fixed: modbus 增加重连机制

fixed: 回退修改包结构

src/main/java/com/iflytop/gd/GraphiteDigesterServiceApplication.java

@@ -4,7 +4,9 @@ import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
 import org.springframework.context.ConfigurableApplicationContext;
 import org.springframework.core.env.ConfigurableEnvironment;
+import org.springframework.scheduling.annotation.EnableScheduling;
 
+@EnableScheduling
 @SpringBootApplication
 public class GraphiteDigesterServiceApplication {
 

src/main/java/com/iflytop/gd/hardware/comm/modbus/ModbusMasterService.java

@@ -5,6 +5,7 @@ import com.serotonin.modbus4j.msg.*;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.jboss.logging.BasicLogger;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.scheduling.annotation.Scheduled;
@@ -26,14 +27,14 @@ public class ModbusMasterService {
 
     @PostConstruct
     public void init() {
+        modbusMaster_ = ModbusMasterFactory.createModbusRtuMaster(port, baudrate);
         log.info("============== ============== ============== ============== ==============");
         log.info("============== ============== ============== ============== ==============");
         try {
-            modbusMaster_ = ModbusMasterFactory.createModbusRtuMaster(port, baudrate);
-            modbusMaster_.init();
-
+            this.connect();
             log.info("Modbus master 端口: {} 波特率:{} initialized successfully.", port, baudrate);
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to initialize Modbus master: {} 端口: {} 波特率: {}",
                     e.getMessage(), port, baudrate);
         }
@@ -68,11 +69,13 @@ public class ModbusMasterService {
             ReadCoilsRequest request = new ReadCoilsRequest(slaveId, startAddress, length);
             ReadCoilsResponse response = (ReadCoilsResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error reading coils: {}", response.getExceptionMessage());
                 return null;
             }
             return response.getBooleanData();
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to read coils: {}", e.getMessage());
             return null;
         } finally {
@@ -90,11 +93,13 @@ public class ModbusMasterService {
             ReadDiscreteInputsRequest request = new ReadDiscreteInputsRequest(slaveId, startAddress, length);
             ReadDiscreteInputsResponse response = (ReadDiscreteInputsResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error reading discrete inputs: {}", response.getExceptionMessage());
                 return null;
             }
             return response.getBooleanData();
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to read discrete inputs: {}", e.getMessage());
             return null;
         } finally {
@@ -112,11 +117,13 @@ public class ModbusMasterService {
             ReadHoldingRegistersRequest request = new ReadHoldingRegistersRequest(slaveId, startAddress, length);
             ReadHoldingRegistersResponse response = (ReadHoldingRegistersResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error reading holding registers: {}", response.getExceptionMessage());
                 return null;
             }
             return response.getShortData();
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to read holding registers: {}", e.getMessage());
             return null;
         } finally {
@@ -134,11 +141,13 @@ public class ModbusMasterService {
             ReadInputRegistersRequest request = new ReadInputRegistersRequest(slaveId, startAddress, length);
             ReadInputRegistersResponse response = (ReadInputRegistersResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error reading input registers: {}", response.getExceptionMessage());
                 return null;
             }
             return response.getShortData();
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to read input registers: {}", e.getMessage());
             return null;
         } finally {
@@ -156,11 +165,13 @@ public class ModbusMasterService {
             WriteCoilRequest request = new WriteCoilRequest(slaveId, address, value);
             WriteCoilResponse response = (WriteCoilResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error writing coil: {}", response.getExceptionMessage());
                 return false;
             }
             return true;
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to write coil: {}", e.getMessage());
             return false;
         } finally {
@@ -178,11 +189,13 @@ public class ModbusMasterService {
             WriteRegisterRequest request = new WriteRegisterRequest(slaveId, address, value);
             WriteRegisterResponse response = (WriteRegisterResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error writing register: {}", response.getExceptionMessage());
                 return false;
             }
             return true;
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to write register: {}", e.getMessage());
             return false;
         } finally {
@@ -200,11 +213,13 @@ public class ModbusMasterService {
             WriteCoilsRequest request = new WriteCoilsRequest(slaveId, startAddress, values);
             WriteCoilsResponse response = (WriteCoilsResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error writing coils: {}", response.getExceptionMessage());
                 return false;
             }
             return true;
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to write coils: {}", e.getMessage());
             return false;
         } finally {
@@ -222,11 +237,13 @@ public class ModbusMasterService {
             WriteRegistersRequest request = new WriteRegistersRequest(slaveId, startAddress, values);
             WriteRegistersResponse response = (WriteRegistersResponse) modbusMaster_.send(request);
             if (response.isException()) {
+                modbusMaster_.setConnected(false);
                 log.error("Error writing registers: {}", response.getExceptionMessage());
                 return false;
             }
             return true;
         } catch (Exception e) {
+            modbusMaster_.setConnected(false);
             log.error("Failed to write registers: {}", e.getMessage());
             return false;
         } finally {
@@ -235,23 +252,33 @@ public class ModbusMasterService {
     }
 
