } else if (distance > MAX_DISTANCE) {
-            distance = MAX_DISTANCE;
-        }
-        return MIN_SERVO_POSITION + (distance - MIN_DISTANCE) * (MAX_SERVO_POSITION - MIN_SERVO_POSITION) / (MAX_DISTANCE - MIN_DISTANCE);
-    }
-
-    /**
-     * 将舵机位置转换为距离
-     * @param servoPosition 舵机位置值，范围在 MIN_SERVO_POSITION 到 MAX_SERVO_POSITION 之间
-     * @return 对应的距离，范围在 MIN_DISTANCE 到 MAX_DISTANCE 之间
-     */
-    public static double servoPositionToDistance(double servoPosition) {
-        if (servoPosition < MIN_SERVO_POSITION) {
-            servoPosition = MIN_SERVO_POSITION;
-        } else if (servoPosition > MAX_SERVO_POSITION) {
-            servoPosition = MAX_SERVO_POSITION;
-        }
-        return MIN_DISTANCE + (servoPosition - MIN_SERVO_POSITION) * (MAX_DISTANCE - MIN_DISTANCE) / (MAX_SERVO_POSITION - MIN_SERVO_POSITION);
-    }
-
-
-    private int toServoPosition(double position) {
-        int servoPosition = 0;
-        servoPosition = (int)distanceToServoPosition(position);
-        servoPosition = (int) ServoPositionConverter.convert4096To3600(servoPosition);
-        return servoPosition;
-    }
-
-    private int toServoSpeed(double speed) {
-        int servoSpeed = 0;
-        servoSpeed = (int)speed;
-        return servoSpeed;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(MiniServoMId servoMid)
-    {
-        // TODO: 从数据库中获取门的速度
-        return speed_;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(MiniServoMId servoMid, double speed) {
-        log.info("[ {} ] Setting speed to {}", servoMid.mid.getDescription(), speed);
-        // 检查速度是否合法
-        speed_ = speed;
-        // TODO: 写入数据库
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void moveToHome(MiniServoMId servoMid) throws HardwareException
-    {
-        log.info("[ {} ] moveToHome", servoMid.mid.getDescription());
-
-        this.moveTo(servoMid, MIN_DISTANCE);
-    }
-
-    public void moveTo(MiniServoMId servoMid, double position) throws HardwareException
-    {
-        // 检查位置是否合法
-        if (position < MIN_DISTANCE || position > MAX_DISTANCE) {
-            log.error("[ {} ] Position is out of range", servoMid.mid.getDescription());
-            throw new InvalidParameterException("Position is out of range");
-        }
-        miniServoDriver.miniServoEnable(servoMid, 1);
-        int servoPosition = toServoPosition(position);
-        log.info("[ {} ] moveTo {}, servo position {} ...", servoMid, position, servoPosition);
-        miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition);
-        log.info("[ {} ] moveTo {}, servo position {} end", servoMid, position, servoPosition);
-    }
-
-    public void stop(MiniServoMId servoMid) throws HardwareException {
-        log.info("[ {} ] stop", servoMid.mid.getDescription());
-        miniServoDriver.miniServoStop(servoMid);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/DualRobotDriver.java

