From 17d23b882d0338836a6e1a32573a45e8df611d7d Mon Sep 17 00:00:00 2001
From: HSZ_HeSongZhen <210202959@qq.com>
Date: Wed, 7 May 2025 20:24:58 +0800
Subject: [PATCH] =?UTF-8?q?add:=20=E8=B0=83=E6=95=B4=E6=97=A5=E5=BF=97?=
=?UTF-8?q?=E7=AD=89=E7=BA=A7=EF=BC=8C=E5=A2=9E=E5=8A=A0=E6=8C=87=E4=BB=A4?=
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---
src/main/java/com/iflytop/gd/hardware/HardwareService.java | 10 ++++++++--
.../iflytop/gd/hardware/constants/ActionOvertimeConstant.java | 2 +-
.../gd/hardware/drivers/StepMotorDriver/DoorDriver.java | 6 +++---
src/main/resources/logback.xml | 2 +-
4 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/iflytop/gd/hardware/HardwareService.java b/src/main/java/com/iflytop/gd/hardware/HardwareService.java
index 7a14e98..edac94a 100644
--- a/src/main/java/com/iflytop/gd/hardware/HardwareService.java
+++ b/src/main/java/com/iflytop/gd/hardware/HardwareService.java
@@ -11,6 +11,7 @@ import com.iflytop.gd.common.enums.cmd.CmdDevice;
import com.iflytop.gd.hardware.command.CommandHandler;
import com.iflytop.gd.hardware.command.DeviceResponse;
import com.iflytop.gd.hardware.command.checker.SupportMethod;
+import com.iflytop.gd.hardware.exception.HardwareException;
import jakarta.annotation.PostConstruct;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -47,7 +48,6 @@ public class HardwareService {
for (CmdDevice device : devices) {
cmdHandlers.put(device, handler);
}
-
}
public boolean sendCommand(DeviceCommand cmd) {
@@ -71,12 +71,18 @@ public class HardwareService {
cmdHandlers.get(cmd.getDevice()).sendCommand(cmd);
response.setSuccess(Boolean.TRUE);
} else {
+ log.error("不支持的设备类型: {}", cmd.getDevice());
throw new InvalidParameterException(StrUtil.format("[Device]: {}", cmd.getDevice()));
}
+ } catch (HardwareException e) {
+ log.error("HardwareException 指令执行失败: {}", e.getMessage(), e);
+ response.setSuccess(Boolean.FALSE);
} catch (Exception e) {
+ log.error("指令执行失败: {}", e.getMessage(), e);
response.setSuccess(Boolean.FALSE);
- } finally {
+ }
+ finally {
JSONObject jsonResponse = JSONUtil.parseObj(response);
eventPublisher.publishEvent(new CommandFeedbackEvent(this, jsonResponse));
}
diff --git a/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java b/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java
index 5eab7b8..6b2a005 100644
--- a/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java
+++ b/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java
@@ -12,7 +12,7 @@ import java.util.List;
@Component
public class ActionOvertimeConstant {
- final Integer defaultOvertime = 10 * 1000;
+ final Integer defaultOvertime = 60 * 1000;
static class OvertimeConfigItem {
public MId mid;
diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java
index 1f0829f..2f99f0d 100644
--- a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java
+++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java
@@ -35,7 +35,7 @@ public class DoorDriver{
// ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
public void moveToHome(StepMotorMId stepMotorMId) throws Exception
{
- stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepMotorMId);
+ stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
@@ -46,7 +46,7 @@ public class DoorDriver{
}
int motorPosition = StepMotorHelper.toMotorPosition(position);
- stepMotorCtrlDriver_.stepMotorEasyMoveTo(stepMotorMId, motorPosition);
+ stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
@@ -57,7 +57,7 @@ public class DoorDriver{
}
int motorPosition = StepMotorHelper.toMotorPosition(distance);
- stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+ stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {
diff --git a/src/main/resources/logback.xml b/src/main/resources/logback.xml
index f18b14b..0e6c853 100644
--- a/src/main/resources/logback.xml
+++ b/src/main/resources/logback.xml
@@ -46,7 +46,7 @@
-
+