删除无效代码 解决冲突问题

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

@@ -1,161 +0,0 @@
-package com.iflytop.colortitration.hardware.controller;
-
-import com.iflytop.colortitration.app.service.DeviceParamConfigService;
-import com.iflytop.colortitration.common.result.Result;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.service.ServoService;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoId;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoRegIndex;
-import io.swagger.v3.oas.annotations.Operation;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.*;
-
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-@Tag(name = "伺服电机控制")
-@RestController
-@RequestMapping("/api/servo")
-@RequiredArgsConstructor
-@Slf4j
-public class ServoController {
-    private final ServoService servoService;
-    private final DeviceParamConfigService deviceParamConfigService;
-
-    // 获取设备列表
-    @PostMapping("/get-device-list")
-    @Operation(summary = "获取设备列表")
-    public Map<String, String> getDeviceList() {
-        Map<String, String> map = new HashMap<>();
-        for(MiniServoId id : MiniServoId.values()) {
-            map.put(id.name(), id.getDescription());
-        }
-        return map;
-    }
-
-    // 获取寄存器列表
-    @PostMapping("/get-reg-list")
-    @Operation(summary = "获取寄存器列表")
-    public List<String> getRegList() {
-        List<String> list = new ArrayList<>();
-        for(MiniServoRegIndex reg : MiniServoRegIndex.values()) {
-            list.add(reg.name());
-        }
-        return list;
-    }
-
-    // 基础操作
-    @PostMapping("/enable")
-    @Operation(summary = "电源开启")
-    public Result<?> enable(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.enable(deviceId, true);
-        return Result.success();
-    }
-
-    @PostMapping("/disable")
-    @Operation(summary = "电源关闭")
-    public Result<?> disable(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.enable(deviceId, false);
-        return Result.success();
-    }
-
-    @PostMapping("/stop")
-    @Operation(summary = "停止")
-    public Result<?> stop(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.stop(deviceId);
-        return Result.success();
-    }
-
-    @PostMapping("/move-to")
-    @Operation(summary = "移动(绝对)")
-    public Result<?> moveTo(@RequestParam MiniServoId deviceId, @RequestParam Integer pos) throws HardwareException {
-        servoService.moveTo(deviceId, pos);
-        return Result.success();
-    }
-
-    @PostMapping("/rotate-forward")
-    @Operation(summary = "正转")
-    public Result<?> rotateForward(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.rotate(deviceId, 1);
-        return Result.success();
-    }
-
-    @PostMapping("/rotate-backward")
-    @Operation(summary = "反转")
-    public Result<?> rotateBackward(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.rotate(deviceId, 0);
-        return Result.success();
-    }
-    @PostMapping("/rotate-with-torque")
-    @Operation(summary = "旋转(力矩)")
-    public Result<?> rotateWithTorque(@RequestParam MiniServoId deviceId, @RequestParam Integer pos) throws HardwareException {
-        servoService.rotateWithTorque(deviceId, pos);
-        return Result.success();
-    }
-
-    @PostMapping("/move-to-zero")
-    @Operation(summary = "回Home")
-    public Result<?> moveToZero(@RequestParam MiniServoId deviceId) throws HardwareException {
-        servoService.moveToZero(deviceId);
-        return Result.success();
-    }
-
-    // 寄存器操作
-    @PostMapping("/limit-velocity")
-    @Operation(summary = "设置限速")
-    public Result<?> setLimitVelocity(
-            @RequestParam MiniServoId deviceId,
-            @RequestParam Integer val) throws HardwareException {
-        servoService.setLimitVelocity(deviceId, val);
-        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_velocity.regIndex.name(),val);
-        return Result.success();
-    }
-
-    @PostMapping("/limit-torque")
-    @Operation(summary = "设置限力矩")
-    public Result<?> setLimitTorque(
-            @RequestParam MiniServoId deviceId,
-            @RequestParam Integer val) throws HardwareException {
-        servoService.setLimitTorque(deviceId, val);
-        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_torque.regIndex.name(),val);
-        return Result.success();
-    }
-
-    @PostMapping("/protective-torque")
-    @Operation(summary = "设置保护力矩")
-    public Result<?> setProtectiveTorque(
-            @RequestParam MiniServoId deviceId,
-            @RequestParam Integer val) throws HardwareException {
-        servoService.setProtectiveTorque(deviceId, val);
-        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(),  MiniServoRegIndex.kreg_mini_servo_protective_torque.regIndex.name(),val);
-        return Result.success();
-    }
-
-    @PostMapping("/reg")
-    @Operation(summary = "设置寄存器")
-    public Result<?> setReg(
-            @RequestParam MiniServoId deviceId,
-            @RequestParam MiniServoRegIndex reg,
-            @RequestParam Integer val) throws HardwareException {
-        servoService.setReg(deviceId, reg, val);
-        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), reg.regIndex.name(),val);
-        return Result.success();
-    }
-
-    // 状态查询
-    @GetMapping("/position")
-    @Operation(summary = "读取位置")
-    public Integer readPos(@RequestParam MiniServoId deviceId) throws HardwareException {
-        return servoService.readPos(deviceId);
-    }
-
-    @GetMapping("/regs")
-    @Operation(summary = "获取所有寄存器")
-    public Map<String, Integer> getAllReg(@RequestParam MiniServoId deviceId) {
-        return servoService.getAllReg(deviceId);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/service/GDDeviceStatusService.java