@@ -1,180 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.MiniServoDriver;
-
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.awt.geom.Point2D;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class DualRobotDriver {
-    public enum Joint {
-        JOINT_1,
-        JOINT_2
-    }
-
-    // 舵机角度范围常量（度）
-    public static final double MIN_ANGLE_DEG = -180.0;
-    public static final double MAX_ANGLE_DEG = 180.0;
-
-    // 舵机位置值范围常量
-    public static final int MIN_SERVO_POSITION = 0;
-    public static final int MAX_SERVO_POSITION = 3600;
-
-    private final MiniServoDriver miniServoDriver;
-
-    private double speed_ = 10.0;         // mm/s
-
-    // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ====
-
-    /**
-     * 将舵机角度（-180 到 180 度）转换为位置值（0 - 4096）
-     * @param angle 舵机角度，范围在 -180 到 180 度之间
-     * @return 对应的位置值，范围在 0 到 4096 之间
-     * @throws IllegalArgumentException 如果输入角度超出范围
-     */
-    public static int angleToServoPosition(double angle) {
-        if (angle < MIN_ANGLE_DEG || angle > MAX_ANGLE_DEG) {
-            throw new IllegalArgumentException("角度必须在 " + MIN_ANGLE_DEG + " 到 " + MAX_ANGLE_DEG + " 度之间");
-        }
-
-        // 线性映射公式：position = minPos + (angle - minAngle) * (maxPos - minPos) / (maxAngle - minAngle)
-        return (int) Math.round(
-                MIN_SERVO_POSITION +
-                        (angle - MIN_ANGLE_DEG) *
-                                (MAX_SERVO_POSITION - MIN_SERVO_POSITION) /
-                                (MAX_ANGLE_DEG - MIN_ANGLE_DEG)
-        );
-    }
-
-    /**
-     * 将位置值（0 - 4096）转换为舵机角度（-180 到 180 度）
-     * @param servoPosition 设置值，范围在 0 到 4096 之间
-     * @return 对应的舵机角度，范围在 -180 到 180 度之间
-     * @throws IllegalArgumentException 如果输入位置值超出范围
-     */
-    public static double servoPositionToAngle(int servoPosition) {
-        if (servoPosition < MIN_SERVO_POSITION || servoPosition > MAX_SERVO_POSITION) {
-            throw new IllegalArgumentException("位置值必须在 " + MIN_SERVO_POSITION + " 到 " + MAX_SERVO_POSITION + " 之间");
-        }
-
-        // 线性映射公式：angle = minAngle + (position - minPos) * (maxAngle - minAngle) / (maxPos - minPos)
-        return MIN_ANGLE_DEG +
-                (servoPosition - MIN_SERVO_POSITION) *
-                        (MAX_ANGLE_DEG - MIN_ANGLE_DEG) /
-                        (MAX_SERVO_POSITION - MIN_SERVO_POSITION);
-    }
-
-
-    private int toServoPosition(double angle) {
-        int servoPosition = angleToServoPosition(angle);
-        return servoPosition;
-    }
-
-    private double toAngle(Integer position)
-    {
-        double angle = servoPositionToAngle(position);
-        return angle;
-    }
-
-    private Point2D toServoPosition(Point2D point) {
-        Point2D servoPosition = new Point2D.Double(0, 0);
-        servoPosition.setLocation(point.getX(), point.getY());
-        return servoPosition;
-    }
-
-    private int toServoSpeed(double speed) {
-        int servoSpeed = 0;
-        servoSpeed = (int)speed;
-        return servoSpeed;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(MiniServoMId servoMid)
-    {
-        // TODO: 从数据库中获取门的速度
-        return speed_;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(MiniServoMId servoMid, double speed) {
-        // 检查速度是否合法
-        speed_ = speed;
-        // TODO: 写入数据库
-    }
-
-    public MiniServoMId getMiniServoMId(Joint joint) {
-        switch (joint) {
-            case JOINT_1:
-                return MiniServoMId.DUAL_ROBOT_AXIS1_MID;
-            case JOINT_2:
-                return MiniServoMId.DUAL_ROBOT_AXIS2_MID;
-            default:
-                return null;
-        }
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void servoEnable(MiniServoMId servoMId, boolean enable) throws HardwareException
-    {
-        miniServoDriver.miniServoEnable(servoMId, enable ? 1 : 0);
-    }
-
-    public void moveToHome(MiniServoMId servoMid) throws HardwareException
-    {
-        log.info("Servo {} Move To Home", servoMid.mid.getDescription());
-        this.servoEnable(servoMid, true);
-    }
-
-    public void moveJointTo(MiniServoMId servoMid, double position) throws HardwareException
-    {
-        // 检查位置是否合法
-        Integer servoPosition = toServoPosition(position);
-        log.info("Servo {} Move To position {}, Servo Position {}", servoMid.mid.getDescription(), position, servoPosition);
-        this.servoEnable(servoMid, true);
-        miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition);
-    }
-
-    public void stop(MiniServoMId servoMid) throws HardwareException {
-        log.info("Servo {} Stop", servoMid.mid.getDescription());
-        miniServoDriver.miniServoStop(servoMid);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Application ==== ==== ==== ==== ==== ====
-
-    public void setSpeed(Joint joint, double speed) throws HardwareException {
-        MiniServoMId servoMId = getMiniServoMId(joint);
-        setSpeed(servoMId, speed);
-        log.info("Set speed for {} to {}", joint, speed);
-    }
-
-    public void moveToPoint(double pointX, double pointY) throws HardwareException {
-//        Point2D point = getServoPosition(new Point2D.Double(pointX, pointY));
-//
-//        miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS1_MID, (int)point.getX());
-//        miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS2_MID, (int)point.getY());
-    }
-
-    public void moveToHome(Joint joint) throws HardwareException {
-        MiniServoMId servoMId = getMiniServoMId(joint);
-        log.info("Servo {} Move To Home", servoMId.mid.getDescription());
-        moveToHome(servoMId);
-    }
-
-    public void moveJointTo(Joint joint, double position) throws HardwareException {
-        MiniServoMId servoMId = getMiniServoMId(joint);
-        log.info("Servo {} Move To position {}", servoMId.mid.getDescription(), position);
-        moveJointTo(servoMId, position);
-    }
-
-    public void stop(Joint joint) throws HardwareException {
-        MiniServoMId servoMId = getMiniServoMId(joint);
-        log.info("Servo {} Stop", servoMId.mid.getDescription());
-        stop(servoMId);
-    }
-
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/ModuleEnableCtrlDriver.java

@@ -1,8 +1,6 @@
 package com.iflytop.colortitration.hardware.drivers;
 
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.MiniServoDriver;
-import com.iflytop.colortitration.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
 import com.iflytop.colortitration.hardware.type.Servo.MiniServoMId;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
@@ -16,7 +14,7 @@ import org.springframework.stereotype.Component;
 public class ModuleEnableCtrlDriver {
 
 	private final StepMotorCtrlDriver stepMotorCtrlDriver;
-	private final MiniServoDriver miniServoDriver;
+	private final MiniServoDriver     miniServoDriver;
 	private final A8kCanBusService canBus;
 
 	public void forceDisableAllMotor() {
@@ -36,6 +34,8 @@ public class ModuleEnableCtrlDriver {
 				log.info("disableMiniServo: {} failed, {}", miniServoMId, e.getMessage());
 			}
 		}
+
+
 	}
 
 	public void disableAllModule() throws HardwareException {

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/DoorDriver.java → src/main/java/com/iflytop/colortitration/hardware/drivers/MotorWrapperDriver.java

