feat:增加加液机械臂和转移机械臂类定义

src/main/java/com/iflytop/gd/common/result/ResultCode.java

@@ -42,7 +42,9 @@ public enum ResultCode implements IResultCode, Serializable {
     //============================ 5xxx：系统 & 第三方 ============================
     SYSTEM_ERROR("5000", "系统内部错误"),
     SERVICE_UNAVAILABLE("5001", "服务暂不可用"),
-    EXTERNAL_API_ERROR("5002", "第三方服务调用失败");
+    EXTERNAL_API_ERROR("5002", "第三方服务调用失败"),
+    COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"),
+    HARDWARE_ERROR("5004", "硬件错误");
 
     /** 状态码 */
     private final String code;

src/main/java/com/iflytop/gd/system/constants/DistanceUnit.java

@@ -1,5 +1,17 @@
 package com.iflytop.gd.system.constants;
 
 public enum DistanceUnit {
-    MM, CM
+    MM, CM;
+
+    public Integer toMM(Integer value) {
+        if (this == MM) {
+            return value;
+        }
+
+        if (this == CM) {
+            return value * 10;
+        }
+
+        return value;
+    }
 }

src/main/java/com/iflytop/gd/system/devices/BaseStepStepMotor.java

@@ -1,46 +0,0 @@
-package com.iflytop.gd.system.devices;
-
-import com.iflytop.gd.infrastructure.drivers.CmdId;
-import com.iflytop.gd.infrastructure.drivers.ModuleId;
-import com.iflytop.gd.system.constants.DistanceUnit;
-import com.iflytop.gd.system.constants.SpeedUnit;
-import com.iflytop.gd.system.drivers.CommandBus;
-import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
-import com.iflytop.gd.system.exceptions.HardwareErrorException;
-import com.iflytop.gd.system.models.DataPacket;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-public abstract class BaseStepStepMotor implements StepMotor {
-    protected final ModuleId moduleId;
-    protected final CommandBus commandBus;
-    protected final Integer DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS = 10;
-
-    protected BaseStepStepMotor(ModuleId moduleId, CommandBus commandBus) {
-        this.moduleId = moduleId;
-        this.commandBus = commandBus;
-    }
-
-
-    @Override
-    public void easyMoveTo(Integer value, DistanceUnit unit) {
-        DataPacket commandDataPacket = DataPacket.createCommandDataPacket(moduleId.index, CmdId.step_motor_easy_move_to.index, value);
-        try {
-            commandBus.waitForCommandExec(commandDataPacket, DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS, TimeUnit.SECONDS);
-        } catch (CommandExecTimeoutException e) {
-            throw new RuntimeException(e);
-        } catch (HardwareErrorException e) {
-            throw new RuntimeException(e);
-        } catch (IOException e) {
-            throw new RuntimeException(e);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
-    }
-
-    @Override
-    public void easyMoveBy(Integer value, DistanceUnit unit) {
-
-    }
-}

src/main/java/com/iflytop/gd/system/devices/LiquidFillingArm.java

@@ -0,0 +1,21 @@
+package com.iflytop.gd.system.devices;
+
+
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.drivers.CommandBus;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+/**
+ * 液体加注机械臂
+ */
+@Component
+public class LiquidFillingArm {
+    private final StepMotor largeArmMotor;
+    private final StepMotor smallArmMotor;
+
+    public LiquidFillingArm(CommandBus commandBus) {
+        this.largeArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis1M, commandBus);
+        this.smallArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis2M, commandBus);
+    }
+}