@@ -1,13 +1,10 @@
 package com.iflytop.colortitration.hardware.service;
 
-import com.iflytop.colortitration.hardware.drivers.DIDriver.InputDetectDriver;
-import com.iflytop.colortitration.hardware.drivers.HeaterRodDriver;
-import com.iflytop.colortitration.hardware.drivers.LeisaiServoDriver;
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.MiniServoDriver;
-import com.iflytop.colortitration.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
+import com.iflytop.colortitration.hardware.drivers.InputDetectDriver;
+import com.iflytop.colortitration.hardware.drivers.MiniServoDriver;
+import com.iflytop.colortitration.hardware.drivers.StepMotorCtrlDriver;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
 import com.iflytop.colortitration.hardware.type.IO.InputIOMId;
-import com.iflytop.colortitration.hardware.type.Servo.LeisaiServoMId;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.colortitration.hardware.type.driver.HeaterRodSlavedId;
 import com.iflytop.colortitration.hardware.utils.Math.StepMotorConverter;
@@ -20,13 +17,13 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 public class GDDeviceStatusService {
     private final InputDetectDriver inputDetectDriver;
-    private final HeaterRodDriver heaterRodDriver;
+    //private final HeaterRodDriver heaterRodDriver;
     private final StepMotorCtrlDriver stepMotorCtrlDriver;
     private final MiniServoDriver miniServoDriver;
-    private final LeisaiServoDriver leisaiServoDriver;
 
     /**
      * 获取步进电机的原点状态
+     *
      * @param stepMotorMId
      * @return true 在原点 false 不在原点
      */
@@ -35,18 +32,8 @@ public class GDDeviceStatusService {
     }
 
     /**
-     * 获取XY 伺服的原点状态
-     * @param mid
-     * @return
-     * @throws HardwareException
-     */
-    public Boolean getXYServoIsOrigin(LeisaiServoMId mid) throws HardwareException
-    {
-        return leisaiServoDriver.readIoState(mid, 0);
-    }
-
-    /**
      * 获取 拍子 试管架拍子 急停 到位信号
+     *
      * @param inputIOMId
      * @return
      * @throws HardwareException
@@ -57,16 +44,19 @@ public class GDDeviceStatusService {
 