@@ -1,7 +1,8 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
+package com.iflytop.colortitration.hardware.drivers;
 
 import com.iflytop.colortitration.hardware.config.StepMotorConfig;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
+import com.iflytop.colortitration.hardware.type.StepMotor.MotorDirect;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
 import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
@@ -14,7 +15,7 @@ import java.security.InvalidParameterException;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-public class DoorDriver{
+public class MotorWrapperDriver {
     private final StepMotorConfig config_;
     private final StepMotorCtrlDriver stepMotorCtrlDriver_;
 
@@ -29,23 +30,37 @@ public class DoorDriver{
     public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
         // 检查速度是否合法
         // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
+        int motorSpeed = (int) Math.abs(speed); // 转换速度为整数
         stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
     }
 
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception {
+    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws HardwareException {
         Integer i_enable = enable ? 1 : 0;
         stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
     }
 
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception {
+    public void openClamp(StepMotorMId stepMotorMId) throws HardwareException
+    {
+        log.info("Motor {} Open Clamp", stepMotorMId.mid.getDescription());
+        motorEnable(stepMotorMId, true);
+        stepMotorCtrlDriver_.stepMotorOpenClamp(stepMotorMId);
+    }
+
+    public void closeClamp(StepMotorMId stepMotorMId) throws HardwareException
+    {
+        log.info("Motor {} Close Clamp", stepMotorMId.mid.getDescription());
+        motorEnable(stepMotorMId, true);
+        stepMotorCtrlDriver_.stepMotorCloseClamp(stepMotorMId);
+    }
+
+    public void moveToHome(StepMotorMId stepMotorMId) throws HardwareException {
         log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
         motorEnable(stepMotorMId, true);
         stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
     }
 
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
+    public void moveTo(StepMotorMId stepMotorMId, double position) throws HardwareException {
         // 检查位置是否合法
         if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) {
             log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId));
@@ -58,7 +73,7 @@ public class DoorDriver{
         stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
     }
 
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
+    public void moveBy(StepMotorMId stepMotorMId, double distance) throws HardwareException {
         // 检查位置是否合法
         if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) {
             log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId));
@@ -71,14 +86,20 @@ public class DoorDriver{
         stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
+    public void rotate(StepMotorMId stepMotorMId, MotorDirect direct) throws Exception
+    {
+        motorEnable(stepMotorMId, true);
+        stepMotorCtrlDriver_.stepMotorEasyRotate(stepMotorMId, direct.getValue());
+    }
+
+    public void stop(StepMotorMId stepMotorMId) throws HardwareException {
         log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
         stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
         motorEnable(stepMotorMId, true);
     }
 
-    public void moveToEnd(StepMotorMId stepMotorMId) throws Exception {
+    public void moveToEnd(StepMotorMId stepMotorMId) throws HardwareException {
         log.info("Motor {} Move To End", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorEasyMoveToEndPointBlock(stepMotorMId);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToEndPoint(stepMotorMId);
     }
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/OutputIOCtrlDriver.java → src/main/java/com/iflytop/colortitration/hardware/drivers/OutputIOCtrlDriver.java

@@ -1,4 +1,4 @@
-package com.iflytop.colortitration.hardware.drivers.DODriver;
+package com.iflytop.colortitration.hardware.drivers;
 
 
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
@@ -11,20 +11,26 @@ import org.springframework.stereotype.Component;
 @Component
 @RequiredArgsConstructor
 public class OutputIOCtrlDriver {
-
 	private final A8kCanBusService canBus;
 
 	public void setIOState(OutputIOMId IOOutput, Boolean state) throws HardwareException {
 		canBus.callcmd(IOOutput.mid, CmdId.write_out_io, IOOutput.ioIndex, state ? 1 : 0);
 	}
 
-	public void open(OutputIOMId IOOutput) throws HardwareException
-	{
+	public boolean getIOState(OutputIOMId IOOutput) throws HardwareException {
+		 boolean isOpen = canBus.callcmd(IOOutput.mid, CmdId.read_out_io, IOOutput.ioIndex).getContentI32(0) != 0;
+		 if(IOOutput.mirror)
+		 {
+			 isOpen = !isOpen;
+		 }
+		 return isOpen;
+	}
+
+	public void open(OutputIOMId IOOutput) throws HardwareException {
 		this.setIOState(IOOutput, true);
 	}
 
-	public void close(OutputIOMId IOOutput) throws HardwareException
-	{
+	public void close(OutputIOMId IOOutput) throws HardwareException {
 		this.setIOState(IOOutput, false);
 	}
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java → src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorCtrlDriver.java

@@ -1,21 +1,21 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
+package com.iflytop.colortitration.hardware.drivers;
 
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService;
 import com.iflytop.colortitration.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
 import com.iflytop.colortitration.hardware.type.A8kPacket;
 import com.iflytop.colortitration.hardware.type.CmdId;
+import com.iflytop.colortitration.hardware.type.ModuleStatus;
 import com.iflytop.colortitration.hardware.type.RegIndex;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorSpeedLevel;
+import com.iflytop.colortitration.hardware.utils.ZJsonHelper;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;
 
