From 1e05524db41160c74c695a58ffdf1aaf98127a76 Mon Sep 17 00:00:00 2001
From: HSZ_HeSongZhen <210202959@qq.com>
Date: Tue, 6 May 2025 11:21:09 +0800
Subject: [PATCH] =?UTF-8?q?add:=20=E6=96=B0=E5=A2=9EMID?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../com/iflytop/gd/hardware/controller/IOController.java     |  5 +++++
 .../iflytop/gd/hardware/controller/StepMotorController.java  | 12 ++++++++++++
 .../gd/hardware/drivers/MiniServoDriver/MiniServoMId.java    |  4 ++--
 src/main/java/com/iflytop/gd/hardware/service/IOService.java |  5 +++++
 .../com/iflytop/gd/hardware/service/StepMotorService.java    |  8 ++++++++
 src/main/java/com/iflytop/gd/hardware/type/MId.java          |  2 ++
 src/main/resources/application-dev.yml                       |  2 +-
 7 files changed, 35 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/com/iflytop/gd/hardware/controller/IOController.java
 create mode 100644 src/main/java/com/iflytop/gd/hardware/service/IOService.java

diff --git a/src/main/java/com/iflytop/gd/hardware/controller/IOController.java b/src/main/java/com/iflytop/gd/hardware/controller/IOController.java
new file mode 100644
index 0000000..340cab4
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/hardware/controller/IOController.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.hardware.controller;
+
+// TODO:
+public class IOController {
+}
diff --git a/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java b/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
index fa79185..97da20d 100644
--- a/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
+++ b/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
@@ -248,4 +248,16 @@ public class StepMotorController {
     public Integer readEncPos(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         return stepMotorService.readEncPos(deviceId);
     }
+
+    @PostMapping("/read-zero-sensor")
+    @Operation(summary = "读取零点光电")
+    public Boolean readZeroSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+        return stepMotorService.readIoState(deviceId, 0);
+    }
+    @PostMapping("/read-limit-sensor")
+    @Operation(summary = "读取限位光电")
+    public Boolean readLimitSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+        return stepMotorService.readIoState(deviceId, 1);
+    }
+
 }
diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java
index 34f5af1..a82f450 100644
--- a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java
+++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java
@@ -4,8 +4,8 @@ import com.iflytop.gd.hardware.type.MId;
 
 public enum MiniServoMId {
 	NotSet(MId.NotSet),//
-	DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1M),//
-	DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2M),
+	DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1S),//
+	DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2S),
 	CLAW_MID(MId.HBotClawS)
 	;
 
diff --git a/src/main/java/com/iflytop/gd/hardware/service/IOService.java b/src/main/java/com/iflytop/gd/hardware/service/IOService.java
new file mode 100644
index 0000000..1f43723
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/hardware/service/IOService.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.hardware.service;
+
+// TODO:
+public class IOService {
+}
diff --git a/src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java b/src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java
index b3c0a4c..aaf724b 100644
--- a/src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java
+++ b/src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java
@@ -247,4 +247,12 @@ public class StepMotorService {
         }
         return stepMotorCtrlDriver_.getAllReg(stepId);
     }
+
+    public Boolean readIoState(DeviceStepMotorId id, Integer ioindex) throws HardwareException {
+        StepMotorMId stepId = id.getStepMotorMId();
+        if (stepId == null) {
+            throwDeviceNull(id);
+        }
+        return stepMotorCtrlDriver_.stepMotorReadIoState(stepId, ioindex);
+    }
 }
diff --git a/src/main/java/com/iflytop/gd/hardware/type/MId.java b/src/main/java/com/iflytop/gd/hardware/type/MId.java
index e580bf4..11853c2 100644
--- a/src/main/java/com/iflytop/gd/hardware/type/MId.java
+++ b/src/main/java/com/iflytop/gd/hardware/type/MId.java
@@ -6,6 +6,8 @@ public enum MId {
     PWMLight(11, "PWM 灯"),
     TriColorLight(12, "三色灯"),
     HBotClawS(13, "夹爪舵机"),//
+    DualRobotAxis1S(14, "双轴机械臂1舵机"),
+    DualRobotAxis2S(15, "双轴机械臂2舵机"),
 
     IO2Board(30, "台下 IO 板模块"),
 
diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml
index 014034c..e0a2e5d 100644
--- a/src/main/resources/application-dev.yml
+++ b/src/main/resources/application-dev.yml
@@ -36,6 +36,6 @@ command_bus:
 device.enableCanBus: true
 
 iflytophald:
-  ip: 192.168.1.140
+  ip: 192.168.8.168
   cmdch.port: 19004
   datach.port: 19005
\ No newline at end of file