     /**
      * 获取加热棒温度
+     *
      * @param heaterRodSlavedId
      * @return
      * @throws Exception
      */
     public Double getHeaterRodTemperature(HeaterRodSlavedId heaterRodSlavedId) throws Exception {
-        return heaterRodDriver.getTemperature(heaterRodSlavedId);
+        return null;
+        //return heaterRodDriver.getTemperature(heaterRodSlavedId);
     }
 
     /**
      * 获取电机位置
+     *
      * @param stepMotorMId
      * @return
      * @throws HardwareException
@@ -77,15 +67,5 @@ public class GDDeviceStatusService {
         return realPosition;
     }
 
-    /**
-     * 获取伺服类电机位置
-     * @param mid
-     * @return
-     * @throws HardwareException
-     */
-    public Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException {
-        int servoPosition = leisaiServoDriver.readPosition(mid);
-        return StepMotorConverter.toUserPosition(servoPosition);
-    }
 
 }

src/main/java/com/iflytop/colortitration/hardware/service/ServoService.java

@@ -1,129 +0,0 @@
-package com.iflytop.colortitration.hardware.service;
-
-import com.iflytop.colortitration.hardware.drivers.MiniServoDriver.MiniServoDriver;
-import com.iflytop.colortitration.hardware.exception.HardwareException;
-import com.iflytop.colortitration.hardware.type.Servo.MiniServoId;
-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.AppError;
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Service;
-
-import java.util.HashMap;
-import java.util.Map;
-
-@Service
-@RequiredArgsConstructor
-public class ServoService {
-    private final MiniServoDriver miniServoDriver;
-
-    private void throwDeviceNull(MiniServoId id) throws HardwareException
-    {
-        throw new HardwareException(new AppError(A8kEcode.PE_PARAM_OUT_OF_RANGE, "StepMotorMId is null for id: " + id));
-    }
-    
-    public void enable(MiniServoId id, Boolean enable) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.miniServoEnable(servoMId, enable ? 1 : 0);
-    }
-
-    public void stop(MiniServoId id) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.moduleStop(servoMId);
-    }
-
-    public void moveTo(MiniServoId id, Integer pos) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.miniServoMoveToBlock(servoMId, pos);
-    }
-
-    public void rotate(MiniServoId id, Integer direction) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.miniServoRotate(servoMId, direction);
-    }
-
-    public void rotateWithTorque(MiniServoId id, Integer pos) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.miniServoRotateWithTorque(servoMId, pos);
-    }
-
-    public void setReg(MiniServoId id, MiniServoRegIndex reg, Integer val) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.setReg(servoMId, reg, val);
-    }
-
-    public Map<String, Integer> getAllReg(MiniServoId id) {
-        Map<String, Integer> map = new HashMap<>();
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            return map;
-        }
-        
-        for (MiniServoRegIndex reg : MiniServoRegIndex.values()) {
-            try {
-                map.put(reg.name(), miniServoDriver.getReg(servoMId, reg));
-            } catch (HardwareException e) {
-            }
-        }
-        return map;
-    }
-
-    public void setLimitVelocity(MiniServoId id, Integer val) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_limit_velocity, val);
-    }
-
-    public void setLimitTorque(MiniServoId id, Integer val) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_limit_torque, val);
-    }
-
-    public void setProtectiveTorque(MiniServoId id, Integer val) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_protective_torque, val);
-    }
-
-    public Integer readPos(MiniServoId id) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        return miniServoDriver.miniServoReadPos(servoMId);
-    }
-
-    public void moveToZero(MiniServoId id) throws HardwareException {
-        MiniServoMId servoMId = id.getServoMId();
-        if (servoMId == null) {
-            throwDeviceNull(id);
-        }
-        miniServoDriver.miniServoMoveToZeroBlock(servoMId);
-    }
-}

src/main/java/com/iflytop/colortitration/hardware/service/StepMotorService.java

@@ -1,6 +1,6 @@
 package com.iflytop.colortitration.hardware.service;
 
