feat:增加设备接口定义；修复系统无法启动的问题

src/main/java/com/iflytop/gd/debug/services/cmds/DoorCloseCommandHandler.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.debug.services.cmds;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.infrastructure.devices.MotorDrivenDoor;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -15,8 +16,9 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 @CommandMapping("debug_door_close")
 public class DoorCloseCommandHandler implements CommandHandler {
+    private final MotorDrivenDoor door;
     @Override
     public void handle(CmdDTO cmdDTO) {
-
+        this.door.close();
     }
 }

src/main/java/com/iflytop/gd/debug/services/cmds/DoorOpenCommandHandler.java

@@ -3,6 +3,8 @@ package com.iflytop.gd.debug.services.cmds;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.infrastructure.devices.MotorDrivenDoor;
+import com.iflytop.gd.system.devices.Door;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -15,9 +17,10 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 @CommandMapping("debug_door_open")
 public class DoorOpenCommandHandler implements CommandHandler {
+    private final Door door;
 
     @Override
     public void handle(CmdDTO cmdDTO) {
-
+        door.open();
     }
 }

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenDoor.java

@@ -0,0 +1,32 @@
+package com.iflytop.gd.infrastructure.devices;
+
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.devices.Door;
+import com.iflytop.gd.system.devices.StepMotor;
+import com.iflytop.gd.system.drivers.CommandBus;
+import org.springframework.stereotype.Component;
+
+/**
+ * 步进电机驱动的门实现
+ */
+@Component
+public class MotorDrivenDoor implements Door {
+
+    private final StepMotor doorMotor;
+
+    public MotorDrivenDoor(CommandBus commandBus) {
+        this.doorMotor = new StandardStepMotor(ModuleId.DoorM, commandBus);
+    }
+
+    @Override
+    public void open() {
+
+    }
+
+
+    @Override
+    public void close() {
+
+    }
+
+}

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenLiquidFillingArm.java

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

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenTransportationArm.java

@@ -0,0 +1,23 @@
+package com.iflytop.gd.infrastructure.devices;
+
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.devices.StepMotor;
+import com.iflytop.gd.system.drivers.CommandBus;
+import org.springframework.stereotype.Component;
+
+/**
+ * 试管转移机械臂
+ */
+@Component
+public class MotorDrivenTransportationArm {
+
+    private StepMotor xDimMotor;
+    private StepMotor yDimMotor;
+    private StepMotor zDimMotor;
+
+    public MotorDrivenTransportationArm(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/devices/StandardStepMotor.java → src/main/java/com/iflytop/gd/infrastructure/devices/StandardStepMotor.java

@@ -1,9 +1,10 @@
-package com.iflytop.gd.system.devices;
+package com.iflytop.gd.infrastructure.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.devices.StepMotor;
 import com.iflytop.gd.system.drivers.CommandBus;
 import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
 import com.iflytop.gd.system.exceptions.HardwareErrorException;

src/main/java/com/iflytop/gd/infrastructure/drivers/WebSocketCommandBusImpl.java

@@ -1,24 +1,23 @@
 package com.iflytop.gd.infrastructure.drivers;
 
 import cn.hutool.core.util.ObjectUtil;
-import com.iflytop.gd.common.exception.AppException;
 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 com.iflytop.gd.system.utils.ByteArray;
+import jakarta.annotation.PostConstruct;
 import jakarta.websocket.*;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
-import org.springframework.web.socket.client.WebSocketClient;
 
 import java.io.IOException;
 import java.net.URI;
 import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicReference;
-import java.util.concurrent.locks.ReentrantLock;
 
 /**
  * 使用WebSocket实现命令总线功能
@@ -26,29 +25,47 @@ import java.util.concurrent.locks.ReentrantLock;
 @Slf4j
 @Component
 @ClientEndpoint
+@EnableScheduling
 public class WebSocketCommandBusImpl implements CommandBus {
     private Session session;
-    private WebSocketClient webSocketClient;
     private CountDownLatch countDownLatch;
     private DataPacket lastDataPacket;
     private Integer packetIndex = 0;
 
+    private final String COMMAND_BUS_WEBSOCKET_URL;
+
     public static final int PACKET_TYPE_CMD       = 0xA0;
     public static final int PACKET_TYPE_ACK       = 0xA1;
     public static final int PACKET_TYPE_ERROR_ACK = 0xA2;
     public static final int PACKET_TYPE_EVENT     = 0xA3;
 