     // ==== ==== ==== ==== ==== ==== 自动重连 ==== ==== ==== ==== ==== ====
+    void connect() throws Exception
+    {
+        modbusMaster_.init();
+        modbusMaster_.setRetries(3);
+//            modbusMaster_.setIoLog(new BasicLogger());
+        modbusMaster_.setTimeout(2000);
+        modbusMaster_.setConnected(true);
+    }
 
-//    /**
-//     * 自动重连
-//     */
-//    @Scheduled(fixedRate = 1000)
-//    public void autoReconnect() {
-//        lock.lock();
-//        try {
-//            if (modbusMaster_ == null || modbusMaster_.isConnected()) {
-//                return;
-//            }
-//            modbusMaster_.init();
-//            log.info("Modbus master reconnected successfully.");
-//        } catch (Exception e) {
-//            log.error("Failed to reconnect Modbus master: {}", e.getMessage());
-//        } finally {
-//            lock.unlock();
-//        }
-//    }
+    /**
+     * 自动重连
+     */
+    @Scheduled(fixedRate = 1000)
+    public void autoReconnect() {
+        lock.lock();
+        try {
+            if(modbusMaster_ ==null || !modbusMaster_.isInitialized() || modbusMaster_.isConnected())
+                return;
+
+            this.connect();
+
+            log.info("Modbus master 重连成功 端口: {} 波特率:{}.", port, baudrate);
+        } catch (Exception e) {
+            log.error("Modbus master : {}", e.getMessage());
+            log.info("Modbus master 重连失败 端口: {} 波特率:{}. {}", port, baudrate, e.getMessage());
+        } finally {
+            lock.unlock();
+        }
+    }
 }

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

@@ -83,6 +83,7 @@ public class StepMotorConfig {
     static final double HEATER_MOTOR_DEFAULT_MAX_LIMIT = 100.0;
     static final double ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT = 1000000;
     final static Map<StepMotorMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
+            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 20000.0),
             Map.entry(StepMotorMId.TRAY_MOTOR_MID, 200.0),
             Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 1400.0),
             Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 700.0),

src/main/java/com/iflytop/gd/hardware/type/A8kPacket.java

@@ -40,11 +40,11 @@ public class A8kPacket {
     public static final int PACKET_TYPE_OFFSET = 0;
     public static final int CMDID_OFFSET       = 1;
     public static final int MODULE_ID_OFFSET   = 3;
-    public static final int INDEX_OFFSET       = 5;
-    public static final int DATA_LEN_OFFSET    = 7;
-    public static final int DATA_OFFSET        = 8;
+    public static final int INDEX_OFFSET       = 4;
+    public static final int DATA_LEN_OFFSET    = 6;
+    public static final int DATA_OFFSET        = 7;
 
-    public static final int PACKET_MIN_LEN = 9;//
+    public static final int PACKET_MIN_LEN = 8;//
 
     public static final int CMD_OVERTIME = 1500;
 
@@ -83,7 +83,7 @@ public class A8kPacket {
     }
 
     public int getModuleId() {
-        return ByteArray.readU16bit(raw, MODULE_ID_OFFSET);
+        return ByteArray.readU8bit(raw, MODULE_ID_OFFSET);
     }
 
     public int getDataLen() {
@@ -203,7 +203,7 @@ public class A8kPacket {
         buffer.order(ByteOrder.LITTLE_ENDIAN);
         buffer.put((byte) (packetType & 0xff)); // packetType
         buffer.putShort((short) (cmdId & 0xffff)); // cmdid
-        buffer.putShort((short) (moduleId & 0xffff)); // moduleId
+        buffer.put((byte) (moduleId & 0xFF)); // moduleId
         buffer.put((byte) 0x4C); // index
         buffer.put((byte) 0x00); // index
         buffer.put((byte) (params.length * 4)); // datalen

src/main/resources/application-dev.yml

@@ -36,13 +36,13 @@ command_bus:
 device.enableCanBus: true
 
 iflytophald:
-  ip: 192.168.1.140
+  ip: 192.168.8.168
   cmdch.port: 19004
   datach.port: 19005
 
 #window config
 #modbus:
-#  port: COM2
+#  port: COM18
 #  baudrate: 9600
 
 #工控机 config