feat:实现步进电机接口定义和命令总线消息发送功能;

3 months ago · 6de9098060
25 changed files with 904 additions and 73 deletions
--- a/src/main/java/com/iflytop/gd/common/notification/Notification.java
+++ b/src/main/java/com/iflytop/gd/common/notification/Notification.java
@ -10,13 +10,26 @@ import lombok.Getter;

@Getter
 public class Notification {
+    private final String commandId;
+    private final String command;
    private final String level;
-    private final String content;
+    private final String title;
+    private String content = null;
    private final String dateTime = DateTime.now().toString("yyyy/MM/dd HH:mm:ss");

-    private Notification(String level, String content) {
+    private Notification(String commandId, String command, String level, String title, String content) {
+        this.commandId = commandId;
        this.level = level;
+        this.title = title;
        this.content = content;
+        this.command = command;
+    }
+
+    private Notification(String commandId, String command, String level, String title) {
+        this.commandId = commandId;
+        this.level = level;
+        this.title = title;
+        this.command = command;
    }

    /**
@ -24,8 +37,8 @@ public class Notification {
     * @param content 通知内容
     * @return 通知实例
     */
-    public static Notification infoNotification(String content) {
-        return new Notification("info", content);
+    public static Notification infoNotification(String commandId, String command, String title, String content) {
+        return new Notification(commandId, command, "info", title, content);
    }


@ -34,8 +47,8 @@ public class Notification {
     * @param content 通知内容
     * @return 通知实例
     */
-    public static Notification warnNotification(String content) {
-        return new Notification("warn", content);
+    public static Notification warnNotification(String commandId, String command, String title, String content) {
+        return new Notification(commandId, command, "warn", title, content);
    }

    /**
@ -43,8 +56,8 @@ public class Notification {
     * @param content 通知内容
     * @return 通知实例
     */
-    public static Notification errorNotification(String content) {
-        return new Notification("error", content);
+    public static Notification errorNotification(String commandId, String command, String title, String content) {
+        return new Notification(commandId, command, "error", title, content);
    }


@ -53,8 +66,8 @@ public class Notification {
     * @param content 通知内容
     * @return 通知实例
     */
-    public static Notification fatalNotification(String content) {
-        return new Notification("fatal", content);
+    public static Notification fatalNotification(String commandId, String command, String title, String content) {
+        return new Notification(commandId, command, "fatal", title, content);
    }


