diff --git a/src/main/java/com/iflytop/colortitration/common/enums/Action.java b/src/main/java/com/iflytop/colortitration/common/enums/Action.java index 70a3339..7652831 100644 --- a/src/main/java/com/iflytop/colortitration/common/enums/Action.java +++ b/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"), ; /** diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/CeramicPumpHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/CeramicPumpHandler.java new file mode 100644 index 0000000..27ed81b --- /dev/null +++ b/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 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 supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> MId.NotSet)); + + private final Set supportActions = Set.of( + Action.SET, Action.CLOSE_CLAMP, + Action.MOVE_BY, + Action.STOP); + + @Override + protected Map getSupportCmdDeviceMIdMap() { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set 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); + } + } + } + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/ClawHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/ClawHandler.java deleted file mode 100644 index 69731db..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/ClawHandler.java +++ /dev/null @@ -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 servoMIdMap_ = Map.ofEntries( - Map.entry(Device.CLAW, MiniServoMId.CLAW_MID) - ); - private final Map supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream(). - collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); - private final Set supportActions = Set.of(Action.SET, Action.ORIGIN, Action.MOVE, Action.STOP); - - @Override - protected Map getSupportCmdDeviceMIdMap() - { - return supportCmdDeviceMIdMap; - } - - @Override - protected Set 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); - } - } - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/HeatRodHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/HeatRodHandler.java new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/IOCtrlHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/IOCtrlHandler.java new file mode 100644 index 0000000..f43b273 --- /dev/null +++ b/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 supportCmdDeviceIOOutputMap = Map.ofEntries( + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(Action.OPEN, Action.CLOSE); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set 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())); + } + } +} diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/MotorHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/MotorHandler.java new file mode 100644 index 0000000..fae989d --- /dev/null +++ b/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 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 supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set 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 getSupportCmdDeviceMIdMap() { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set 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); + } + } + } +} + + + + diff --git a/src/main/java/com/iflytop/colortitration/hardware/command/handlers/TricolorLightHandler.java b/src/main/java/com/iflytop/colortitration/hardware/command/handlers/TricolorLightHandler.java new file mode 100644 index 0000000..aa636aa --- /dev/null +++ b/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 supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(Device.TRICOLOR_LIGHT, MId.IO1_TriColorLight) + ); + + private final Set supportActions = Set.of(Action.OPEN, Action.CLOSE); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set 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())); + } + } +} diff --git a/src/main/java/com/iflytop/colortitration/hardware/config/StepMotorConfig.java b/src/main/java/com/iflytop/colortitration/hardware/config/StepMotorConfig.java index 48ac1f6..cc7f222 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/config/StepMotorConfig.java +++ b/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 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 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 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 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 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 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); - } - } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/controller/AcidPumpController.java b/src/main/java/com/iflytop/colortitration/hardware/controller/AcidPumpController.java deleted file mode 100644 index 32b1410..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/controller/AcidPumpController.java +++ /dev/null @@ -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()); - } - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/controller/DualRobotController.java b/src/main/java/com/iflytop/colortitration/hardware/controller/DualRobotController.java deleted file mode 100644 index 093647c..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/controller/DualRobotController.java +++ /dev/null @@ -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()); - } - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/controller/HeaterMotorController.java b/src/main/java/com/iflytop/colortitration/hardware/controller/HeaterMotorController.java deleted file mode 100644 index 0b98e22..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/controller/HeaterMotorController.java +++ /dev/null @@ -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()); - } - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/controller/IOController.java b/src/main/java/com/iflytop/colortitration/hardware/controller/IOController.java index 0ab8750..64a864c 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/controller/IOController.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/CeramicPumpDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/CeramicPumpDriver.java new file mode 100644 index 0000000..a25f181 --- /dev/null +++ b/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 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); + } + } +} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/ColdTrapDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/ColdTrapDriver.java deleted file mode 100644 index 2d90f86..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/ColdTrapDriver.java +++ /dev/null @@ -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; - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/FanDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/FanDriver.java deleted file mode 100644 index 39820a5..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/FanDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/VentilatorDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/VentilatorDriver.java deleted file mode 100644 index ab406b7..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/VentilatorDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/WaterPumpDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/WaterPumpDriver.java deleted file mode 100644 index 351f923..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/WaterPumpDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/FillLightDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/FillLightDriver.java deleted file mode 100644 index a9d28dd..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/FillLightDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/HeaterRodDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/HeaterRodDriver.java index 1c5dbfd..e69de29 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/HeaterRodDriver.java +++ b/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 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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/DIDriver/InputDetectDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/InputDetectDriver.java similarity index 94% rename from src/main/java/com/iflytop/colortitration/hardware/drivers/DIDriver/InputDetectDriver.java rename to src/main/java/com/iflytop/colortitration/hardware/drivers/InputDetectDriver.java index 853cd6e..4d22738 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/DIDriver/InputDetectDriver.