-import java.util.HashMap;
-import java.util.Map;
-
 @Component
 @RequiredArgsConstructor
 public class StepMotorCtrlDriver {
@@ -53,6 +53,14 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(mid.mid, CmdId.step_motor_enable, enable);
 	}
 
+	public void stepMotorOpenClamp(StepMotorMId id) throws HardwareException {
+		canBus.callcmd(id.mid, CmdId.step_motor_set_clamp, 1);
+	}
+
+	public void stepMotorCloseClamp(StepMotorMId id) throws HardwareException {
+		canBus.callcmd(id.mid, CmdId.step_motor_set_clamp, 0);
+	}
+
 	public Integer stepMotorReadPos(StepMotorMId id) throws HardwareException {
 		A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_pos);
 		return packet.getContentI32(0);
@@ -94,6 +102,7 @@ public class StepMotorCtrlDriver {
 		stepMotorEasyMoveToZeroBlock(id);
 		Integer nowpos     = stepMotorReadPos(id);
 		Integer measurepos = -canBus.moduleGetReg(id.mid, RegIndex.kreg_step_motor_dpos) + nowpos;
+		stepMotorEnable(id, 0);
 		return measurepos;
 	}
 
@@ -106,6 +115,12 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.step_motor_stop, 0);
 	}
 
+
+	//	step_motor_move_by(0x021d, "STEP_MOTOR_MOVE_BY"),  // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	//	step_motor_move_to(0x021e, "STEP_MOTOR_MOVE_TO"),  // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	//	step_motor_move_to_zero_point_quick(0x021f, "STEP_MOTOR_MOVE_TO_ZERO_POINT_QUICK"),  // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+	//	step_motor_rotate(0x0220, "STEP_MOTOR_ROTATE"),  //
+
 	public void moveByBlock(StepMotorMId id, Integer dpos, StepMotorSpeedLevel speedLevel) throws HardwareException {
 		canBus.callcmd(id.mid, CmdId.step_motor_move_by, dpos, speedLevel.ordinal());
 		waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_by));
@@ -161,23 +176,17 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.module_reset_reg);
 	}
 
-//	public Object getAllReg(StepMotorMId id) throws HardwareException {
-//		ObjectNode node = ZJsonHelper.createObjectNode();
-//		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
-//			Integer regVal = getReg(id, regIndex);
-//			logger.debug("read reg {} -> {}", regIndex, regVal);
-//			node.put(regIndex.name(), getReg(id, regIndex));
-//		}
-//		return node;
-//	}
+	public ModuleStatus readStatus(StepMotorMId id) throws HardwareException {
+		return canBus.moduleGetStatus(id.mid);
+	}
 
-	public Map<String, Integer> getAllReg(StepMotorMId id) throws HardwareException {
-		Map<String, Integer> map = new HashMap<String, Integer>();
+	public Object getAllReg(StepMotorMId id) throws HardwareException {
+		ObjectNode node = ZJsonHelper.createObjectNode();
 		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
 			Integer regVal = getReg(id, regIndex);
 			logger.debug("read reg {} -> {}", regIndex, regVal);
-			map.put(regIndex.name(), regVal);
+			node.put(regIndex.name(), getReg(id, regIndex));
 		}
-		return map;
+		return node;
 	}
 }

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/AcidPumpDriver.java

@@ -1,101 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
-
-import com.iflytop.colortitration.hardware.config.StepMotorConfig;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorDirect;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class AcidPumpDriver {
-    private final StepMotorConfig config_;
-    private final StepMotorCtrlDriver stepMotorCtrlDriver_;
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(StepMotorMId stepMotorMId)
-    {
-        // TODO: 从单片机中获取速度
-        return 0.0;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
-        // 检查速度是否合法
-        // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
-        log.info("Motor {} speed set to {}, motorSpeed {}", stepMotorMId.mid.getDescription(), speed, motorSpeed);
-        stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception
-    {
-        Integer i_enable = enable ? 1 : 0;
-        stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
-    }
-
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception
-    {
-        log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
-        motorEnable(stepMotorMId, false);
-    }
-
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
-    {
-        // 检查位置是否合法
-        if (Math.abs(position)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move To position out of range, position {} , limit {}", stepMotorMId.mid.getDescription(), position , config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("position is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(position);
-        log.info("Motor {} Move To position {}, Motor Positon {}", stepMotorMId.mid.getDescription(), position,  motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
-        motorEnable(stepMotorMId, false);
-    }
-
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
-    {
-        // 检查位置是否合法
-
-        if (Math.abs(distance)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move By position out of range, position {} , limit {}", stepMotorMId.mid.getDescription(), distance , config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("Distance is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(distance);
-        log.info("Motor {} Move By position {}, Motor Positon {}", stepMotorMId.mid.getDescription(), distance,  motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
-        motorEnable(stepMotorMId, false);
-    }
-
-    /**
-     * 正转加液 反转排液
-     * @param stepMotorMId
-     * @param direct
-     * @throws Exception
-     */
-    public void rotate(StepMotorMId stepMotorMId, StepMotorDirect direct) throws Exception
-    {
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyRotate(stepMotorMId, direct.getValue());
-    }
-
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
-        motorEnable(stepMotorMId, true);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HBotDriver.java