--- a/src/main/java/com/iflytop/gd/infrastructure/drivers/AppErrorCode.java
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/AppErrorCode.java
@ -0,0 +1,21 @@
+package com.iflytop.gd.infrastructure.drivers;
+
+public  enum AppErrorCode {
+    APP_OK(200, "操作成功"),
+    FAIL(500, "操作失败"),
+    PARAM_ERROR(400, "参数错误");
+
+    private int code;
+    private String msg;
+    private AppErrorCode(int code, String msg) {
+        this.code = code;
+        this.msg = msg;
+    }
+
+    public int getCode() {
+        return code;
+    }
+    public String getMsg() {
+        return msg;
+    }
+}
--- a/src/main/java/com/iflytop/gd/infrastructure/drivers/CmdId.java
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/CmdId.java
@ -0,0 +1,122 @@
+package com.iflytop.gd.infrastructure.drivers;
+
+
+public enum CmdId {
+    NotSet(0xFFFF, "NOACTION"),//
+
+    board_reset(0x0000, "复位板子"),//
+    event_bus_reg_change_report(0x0064, "寄存器修改事件"),//
+    //
+
+    module_ping(0x0101, "MODULE_PING"),
+    module_stop(0x0102, "MODULE_STOP"),
+
+    module_get_error(0x0110, "MODULE_GET_ERROR"),
+    module_get_detail_error(0x0111, "MODULE_GET_DETAIL_ERROR"),
+    module_clear_error(0x0112, "MODULE_CLEAR_ERROR"),
+
+    module_set_reg(0x0120, "MODULE_SET_REG"),
+    module_get_reg(0x0121, "MODULE_GET_REG"),
+    module_reset_reg(0x0123, "MODULE_RESET_REG"),
+
+    module_get_version(0x0130, "MODULE_GET_VERSION"),
+    module_get_type(0x0131, "MODULE_GET_TYPE"),
+    module_get_status(0x0132, "MODULE_GET_STATUS"),
+
+    // 扩展板
+    extboard_read_inio(0x6701, "EXTBOARD_READ_INIO"),//
+    extboard_write_outio(0x6702, "EXTBOARD_WRITE_OUTIO"),//
+    extboard_read_muti_inio(0x6703, "EXTBOARD_READ_MUTI_INIO"),//
+    extboard_read_inio_index_in_stm32(0x6704, "EXTBOARD_READ_INIO_INDEX_IN_STM32"),//
+    extboard_read_outio_index_in_stm32(0x6705, "EXTBOARD_READ_OUTIO_INDEX_IN_STM32"),//
+    extboard_read_outio(0x6706, "EXTBOARD_READ_OUTIO"),//
+
+    // 补光灯模块
+    module_pwm_light_on(0x0204, "MODULE_PWM_LIGHT_ON"),  // 补光灯 开启
+    module_pwm_light_off(0x0205, "MODULE_PWM_LIGHT_OFF"),    // 补光灯
+
+    // 三色灯模块
+    module_tricolor_light_on(0x0206, "MODULE_TRICOLOR_LIGHT_ON"),    // 三色灯开启
+    module_tricolor_light_off(0x0207, "MODULE_TRICOLOR_LIGHT_OFF"),    // 三色灯
+
+    // IO 板卡 1
+    module_io1_read_heat_rod_current(0x0207, "MODULE_IO_READ_HEAT_ROD_CURRENT"),    // 读取加热棒电流
+
+    // IO 板卡 2
+
+    // 电机通用控制
+    step_motor_enable(0x0201, "STEP_MOTOR_ENABLE"),//
+    step_motor_read_pos(0x020b, "STEP_MOTOR_READ_POS"),//
+    step_motor_read_enc_pos(0x020c, "STEP_MOTOR_READ_ENC_POS"),//
+    step_motor_easy_rotate(0x0211, "STEP_MOTOR_EASY_ROTATE"),//
+    step_motor_easy_move_by(0x0212, "STEP_MOTOR_EASY_MOVE_BY"),//
+    step_motor_easy_move_to(0x0213, "STEP_MOTOR_EASY_MOVE_TO"),//
+    step_motor_easy_move_to_zero(0x0214, "STEP_MOTOR_EASY_MOVE_TO_ZERO"),//
+    step_motor_easy_set_current_pos(0x0215, "STEP_MOTOR_EASY_SET_CURRENT_POS"),//
+    step_motor_easy_move_to_io(0x0216, "STEP_MOTOR_EASY_MOVE_TO_IO"),//
+    step_motor_stop(0x0228, "STEP_MOTOR_STOP"),//
+    step_motor_move_by(0x021d, "STEP_MOTOR_MOVE_BY"),  // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+    step_motor_move_to(0x021e, "STEP_MOTOR_MOVE_TO"),  // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+    step_motor_move_to_zero_point_quick(0x021f, "STEP_MOTOR_MOVE_TO_ZERO_POINT_QUICK"),  // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+    step_motor_rotate(0x0220, "STEP_MOTOR_ROTATE"),  //