src/main/java/com/iflytop/gd/system/devices/StandardStepMotor.java

@@ -0,0 +1,153 @@
+package com.iflytop.gd.system.devices;
+
+import com.iflytop.gd.infrastructure.drivers.CmdId;
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.constants.DistanceUnit;
+import com.iflytop.gd.system.constants.RotationDirection;
+import com.iflytop.gd.system.drivers.CommandBus;
+import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
+import com.iflytop.gd.system.exceptions.HardwareErrorException;
+import com.iflytop.gd.system.models.DataPacket;
+
+import java.io.IOException;
+import java.util.concurrent.TimeUnit;
+
+public class StandardStepMotor implements StepMotor {
+    protected final ModuleId moduleId;
+    protected final CommandBus commandBus;
+    protected final Integer DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS = 10;
+
+    protected StandardStepMotor(ModuleId moduleId, CommandBus commandBus) {
+        this.moduleId = moduleId;
+        this.commandBus = commandBus;
+    }
+
+
+    @Override
+    public void easyMoveTo(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
+        DataPacket commandDataPacket = DataPacket.createCommandDataPacket(moduleId.index, CmdId.step_motor_easy_move_to.index, unit.toMM(value));
+        commandBus.waitForCommandExec(commandDataPacket, DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS, TimeUnit.SECONDS);
+    }
+
+    @Override
+    public void easyMoveBy(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
+        DataPacket commandDataPacket = DataPacket.createCommandDataPacket(moduleId.index, CmdId.step_motor_easy_move_by.index, unit.toMM(value));
+        commandBus.waitForCommandExec(commandDataPacket, DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS, TimeUnit.SECONDS);
+    }
+
+    @Override
+    public void easyMoveToZero() throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
+        DataPacket commandDataPacket = DataPacket.createCommandDataPacket(moduleId.index, CmdId.step_motor_easy_move_to_zero.index);
+        commandBus.waitForCommandExec(commandDataPacket, DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS, TimeUnit.SECONDS);
+    }
+
+    @Override
+    public void setCurrentPosition(Integer value) {
+
+    }
+
+    @Override
+    public void easyMoveToZeroPointQuick() {
+
+    }
+
+    @Override
+    public void easyMoveToEndPoint() {
+
+    }
+
+    @Override
+    public void enable() {
+
+    }
+
+    @Override
+    public Integer readPosition() {
+        return 0;
+    }
+
+    @Override
+    public Integer readEncoderPosition() {
+        return 0;
+    }
+
+    @Override
+    public void easyRotate(RotationDirection direction) {
+
+    }
+
+    @Override
+    public void easyMoveByBlock() {
+
+    }
+
+    @Override
+    public void easyMoveToBlock() {
+
+    }
+
+    @Override
+    public void easyMoveToZeroBlock() {
+
+    }
+
+    @Override
+    public void readPositionByMoveToZeroBlock() {
+
+    }
+
+    @Override
+    public void easyMoveToZeroPointQuickBlock() {
+
+    }
+
+    @Override
+    public void stop() {
+
+    }
+
+    @Override
+    public void moveByBlock() {
+
+    }
+
+    @Override
+    public void moveTOBlock() {
+
+    }
+
+    @Override
+    public void rotate() {
+
+    }
+
+    @Override
+    public Boolean readIOState() {
+        return null;
+    }
+
+    @Override
+    public void easyReciprocatingMotion() {
+
+    }
+
+    @Override
+    public void easyReciprocatingMotionBlock() {
+
+    }
+
+    @Override
+    public Boolean isReturnToZero() {
+        return null;
+    }
+
+    @Override
+    public void setReg() {
+
+    }
+
+    @Override
+    public Integer readReg() {
+        return 0;
+    }
+}

src/main/java/com/iflytop/gd/system/devices/StepMotor.java

@@ -2,6 +2,10 @@ package com.iflytop.gd.system.devices;
 
 import com.iflytop.gd.system.constants.DistanceUnit;
 import com.iflytop.gd.system.constants.RotationDirection;
+import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
+import com.iflytop.gd.system.exceptions.HardwareErrorException;
+
+import java.io.IOException;
 
 /**
  * 电机驱动类型设备
@@ -13,11 +17,11 @@ public interface StepMotor {
      * @param value
      * @param unit
      */
-    void easyMoveBy(Integer value, DistanceUnit unit);
+    void easyMoveBy(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException;
 
-    void easyMoveTo(Integer value, DistanceUnit unit);
+    void easyMoveTo(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException;
 
-    void easyMoveToZero();
+    void easyMoveToZero() throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException;
 
     void setCurrentPosition(Integer value);
 

src/main/java/com/iflytop/gd/system/devices/TransportationArm.java

@@ -0,0 +1,22 @@
+package com.iflytop.gd.system.devices;
+
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.drivers.CommandBus;
+import org.springframework.stereotype.Component;
+
+/**
+ * 试管转移机械臂
+ */
+@Component
+public class TransportationArm {
+
+    private StepMotor xDimMotor;
+    private StepMotor yDimMotor;
+    private StepMotor zDimMotor;
+
+    public TransportationArm(CommandBus commandBus) {
+        this.xDimMotor = new StandardStepMotor(ModuleId.HBotXM, commandBus);
+        this.yDimMotor = new StandardStepMotor(ModuleId.HBotYM, commandBus);
+        this.zDimMotor = new StandardStepMotor(ModuleId.HBotZM, commandBus);
+    }
+}

src/main/java/com/iflytop/gd/system/models/LiquidFillingArm.java

@@ -1,9 +0,0 @@
-package com.iflytop.gd.system.models;
-
-
-/**
- * 液体加注机械臂
- */
-public interface LiquidFillingArm {
-
-}

src/main/java/com/iflytop/gd/system/models/TubeTransportationArm.java

@@ -1,9 +0,0 @@
-package com.iflytop.gd.system.models;
-
-/**
- * 试管转移机械臂
- */
-public interface TubeTransportationArm {
-
-
-}