     //TODO 配置硬件服务段ws链接
-    public WebSocketCommandBusImpl(@Value("${}") String websocketServerUrl) throws DeploymentException, IOException {
-        WebSocketContainer container = ContainerProvider.getWebSocketContainer();
-        URI endpointURI = URI.create(websocketServerUrl);
-        container.connectToServer(this, endpointURI);
+    public WebSocketCommandBusImpl(@Value("${command_bus.websocket_server_url}") String websocketServerUrl) throws DeploymentException, IOException {
+        this.COMMAND_BUS_WEBSOCKET_URL = websocketServerUrl;
+    }
+
+    @Scheduled(fixedRate = 5000)
+    @PostConstruct
+    public void connectToCommandBusWebSocketServer() throws DeploymentException, IOException {
+        if (this.session == null || !this.session.isOpen()) {
+            WebSocketContainer container = ContainerProvider.getWebSocketContainer();
+            URI endpointURI = URI.create(COMMAND_BUS_WEBSOCKET_URL);
+            try {
+                this.session = container.connectToServer(this, endpointURI);
+            } catch (Exception e) {
+                log.error(e.getMessage(), e);
+            }
+        }
+
     }
 
     @Override
     public synchronized DataPacket waitForCommandExec(DataPacket commandPacket, Integer timeout, TimeUnit unit)
             throws CommandExecTimeoutException, HardwareErrorException, IOException, InterruptedException {
         try {
+            if (!this.session.isOpen()) {
+                throw new IOException("Session is not open");
+            }
             packetIndex = packetIndex + 1;
             if (packetIndex > 30000) {
                 packetIndex = 1;

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

@@ -0,0 +1,5 @@
+package com.iflytop.gd.system.constants;
+
+public enum Dim {
+    X, Y, Z
+}

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

@@ -0,0 +1,5 @@
+package com.iflytop.gd.system.constants;
+
+public enum LiquidFillArmMotorIndex {
+    LargeArm, SmallArm
+}

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

@@ -1,11 +0,0 @@
-package com.iflytop.gd.system.devices;
-
-/**
- * 开关类型设备驱动定义
- */
-public interface BinaryDevice {
-    void open();
-    void close();
-    boolean isOpen();
-    boolean isClosed();
-}

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

@@ -4,4 +4,51 @@ package com.iflytop.gd.system.devices;
  * 冷阱
  */
 public interface ColdTray {
+
+    /**
+     * 设置温度
+     * @param temperature
+     * @return
+     */
+    boolean setTemperature(Double temperature);
+
+    /**
+     * 开启循环
+     * @return
+     */
+    boolean openRecycle();
+
+
+    /**
+     * 关闭循环
+     * @return
+     */
+    boolean closeRecycle();
+
+
+    /**
+     * 开启加热
+     * @return
+     */
+    boolean openHeating();
+
+
+    /**
+     * 关闭加热
+     * @return
+     */
+    boolean closeHeating();
+
+    /**
+     * 开启制冷
+     * @return
+     */
+    boolean openRefrigeration();
+
+
+    /**
+     * 关闭制冷
+     * @return
+     */
+    boolean closeRefrigeration();
 }

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

@@ -0,0 +1,7 @@
+package com.iflytop.gd.system.devices;
+
+public interface Door {
+    void open();
+    void close();
+
+}

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

@@ -1,9 +0,0 @@
-package com.iflytop.gd.system.devices;
-
-/**
- * 步进电机
- */
-public class DoorStepMotor  {
-
-
-}

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

@@ -4,4 +4,18 @@ package com.iflytop.gd.system.devices;
  * 风扇
  */
 public interface Fan {
+
+    /**
+     * 开启风扇
+     * @return
+     */
+    boolean open();
+
+
+    /**
+     * 关闭风扇
+     * @return
+     */
+    boolean close();
+
 }

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

@@ -4,4 +4,17 @@ package com.iflytop.gd.system.devices;
  * 加热器
  */
 public interface Heater {
+
+    /**
+     * 打开
+     * @return
+     */
+    boolean open();
+
+
+    /**
+     * 关闭
+     * @return
+     */
+    boolean close();
 }