@@ -1,100 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
-
-import com.iflytop.colortitration.hardware.config.StepMotorConfig;
-import com.iflytop.colortitration.hardware.drivers.DODriver.OutputIOCtrlDriver;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class HBotDriver {
-    private final StepMotorConfig config_;
-    private final OutputIOCtrlDriver doDriver_;
-    private final StepMotorCtrlDriver stepMotorCtrlDriver_;
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(StepMotorMId stepMotorMId)
-    {
-        // TODO: 从单片机中获取速度
-        return 0.0;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
-        // 检查速度是否合法
-        // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
-        stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception {
-        Integer i_enable = enable ? 1 : 0;
-        stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
-    }
-
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
-    }
-
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("position is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(position);
-        log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
-    }
-
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("Distance is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(distance);
-        log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
-    }
-
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
-        motorEnable(stepMotorMId, true);
-    }
-
-    // ==== ==== ==== ==== ==== ==== IO Ctrl ==== ==== ==== ==== ====
-    public void openClamp(OutputIOMId iomId) throws Exception
-    {
-        if(iomId == null) {
-            return;
-        }
-        doDriver_.open(iomId);
-    }
-
-    public void closeClamp(OutputIOMId iomId) throws Exception
-    {
-        if(iomId == null) {
-            return;
-        }
-        doDriver_.close(iomId);
-    }
-}
-

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java

@@ -1,79 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
-
-import com.iflytop.colortitration.hardware.config.StepMotorConfig;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class HeaterMotorDriver {
-    private final StepMotorConfig config_;
-    private final StepMotorCtrlDriver stepMotorCtrlDriver_;
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(StepMotorMId stepMotorMId)
-    {
-        // TODO: 从单片机中获取速度
-        return 0.0;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
-        // 检查速度是否合法
-        // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
-        stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception {
-        Integer i_enable = enable ? 1 : 0;
-        stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
-    }
-
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
-    }
-
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(position)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("position is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(position);
-        log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
-    }
-
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(distance)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("Distance is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(distance);
-        log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
-    }
-
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
-        motorEnable(stepMotorMId, true);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java

@@ -1,90 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
-
-import com.iflytop.colortitration.hardware.config.StepMotorConfig;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorDirect;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class ShakeMotorDriver {
-    private final StepMotorConfig config_;
-    private final StepMotorCtrlDriver stepMotorCtrlDriver_;
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(StepMotorMId stepMotorMId)
-    {
-        // TODO: 从单片机中获取速度
-        return 0.0;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
-        // 检查速度是否合法
-        // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
-        stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception {
-        Integer i_enable = enable ? 1 : 0;
-        stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
-    }
-
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
-    }
-
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(position)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("position is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(position);
-        log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
-    }
-
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(distance)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("Distance is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(distance);
-        log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
-    }
-
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
-        motorEnable(stepMotorMId, true);
-    }
-
-    public void startShake(StepMotorMId stepMotorMId, StepMotorDirect direct) throws Exception {
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyRotate(stepMotorMId, direct.getValue());
-    }
-
-    public void stopShake(StepMotorMId stepMotorMId) throws Exception {
-        this.stop(stepMotorMId);
-        this.moveToHome(stepMotorMId);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/TrayMotorDriver.java

@@ -1,98 +0,0 @@
-package com.iflytop.colortitration.hardware.drivers.StepMotorDriver;
-
-import com.iflytop.colortitration.hardware.config.StepMotorConfig;
-import com.iflytop.colortitration.hardware.drivers.DODriver.OutputIOCtrlDriver;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.IO.OutputIOMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
-import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorRegIndex;
-import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.security.InvalidParameterException;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class TrayMotorDriver {
-    private final StepMotorConfig config_;
-    private final OutputIOCtrlDriver doDriver_;
-    private final StepMotorCtrlDriver stepMotorCtrlDriver_;
-
-    // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ====
-    private double getSpeed(StepMotorMId stepMotorMId)
-    {
-        // TODO: 从单片机中获取速度
-        return 0.0;
-    }
-
-    // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ====
-    public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException {
-        // 检查速度是否合法
-        // 设置速度到单片机
-        int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId));
-        stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed);
-    }
-
-    // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception {
-        Integer i_enable = enable ? 1 : 0;
-        stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable);
-    }
-
-    public void moveToHome(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
-        motorEnable(stepMotorMId, true);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
-    }
-
-    public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(position)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("position is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(position);
-        log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
-    }
-
-    public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
-        // 检查位置是否合法
-        if (Math.abs(distance)  > Math.abs(config_.getMaxLimit(stepMotorMId))) {
-            log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId));
-            throw new InvalidParameterException("Distance is out of range");
-        }
-
-        motorEnable(stepMotorMId, true);
-        int motorPosition = StepMotorConverter.toMotorPosition(distance);
-        log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
-        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
-    }
-
-    public void stop(StepMotorMId stepMotorMId) throws Exception {
-        log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
-        stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
-    }
-
-    // ==== ==== ==== ==== ==== ==== IO Ctrl ==== ==== ==== ==== ====
-    public void openClamp(OutputIOMId iomId) throws Exception
-    {
-        if(iomId == null) {
-            return;
-        }
-        doDriver_.open(iomId);
-    }
-
-    public void closeClamp(OutputIOMId iomId) throws Exception
-    {
-        if(iomId == null) {
-            return;
-        }
-        doDriver_.close(iomId);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/drivers/TricolorLightDriver.java

