9 changed files with 323 additions and 62 deletions
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72src/main/java/com/iflytop/colortitration/hardware/command/handlers/HeatRodHandler.java
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2src/main/java/com/iflytop/colortitration/hardware/command/handlers/MiniServoHandler.java
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93src/main/java/com/iflytop/colortitration/hardware/drivers/TecHeaterRodDriver.java
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8src/main/java/com/iflytop/colortitration/hardware/type/CmdId.java
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2src/main/java/com/iflytop/colortitration/hardware/type/MId.java
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39src/main/java/com/iflytop/colortitration/hardware/type/RegIndex.java
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33src/main/java/com/iflytop/colortitration/hardware/type/TecHeaterRegIndex.java
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16src/main/java/com/iflytop/colortitration/hardware/type/TecHeaterRodMId.java
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package com.iflytop.colortitration.hardware.command.handlers; |
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import com.iflytop.colortitration.app.core.command.DeviceCommand; |
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import com.iflytop.colortitration.common.enums.Action; |
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import com.iflytop.colortitration.common.enums.Device; |
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import com.iflytop.colortitration.hardware.command.CommandHandler; |
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import com.iflytop.colortitration.hardware.drivers.TecHeaterRodDriver; |
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import com.iflytop.colortitration.hardware.type.MId; |
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import com.iflytop.colortitration.hardware.type.TecHeaterRodMId; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.security.InvalidParameterException; |
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import java.util.Map; |
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import java.util.Set; |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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public class HeatRodHandler extends CommandHandler { |
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private final TecHeaterRodDriver driver_; |
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private final Map<Device, TecHeaterRodMId> supportCmdDeviceTecHeaterRodMIdMap = Map.ofEntries( |
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Map.entry(Device.HEAT_ROD_1, TecHeaterRodMId.HeaterRod1), |
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Map.entry(Device.HEAT_ROD_2, TecHeaterRodMId.HeaterRod2) |
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); |
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private final Map<Device, MId> supportCmdDeviceMIdMap = Map.ofEntries( |
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Map.entry(Device.HEAT_ROD_1, MId.HeaterRod1), |
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Map.entry(Device.HEAT_ROD_2, MId.HeaterRod2) |
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); |
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private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE); |
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@Override |
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protected Map<Device, MId> getSupportCmdDeviceMIdMap() |
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{ |
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return supportCmdDeviceMIdMap; |
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} |
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@Override |
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protected Set<Action> getSupportActions() { |
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return supportActions; |
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} |
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@Override |
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protected void checkParams(DeviceCommand command) throws Exception { |
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// 检查参数 |
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if (command.getAction() == Action.OPEN) { |
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// 检查参数 |
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} |
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} |
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MId getMId(Device cmdDevice){ |
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return supportCmdDeviceMIdMap.get(cmdDevice); |
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} |
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@Override |
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public void handleCommand(DeviceCommand command) throws Exception { |
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// 发送命令 |
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if (command.getAction() == Action.OPEN) { |
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Double temp = command.getParam().getTemperature(); |
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driver_.open(supportCmdDeviceTecHeaterRodMIdMap.get(command.getDevice()), temp); |
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} else if (command.getAction() == Action.CLOSE) { |
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driver_.close(supportCmdDeviceTecHeaterRodMIdMap.get(command.getDevice())); |
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} |
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} |
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} |
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package com.iflytop.colortitration.hardware.drivers; |
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import com.fasterxml.jackson.databind.node.ObjectNode; |
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import com.iflytop.colortitration.hardware.comm.can.A8kCanBusService; |
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import com.iflytop.colortitration.hardware.exception.HardwareException; |
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import com.iflytop.colortitration.hardware.type.A8kPacket; |
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import com.iflytop.colortitration.hardware.type.CmdId; |
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import com.iflytop.colortitration.hardware.type.TecHeaterRegIndex; |
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import com.iflytop.colortitration.hardware.type.TecHeaterRodMId; |
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import com.iflytop.colortitration.hardware.utils.ZJsonHelper; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class TecHeaterRodDriver { |
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final private A8kCanBusService canBus; |
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static final Double DEFAULT_TARGET_TEMPERATURE = 100.0; |
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static final Integer DEFAULT_CHANNEL = 1; |
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// application API |
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public void open(TecHeaterRodMId id, Double temperature) throws HardwareException { |
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this.enable(id, true); |
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this.setTargetTemperature(id, temperature); |
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} |
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public void close(TecHeaterRodMId id) throws HardwareException { |
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this.enable(id, false); |
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} |
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// driver API |
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public void openPower(TecHeaterRodMId id, boolean is_open) throws HardwareException { |
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log.info("openPower called with id: {}, is_open: {}", id, is_open); |
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Integer powerOn = is_open ? 1 : 0; |
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canBus.callcmd(id.mid, CmdId.tec103_heater_power_on, powerOn); |
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} |
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public void enable(TecHeaterRodMId id, boolean is_enable) throws HardwareException { |
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log.info("enable called with id: {}, is_enable: {}", id, is_enable); |