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/LeisaiServoDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/LeisaiServoDriver.java index 7f369cf..44a3a05 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/LeisaiServoDriver.java +++ b/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; + } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/LiquidDistributionArmDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/LiquidDistributionArmDriver.java index 0eec8b3..07957fb 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/LiquidDistributionArmDriver.java +++ b/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; + } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/MiniServoDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver.java similarity index 61% rename from src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/MiniServoDriver.java rename to src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver.java index 050e729..1527956 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/MiniServoDriver.java +++ b/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); + } + + } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/ClawDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/ClawDriver.java deleted file mode 100644 index 3a2ed14..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/ClawDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/DualRobotDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/DualRobotDriver.java deleted file mode 100644 index 18b47c1..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/MiniServoDriver/DualRobotDriver.java +++ /dev/null @@ -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); - } - -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/ModuleEnableCtrlDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/ModuleEnableCtrlDriver.java index b11df30..abef5ae 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/ModuleEnableCtrlDriver.java +++ b/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 { diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/DoorDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/MotorWrapperDriver.java similarity index 71% rename from src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/DoorDriver.java rename to src/main/java/com/iflytop/colortitration/hardware/drivers/MotorWrapperDriver.java index e5af2d2..fbd3ec2 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/DoorDriver.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/OutputIOCtrlDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/OutputIOCtrlDriver.java similarity index 72% rename from src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/OutputIOCtrlDriver.java rename to src/main/java/com/iflytop/colortitration/hardware/drivers/OutputIOCtrlDriver.java index 0983bac..5dc302d 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/DODriver/OutputIOCtrlDriver.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorCtrlDriver.java similarity index 84% rename from src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java rename to src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorCtrlDriver.java index 6af4919..bf17994 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java +++ b/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 getAllReg(StepMotorMId id) throws HardwareException { - Map map = new HashMap(); + 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; } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/AcidPumpDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/AcidPumpDriver.java deleted file mode 100644 index e965fc3..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/AcidPumpDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HBotDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HBotDriver.java deleted file mode 100644 index 417027b..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HBotDriver.java +++ /dev/null @@ -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); - } -} - diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java deleted file mode 100644 index 0e2746f..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java deleted file mode 100644 index 242e7f2..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/TrayMotorDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/TrayMotorDriver.java deleted file mode 100644 index 213e82f..0000000 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/StepMotorDriver/TrayMotorDriver.java +++ /dev/null @@ -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); - } -} diff --git a/src/main/java/com/iflytop/colortitration/hardware/drivers/TricolorLightDriver.java b/src/main/java/com/iflytop/colortitration/hardware/drivers/TricolorLightDriver.java index 575ee6e..2fba119 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/drivers/TricolorLightDriver.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/CeramicPumpDriverSlaveId.java b/src/main/java/com/iflytop/colortitration/hardware/type/CeramicPumpDriverSlaveId.java new file mode 100644 index 0000000..0cf1a42 --- /dev/null +++ b/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; + } +} diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/CmdId.java b/src/main/java/com/iflytop/colortitration/hardware/type/CmdId.java index bfa6366..ca2a39e 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/CmdId.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/IO/OutputIOMId.java b/src/main/java/com/iflytop/colortitration/hardware/type/IO/OutputIOMId.java index d20e442..24ef6d3 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/IO/OutputIOMId.java +++ b/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 { } } + diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/MId.java b/src/main/java/com/iflytop/colortitration/hardware/type/MId.java index aa35db8..f2a930b 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/MId.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/Servo/MiniServoMId.java b/src/main/java/com/iflytop/colortitration/hardware/type/Servo/MiniServoMId.java index bbd0211..25705db 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/Servo/MiniServoMId.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorDirect.java b/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/MotorDirect.java similarity index 79% rename from src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorDirect.java rename to src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/MotorDirect.java index edb102e..36e14d9 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorDirect.java +++ b/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; } diff --git a/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorMId.java b/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorMId.java index b4282ee..3a25af7 100644 --- a/src/main/java/com/iflytop/colortitration/hardware/type/StepMotor/StepMotorMId.java +++ b/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; diff --git a/src/main/java/com/iflytop/colortitration/hardware/utils/ZJsonHelper.java b/src/main/java/com/iflytop/colortitration/hardware/utils/ZJsonHelper.java new file mode 100644 index 0000000..952d794 --- /dev/null +++ b/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 objectFromJson(String node, Class tClass) { + return objectFromJson(readTree(node), tClass); + } + + + public static T objectFromJson(ObjectNode node, Class 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) 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); + } + +}