@@ -19,10 +19,12 @@ public class TricolorLightDriver {
     }
 
     public void open(MId mid, Color color) throws HardwareException {
+        log.info("Open TricolorLight driver Color {}", color);
         canBus.callcmd(mid, CmdId.tricolor_light_on, color.ordinal());
     }
 
     public void close(MId mid) throws HardwareException{
+        log.info("Close TricolorLight driver Color");
         canBus.callcmd(mid, CmdId.tricolor_light_off);
     }
 }

src/main/java/com/iflytop/colortitration/hardware/type/CeramicPumpDriverSlaveId.java

@@ -0,0 +1,35 @@
+package com.iflytop.colortitration.hardware.type;
+
+import com.iflytop.colortitration.common.enums.Device;
+
+public enum CeramicPumpDriverSlaveId {
+
+    CERAMIC_PUMP1_ID(Device.CERAMIC_PUMP_1, 0x11),
+    CERAMIC_PUMP2_ID(Device.CERAMIC_PUMP_2, 0x12),
+    ;
+
+    private final Device cmdDevice;
+    private final Integer slaveId;
+
+    CeramicPumpDriverSlaveId(Device cmdDevice, Integer slaveId) {
+        this.cmdDevice = cmdDevice;
+        this.slaveId = slaveId;
+    }
+
+    public Device getCmdDevice() {
+        return cmdDevice;
+    }
+
+    public Integer getSlaveId() {
+        return slaveId;
+    }
+
+    static public CeramicPumpDriverSlaveId getByCmdDevice(Device cmdDevice) {
+        for (CeramicPumpDriverSlaveId value : CeramicPumpDriverSlaveId.values()) {
+            if (value.cmdDevice == cmdDevice) {
+                return value;
+            }
+        }
+        return null;
+    }
+}

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

@@ -53,6 +53,7 @@ public enum CmdId {
     step_motor_get_subdevice_reg(0x023a, "STEP_MOTOR_GET_SUBDEVICE_REG"),//
     step_motor_easy_reciprocating_motion(0x022d, "STEP_MOTOR_EASY_RECIPROCATING_MOTION"),//
     step_motor_easy_move_to_zero_point_quick(0x022e, "STEP_MOTOR_EASY_MOVE_TO_ZERO_POINT_QUICK"),
+    step_motor_set_clamp(0x022f, "STEP_MOTOR_SET_CLAMP"),//
 
 
     mini_servo_enable(0x3601, "MINI_SERVO_ENABLE"),
@@ -96,6 +97,20 @@ public enum CmdId {
     adc_enable_log(0x05301, "ADC_ENABLE_LOG"),
     adc_read_adc(0x05302, "ADC_READ_ADC"),
     adc_read_multi_adc(0x05303, "ADC_READ_MULTI_ADC"),
+
+    // Chime Buzzer
+    chime_buzzer_turn_on_info(0x5601, "CHIME_BUZZER_TURN_ON_INFO"),
+    chime_buzzer_turn_on_alarm(0x5602, "CHIME_BUZZER_TURN_ON_ALARM"),
+    chime_buzzer_turn_off(0x5603, "CHIME_BUZZER_TURN_OFF"),
+
+    // Liquid Valve
+    liquid_valve_read_valve_pos(0x05701, "LIQUID_VALVE_READ_VALVE_POS"),
+    liquid_valve_read_motor_state(0x05702, "LIQUID_VALVE_READ_MOTOR_STATE"),
+    liquid_valve_switch_valve(0x5703, "LIQUID_VALVE_SWITCH_VALVE"),
+    liquid_valve_stop(0x5704, "LIQUID_VALVE_STOP"),
+    liquid_valve_reset(0x5705, "LIQUID_VALVE_RESET"),
+    liquid_valve_home_reset(0x5706, "LIQUID_VALVE_HOME_RESET"),
+    liquid_valve_force_stop(0x5707, "LIQUID_VALVE_FORCE_STOP");
     ;
 
     public final static int    ATTACH_IS_BYTES = 1;

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

@@ -2,24 +2,13 @@ package com.iflytop.colortitration.hardware.type.IO;
 
 import com.iflytop.colortitration.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),
-	DO_FAN5("FAN5", MId.IO1_IO, 4,false),
-	DO_FAN6("FAN6", MId.IO1_IO, 5,false),
-	DO_TRAY_MOTOR_CLAMP("TRAY_MOTOR_CLAMP [ 托盘电机 ] ", MId.IO1_IO, 6,false),
-	DO_HBOTZ_MOTOR_CLAMP("HBOTZ_MOTOR_CLAMP [ 龙门架Z轴 ] ", MId.IO1_IO, 7,false),
-	DO_VACUUM_VALVE3("VACUUM_PUMP_VALVE3 [ 真空阀3 ] ", MId.IO1_IO, 8,false),
-	DO_VACUUM_VALVE4("VACUUM_PUMP_VALVE4 [ 真空阀4 ] ", MId.IO1_IO, 9,false),
-	DO_VACUUM_VALVE5("VACUUM_PUMP_VALVE5 [ 真空阀5 ] ", MId.IO1_IO, 10,false),
-	DO_VACUUM_VALVE6("VACUUM_PUMP_VALVE6 [ 真空阀6 ] ", MId.IO1_IO, 11,false),
-	DO_WATER_PUMP("WATER_PUMP [ 水泵 ] ", MId.IO1_IO, 12,false),
-	DO_VENTILATOR("VENTILATOR [ 风机电源 ]", MId.IO1_IO, 13,false),
-	DO_COLD_TRAP_POWER("COLD_TRAP_POWER[ 冷阱 电源 ]", MId.IO1_IO, 14,false),
-	DO_BEEP("DO_BEEP [ 蜂鸣器 ]", MId.IO1_IO, 16,false),
-	DO_OUT17("DO_OUT17", MId.IO1_IO, 17,false),
+	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),
 	;
 