-import com.iflytop.colortitration.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
+import com.iflytop.colortitration.hardware.drivers.StepMotorCtrlDriver;
 import com.iflytop.colortitration.hardware.exception.HardwareException;
 import com.iflytop.colortitration.hardware.type.StepMotor.DeviceStepMotorId;
 import com.iflytop.colortitration.hardware.type.StepMotor.StepMotorMId;
@@ -22,8 +22,7 @@ public class StepMotorService {
 
     StepMotorSpeedLevel speedLevel_ = StepMotorSpeedLevel.DEFAULT;
 
-    private void throwDeviceNull(DeviceStepMotorId id) throws HardwareException
-    {
+    private void throwDeviceNull(DeviceStepMotorId id) throws HardwareException {
         throw new HardwareException(new AppError(A8kEcode.PE_PARAM_OUT_OF_RANGE, "StepMotorMId is null for id: " + id));
     }
 
@@ -249,7 +248,8 @@ public class StepMotorService {
         if (stepId == null) {
             throwDeviceNull(id);
         }
-        return stepMotorCtrlDriver_.getAllReg(stepId);
+        //return stepMotorCtrlDriver_.getAllReg(stepId); todo
+        return null;
     }
 
     public Boolean readIoState(DeviceStepMotorId id, Integer ioindex) throws HardwareException {

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

@@ -2,26 +2,6 @@ package com.iflytop.colortitration.hardware.type.StepMotor;
 
 
 public enum DeviceStepMotorId {
-    door(StepMotorMId.DOOR_MOTOR_MID, "门"),
-    shake_motor(StepMotorMId.SHAKE_MOTOR_MID, "摇匀电机"),
-    tray_motor(StepMotorMId.TRAY_MOTOR_MID, "托盘电机"),
-    gantry_x(StepMotorMId.HBOT_X_MOTOR_MID, "龙门架X轴"),
-    gantry_y(StepMotorMId.HBOT_Y_MOTOR_MID, "龙门架Y轴"),
-    gantry_z(StepMotorMId.HBOT_Z_MOTOR_MID, "龙门架Z轴"),
-    heater_motor_1(StepMotorMId.HEATER_1_MOTOR_MID, "加热位顶升电机1"),
-    heater_motor_2(StepMotorMId.HEATER_2_MOTOR_MID, "加热位顶升电机2"),
-    heater_motor_3(StepMotorMId.HEATER_3_MOTOR_MID, "加热位顶升电机3"),
-    heater_motor_4(StepMotorMId.HEATER_4_MOTOR_MID, "加热位顶升电机4"),
-    heater_motor_5(StepMotorMId.HEATER_5_MOTOR_MID, "加热位顶升电机5"),
-    heater_motor_6(StepMotorMId.HEATER_6_MOTOR_MID, "加热位顶升电机6"),
-    acid_pump_1(StepMotorMId.ACID_PUMP_1_MOTOR_MID, "加酸泵电机1"),
-    acid_pump_2(StepMotorMId.ACID_PUMP_2_MOTOR_MID, "加酸泵电机2"),
-    acid_pump_3(StepMotorMId.ACID_PUMP_3_MOTOR_MID, "加酸泵电机3"),
-    acid_pump_4(StepMotorMId.ACID_PUMP_4_MOTOR_MID, "加酸泵电机4"),
-    acid_pump_5(StepMotorMId.ACID_PUMP_5_MOTOR_MID, "加酸泵电机5"),
-    acid_pump_6(StepMotorMId.ACID_PUMP_6_MOTOR_MID, "加酸泵电机6"),
-    acid_pump_7(StepMotorMId.ACID_PUMP_7_MOTOR_MID, "加酸泵电机7"),
-    acid_pump_8(StepMotorMId.ACID_PUMP_8_MOTOR_MID, "加酸泵电机8"),
     ;
 
     private StepMotorMId stepMotorMId;