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

@@ -1,21 +1,38 @@
 package com.iflytop.gd.system.devices;
 
+import com.iflytop.gd.system.constants.LiquidFillArmMotorIndex;
+import com.iflytop.gd.system.constants.RotationDirection;
+import com.iflytop.gd.system.constants.SpeedUnit;
+import com.iflytop.gd.system.models.Point3D;
 
-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
+ * 加液机械臂
  */
-@Component
-public class LiquidFillingArm {
-    private final StepMotor largeArmMotor;
-    private final StepMotor smallArmMotor;
+public interface LiquidFillingArm {
 
-    public LiquidFillingArm(CommandBus commandBus) {
-        this.largeArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis1M, commandBus);
-        this.smallArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis2M, commandBus);
-    }
+    /**
+     * 机械臂移动到指定点
+     * @param point 点坐标
+     * @return 是否移动完成
+     */
+    boolean moveTo(Point3D point);
+
+    /**
+     * 旋转到指定角度
+     * @param liquidFillArmMotorIndex 机械臂电机索引
+     * @param angle 角度
+     * @param direction 旋转方向
+     * @return 是否旋转完成
+     */
+    boolean rotateTo(LiquidFillArmMotorIndex liquidFillArmMotorIndex, Integer angle, RotationDirection direction);
+
+
+    /**
+     * 设置旋转速率
+     * @param speed 速率值
+     * @param speedUnit 速率单位
+     * @return 是否设置成功
+     */
+    boolean setRotationSpeed(Integer speed, SpeedUnit speedUnit);
 }

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

@@ -4,4 +4,16 @@ package com.iflytop.gd.system.devices;
  * 继电器
  */
 public interface Relay {
+    /**
+     * 打开继电器
+     * @return
+     */
+    boolean open();
+
+
+    /**
+     * 闭合继电器
+     * @return
+     */
+    boolean close();
 }

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

@@ -0,0 +1,4 @@
+package com.iflytop.gd.system.devices;
+
+public interface Sensor {
+}

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

@@ -1,22 +1,42 @@
 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;
+import com.iflytop.gd.system.constants.Dim;
+import com.iflytop.gd.system.constants.DistanceUnit;
+import com.iflytop.gd.system.constants.SpeedUnit;
+import com.iflytop.gd.system.models.Point3D;
 
-/**
- * 试管转移机械臂
- */
-@Component
-public class TransportationArm {
+public interface TransportationArm {
 
-    private StepMotor xDimMotor;
-    private StepMotor yDimMotor;
-    private StepMotor zDimMotor;
+    /**
+     * 机械臂XYZ三个维度移动指定距离
+     * @param dim 维度
+     * @param distance 距离值
+     * @param unit 距离单位
+     * @return 是否移动完成
+     */
+    boolean move(Dim dim, Integer distance, DistanceUnit unit);
 
-    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);
-    }
+    /**
+     * 移动到指定点
+     * @param point 点坐标
+     * @param unit 距离单位
+     * @return 是否移动完成
+     */
+    boolean move(Point3D point, DistanceUnit unit);
+
+    /**
+     * 独立停止XYZ三个维度移动
+     * @param dim 维度
+     * @return 是否执行完成
+     */
+    boolean stop(Dim dim);
+
+    /**
+     * 独立设置XYZ三个轴移动速率
+     * @param dim 维度
+     * @param speed 速率
+     * @param unit 速率单位
+     * @return 是否设置完成
+     */
+    boolean setSpeed(Dim dim, Integer speed, SpeedUnit unit);
 }

src/main/java/com/iflytop/gd/system/models/Point3D.java

@@ -0,0 +1,23 @@
+package com.iflytop.gd.system.models;
+
+
+import lombok.Getter;
+
+@Getter
+public class Point3D {
+    private final Integer x;
+    private final Integer y;
+    private final Integer z;
+
+    public Point3D(Integer x, Integer y, Integer z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+
+    public Point3D(Integer x, Integer y) {
+        this.x = x;
+        this.y = y;
+        this.z = 0;
+    }
+}

src/main/resources/application.yml

@@ -31,4 +31,5 @@ logging:
 springdoc:
   default-flat-param-object: true
 
-
+command_bus:
+  websocket_server_url: ws://127.0.0.1