 	final public String description;
@@ -36,3 +25,4 @@ public enum OutputIOMId {
 	}
 
 }
+

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

@@ -6,64 +6,40 @@ package com.iflytop.colortitration.hardware.type;
 public enum MId {
     NotSet(0, "未设置"),
     IO1Board(5, "台面 IO 板模块"),
-    PWMLight(6, "PWM 灯"),
-    TriColorLight(7, "三色灯"),
-    HBotClawSV(8, "夹爪舵机"),//
-    DualRobotAxis1SV(9, "双轴机械臂1舵机"),
-    DualRobotAxis2SV(10, "双轴机械臂2舵机"),
-    IO1_IO(11, "台面 IO 板模块"),
-    IO1_ADC(12, "台面 ADC 板模块"),
-    LiquidDistributionArm(13, "加液臂"),
-    MainXSV(14, "X轴Leisai舵机"),//
-    MainYSV(15, "Y轴Leisai舵机"),//
-
-//	IO2Board(25, "台下 IO 板模块"),
-
-    DoorBoard(40, "门电机板模块"),//
-    DoorM(41, "门电机"),
-
-    ShakeModBoard(45, "摇匀模组板"),    //
-    ShakeM(46, "加液位摇匀电机"), //
-
-    CapStorageBoard(50, "拍子存放板模块"),     //
-    CapStorageM(51, "拍子存放电机"),          //
-
-    HBotXBoard(65, "X轴板模块"),//
-    HBotXM(66, "X轴电机"),
-    HBotYBoard(70, "Y轴板模块"),//
-    HBotYM(71, "Y轴电机"),
-    HBotZBoard(75, "Z轴板模块"),//
-    HBotZM(76, "Z轴电机"),
-
-    Heater1Board(80, "加热1板模块"),//
-    Heater1M(81, "加热1电机"),
-    Heater2Board(85, "加热2板模块"),//
-    Heater2M(86, "加热2电机"),
-    Heater3Board(90, "加热3板模块"),//
-    Heater3M(91, "加热3电机"),
-    Heater4Board(95, "加热4板模块"),//
-    Heater4M(96, "加热4电机"),
-    Heater5Board(100, "加热5板模块"),//
-    Heater5M(101, "加热5电机"),
-    Heater6Board(105, "加热6板模块"),//
-    Heater6M(106, "加热6电机"),
-
-    AcidPump1Board(110, "加酸泵1板模块"),//
-    AcidPump1M(111, "加酸泵1电机"),
-    AcidPump2Board(115, "加酸泵2板模块"),//
-    AcidPump2M(116, "加酸泵2电机"),
-    AcidPump3Board(120, "加酸泵3板模块"),//
-    AcidPump3M(121, "加酸泵3电机"),
-    AcidPump4Board(125, "加酸泵4板模块"),//
-    AcidPump4M(126, "加酸泵4电机"),
-    AcidPump5Board(130, "加酸泵5板模块"),//
-    AcidPump5M(131, "加酸泵5电机"),
-    AcidPump6Board(135, "加酸泵6板模块"),//
-    AcidPump6M(136, "加酸泵6电机"),
-    AcidPump7Board(140, "加酸泵7板模块"),//
-    AcidPump7M(141, "加酸泵7电机"),
-    AcidPump8Board(145, "加酸泵8板模块"),//
-    AcidPump8M(146, "加酸泵8电机"),
+    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"),
     ;
 
     final public String description;

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

@@ -4,9 +4,7 @@ import com.iflytop.colortitration.hardware.type.MId;
 
 public enum MiniServoMId {
 	NotSet(MId.NotSet),//
-	DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1SV),//
-	DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2SV),
-	CLAW_MID(MId.HBotClawSV)
+	RobotArmClawSV(MId.RobotArmClawSV),
 	;
 
 	final public MId mid;

src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorDirect.java → src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/MotorDirect.java

@@ -1,13 +1,13 @@
 package com.iflytop.colortitration.hardware.type.StepMotor;
 
-public enum StepMotorDirect {
+public enum MotorDirect {
     FORWARD(1),  // 正转
     BACKWARD(0), // 反转
     ;
 
     private final int value;
 
-    StepMotorDirect(int value) {
+    MotorDirect(int value) {
         this.value = value;
     }
 