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Integer enable = is_enable ? 1 : 0; |
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canBus.callcmd(id.mid, CmdId.tec103_heater_enable, DEFAULT_CHANNEL, enable); |
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} |
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public void setTargetTemperature(TecHeaterRodMId id, Double targetTemperature) throws HardwareException { |
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Integer targetTemperatureInt = (int) (targetTemperature * DEFAULT_TARGET_TEMPERATURE); |
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log.info("setTargetTemperature called with id: {}, targetTemperature: {}", id, targetTemperature); |
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canBus.callcmd(id.mid, CmdId.tec103_heater_set_target_temperature, DEFAULT_CHANNEL, targetTemperatureInt); |
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} |
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public Double readTemperature(TecHeaterRodMId id) throws HardwareException { |
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log.info("readTemperature called with id: {}", id); |
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A8kPacket packet = canBus.callcmd(id.mid, CmdId.tec103_heater_read_temperature, DEFAULT_CHANNEL); |
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return packet.getContentI32(0) / DEFAULT_TARGET_TEMPERATURE; |
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} |
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public void factoryReset(TecHeaterRodMId id) throws HardwareException { |
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log.info("factoryReset called with id: {}", id); |
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canBus.callcmd(id.mid, CmdId.tec103_heater_factory_reset); |
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} |
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public void reset(TecHeaterRodMId id) throws HardwareException { |
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log.info("reset called with id: {}", id); |
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canBus.callcmd(id.mid, CmdId.liquid_valve_reset); |
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} |
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public void waitForMod(TecHeaterRodMId id, Integer overtime) throws HardwareException { |
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canBus.waitForMod(id.mid, overtime); |
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} |
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public void setReg(TecHeaterRodMId id, TecHeaterRegIndex regindex, int val) throws HardwareException { |
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log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val); |
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canBus.moduleSetReg(id.mid, regindex.regIndex, val); |
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} |
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public Integer getReg(TecHeaterRodMId id, TecHeaterRegIndex regindex) throws HardwareException { |
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log.info("getReg called with id: {}, regindex: {}", id, regindex); |
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return canBus.moduleGetReg(id.mid, regindex.regIndex); |
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} |
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public Object getAllReg(TecHeaterRodMId id) throws HardwareException { |
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log.info("getAllReg called with id: {}", id); |
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ObjectNode node = ZJsonHelper.createObjectNode(); |
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for (TecHeaterRegIndex regIndex : TecHeaterRegIndex.values()) { |
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Integer regVal = getReg(id, regIndex); |
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log.info("read reg {} -> {}", regIndex, regVal); |
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node.put(regIndex.name(), getReg(id, regIndex)); |
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} |
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return node; |
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} |
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} |
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@ -0,0 +1,33 @@ |
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package com.iflytop.colortitration.hardware.type; |
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public enum TecHeaterRegIndex { |
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kreg_tec103_heater1_target_temp(RegIndex.kreg_tec103_heater1_target_temp), |
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kreg_tec103_heater1_real_temp(RegIndex.kreg_tec103_heater1_real_temp), |
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kreg_tec103_heater1_sensor_r(RegIndex.kreg_tec103_heater1_sensor_r), |
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kreg_tec103_heater1_polynomial(RegIndex.kreg_tec103_heater1_polynomial), |
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kreg_tec103_heater1_ntc_b(RegIndex.kreg_tec103_heater1_ntc_b), |
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kreg_tec103_heater1_ntc_r0(RegIndex.kreg_tec103_heater1_ntc_r0), |
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kreg_tec103_heater1_output_enable(RegIndex.kreg_tec103_heater1_output_enable), |
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kreg_tec103_heater1_output_max_duty(RegIndex.kreg_tec103_heater1_output_max_duty), |
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kreg_tec103_heater1_output_mode(RegIndex.kreg_tec103_heater1_output_mode), |
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kreg_tec103_heater1_output_pol(RegIndex.kreg_tec103_heater1_output_pol), |
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kreg_tec103_heater1_output_percent(RegIndex.kreg_tec103_heater1_output_percent), |
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kreg_tec103_heater1_pwm_freq(RegIndex.kreg_tec103_heater1_pwm_freq), |
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kreg_tec103_heater1_over_temp_protect_mode(RegIndex.kreg_tec103_heater1_over_temp_protect_mode), |
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kreg_tec103_heater1_p(RegIndex.kreg_tec103_heater1_p), |
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kreg_tec103_heater1_i(RegIndex.kreg_tec103_heater1_i), |
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kreg_tec103_heater1_d(RegIndex.kreg_tec103_heater1_d), |
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kreg_tec103_heater1_pid_self_tune(RegIndex.kreg_tec103_heater1_pid_self_tune), |
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kreg_tec103_heater_version(RegIndex.kreg_tec103_heater_version), |
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kreg_tec103_heater_address(RegIndex.kreg_tec103_heater_address), |
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kreg_tec103_heater_baud_rate(RegIndex.kreg_tec103_heater_baud_rate), |
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kreg_tec103_heater_e_code(RegIndex.kreg_tec103_heater_e_code), |
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; |
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public final RegIndex regIndex; |
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TecHeaterRegIndex(RegIndex regIndex) { |
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this.regIndex = regIndex; |
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} |
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} |
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@ -0,0 +1,16 @@ |
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package com.iflytop.colortitration.hardware.type; |
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import org.springframework.util.Assert; |
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public enum TecHeaterRodMId { |
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HeaterRod1(MId.HeaterRod1), |
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HeaterRod2(MId.HeaterRod2), |
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; |
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final public MId mid; |
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TecHeaterRodMId(MId mid) { |
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Assert.isTrue(this.name().equals(mid.name()), "IO1_ChimeBuzzer Init fail"); |
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this.mid = mid; |
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} |
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} |
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