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

@@ -3,26 +3,26 @@ package com.iflytop.colortitration.hardware.type.StepMotor;
 import com.iflytop.colortitration.hardware.type.MId;
 
 public enum StepMotorMId {
-	DOOR_MOTOR_MID(MId.DoorM),
-	SHAKE_MOTOR_MID(MId.ShakeM),
-	TRAY_MOTOR_MID(MId.CapStorageM),
-	HBOT_X_MOTOR_MID(MId.HBotXM),
-	HBOT_Y_MOTOR_MID(MId.HBotYM),
-	HBOT_Z_MOTOR_MID(MId.HBotZM),
-	HEATER_1_MOTOR_MID(MId.Heater1M),
-	HEATER_2_MOTOR_MID(MId.Heater2M),
-	HEATER_3_MOTOR_MID(MId.Heater3M),
-	HEATER_4_MOTOR_MID(MId.Heater4M),
-	HEATER_5_MOTOR_MID(MId.Heater5M),
-	HEATER_6_MOTOR_MID(MId.Heater6M),
-	ACID_PUMP_1_MOTOR_MID(MId.AcidPump1M),
-	ACID_PUMP_2_MOTOR_MID(MId.AcidPump2M),
-	ACID_PUMP_3_MOTOR_MID(MId.AcidPump3M),
-	ACID_PUMP_4_MOTOR_MID(MId.AcidPump4M),
-	ACID_PUMP_5_MOTOR_MID(MId.AcidPump5M),
-	ACID_PUMP_6_MOTOR_MID(MId.AcidPump6M),
-	ACID_PUMP_7_MOTOR_MID(MId.AcidPump7M),
-	ACID_PUMP_8_MOTOR_MID(MId.AcidPump8M),
+	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)
 	;
 	final public MId mid;
 

src/main/java/com/iflytop/colortitration/hardware/utils/ZJsonHelper.java

@@ -0,0 +1,122 @@
+package com.iflytop.colortitration.hardware.utils;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ObjectNode;
+
+public class ZJsonHelper {
+	public static String objectToJson(Object obj) {
+		ObjectMapper mapper = new ObjectMapper();
+		try {
+			
+			return mapper.writeValueAsString(obj);
+		} catch (Exception e) {
+			throw new RuntimeException(e);
+		}
+	}
+
+	public static String objToPrettyJson(Object obj) {
+		ObjectMapper mapper = new ObjectMapper();
+		try {
+			return mapper.writerWithDefaultPrettyPrinter().writeValueAsString(obj);
+		} catch (Exception e) {
+			throw new RuntimeException(e);
+		}
+	}
+
+	public static ObjectNode createObjectNode() {
+		return new ObjectMapper().createObjectNode();
+	}
+
+	public static ObjectNode readTree(String node) {
+		ObjectMapper mapper = new ObjectMapper();
+		if(node == null) {
+			return null;
+		}
+		if(node.isEmpty()) {
+			return null;
+		}
+		try {
+			return (ObjectNode) mapper.readTree(node);
+		} catch (Exception e) {
+			throw new RuntimeException(e);
+		}
+	}
+	public static <T> T objectFromJson(String node, Class<T> tClass) {
+		return objectFromJson(readTree(node), tClass);
+	}
+
+
+	public static <T> T objectFromJson(ObjectNode node, Class<T> tClass) {
+		ObjectMapper mapper = new ObjectMapper();
+		if (node == null) {
+			return null;
+		}
+
+
+		if (tClass.getTypeName().equals(Integer.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
+			return (T) Integer.valueOf(node.get("value").asInt());
+		}
+		if (tClass.getTypeName().equals(String.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
+			return (T) node.get("value").asText();
+		}
+		if (tClass.getTypeName().equals(Boolean.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
+			return (T) Boolean.valueOf(node.get("value").asBoolean());
+		}
+		if (tClass.getTypeName().equals(Double.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
+			return (T) Double.valueOf(node.get("value").asDouble());
+		}
+		if (tClass.getTypeName().equals(Float.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
+			return (T) Float.valueOf(node.get("value").floatValue());
+		}
+
+		if (tClass.isEnum()) {
+			if (node.get("value") == null)
+				return null;
+			return (T) Enum.valueOf((Class<Enum>) tClass, node.get("value").asText());
+		}
+
+
+		try {
+			return (T) mapper.treeToValue(node, tClass);
+		} catch (Exception e) {
+			throw new RuntimeException(e);
+		}
+	}
+
+	public static ObjectNode createObjectNode(Object obj) {
+		ObjectMapper ObjectMapper = new ObjectMapper();
+		if (obj == null) {
+			return null;
+		}
+		if (obj instanceof Integer) {
+			return ObjectMapper.createObjectNode().put("value", (Integer) obj);
+		}
+		if (obj instanceof String) {
+			return ObjectMapper.createObjectNode().put("value", (String) obj);
+		}
+		if (obj instanceof Boolean) {
+			return ObjectMapper.createObjectNode().put("value", (Boolean) obj);
+		}
+		if (obj instanceof Double) {
+			return ObjectMapper.createObjectNode().put("value", (Double) obj);
+		}
+		if (obj instanceof Float) {
+			return ObjectMapper.createObjectNode().put("value", (Float) obj);
+		}
+		if (obj instanceof Enum) {
+			return ObjectMapper.createObjectNode().put("value", obj.toString());
+		}
+		return ObjectMapper.valueToTree(obj);
+	}
+
+}