+
+    step_motor_active_cfg(0x0229, "STEP_MOTOR_ACTIVE_CFG"),//
+    step_motor_read_io_state(0x022a, "STEP_MOTOR_READ_IO_STATE"),//
+    step_motor_easy_move_to_end_point(0x022c, "STEP_MOTOR_EASY_MOVE_TO_END_POINT"),//
+    step_motor_read_tmc5130_status(0x0232, "STEP_MOTOR_READ_TMC5130_STATUS"),//
+    step_motor_read_tmc5130_state(0x0233, "STEP_MOTOR_READ_TMC5130_STATE"),//
+    step_motor_read_io_index_in_stm32(0x0238, "STEP_MOTOR_READ_IO_INDEX_IN_STM32"),//
+    step_motor_set_subdevice_reg(0x0239, "STEP_MOTOR_SET_SUBDEVICE_REG"),//
+    step_motor_get_subdevice_reg(0x023a, "STEP_MOTOR_GET_SUBDEVICE_REG"),//
+    step_motor_easy_reciprocating_motion(0x022d, "STEP_MOTOR_EASY_RECIPROCATING_MOTION"),//
+    step_motor_easy_move_to_zero_point_quick(0x022e, "STEP_MOTOR_EASY_MOVE_TO_ZERO_POINT_QUICK"),
+
+
+    ;
+
+    public final static int    ATTACH_IS_BYTES = 1;
+    public final static int    ATTACH_IS_INT32 = 2;
+    public final        int    index;
+    public final        String name;
+
+    CmdId(int index, String chname) {
+        this.index  = index;
+        this.name = chname;
+    }
+
+    public int toInt() {
+        return index;
+    }
+
+    public static CmdId valueOf(int val) {
+        CmdId[] values = CmdId.values();
+        for (CmdId e : values) {
+            if (e.toInt() == val)
+                return e;
+        }
+        return null;
+    }
+
+    public static String toString(int val) {
+        CmdId[] values = CmdId.values();
+        for (CmdId e : values) {
+            if (e.toInt() == val) {
+                return e.toString();
+            }
+        }
+        return "unknown(" + val + ")";
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public Boolean eq(Integer index) {
+        return this.index == index;
+    }
+
+
+    public boolean isTrace() {
+        return true;
+    }
+}
--- a/src/main/java/com/iflytop/gd/infrastructure/drivers/ModuleId.java
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/ModuleId.java
@ -0,0 +1,98 @@
+package com.iflytop.gd.infrastructure.drivers;
+
+public enum ModuleId {
+    NotSet(0, "未设置"),
+    IO1Board(10, "台面 IO 板模块"),
+    PWMLight(11, "PWM 灯"),
+    TriColorLight(12, "三色灯"),
+
+    IO2Board(30, "台下 IO 板模块"),
+
+    DoorBoard(80, "门电机板模块"),//
+    DoorM(81, "门电机"),
+
+    ShakeModBoard(90, "摇匀模组板"),    //
+    ShakeModShakeM(91, "加液位摇匀电机"), //
+
+    CapStorageBoard(100, "拍子存放板模块"),     //
+    CapStorageM(101, "拍子存放电机"),          //
+
+    DualRobotAxis1Board(110, "双轴机械臂1轴板模块"),//
+    DualRobotAxis1M(111, "双轴机械臂1轴电机"),
+    DualRobotAxis2Board(120, "双轴机械臂2轴板模块"),//
+    DualRobotAxis2M(121, "双轴机械臂2轴电机"),
+
+    HBotXBoard(130, "X轴板模块"),//
+    HBotXM(131, "X轴电机"),
+    HBotYBoard(140, "Y轴板模块"),//
+    HBotYM(141, "Y轴电机"),
+    HBotZBoard(150, "Z轴板模块"),//
+    HBotZM(151, "Z轴电机"),
+
+    Heater1Board(160, "加热1板模块"),//
+    Heater1M(161, "加热1电机"),
+    Heater2Board(170, "加热2板模块"),//
+    Heater2M(171, "加热2电机"),
+    Heater3Board(180, "加热3板模块"),//
+    Heater3M(181, "加热3电机"),
+    Heater4Board(190, "加热4板模块"),//
+    Heater4M(191, "加热4电机"),
+    Heater5Board(200, "加热5板模块"),//
+    Heater5M(201, "加热5电机"),
+    Heater6Board(210, "加热6板模块"),//
+    Heater6M(211, "加热6电机"),
+
+    AcidPump1Board(220, "加酸泵1板模块"),//
+    AcidPump1M(221, "加酸泵1电机"),
+    AcidPump2Board(230, "加酸泵2板模块"),//
+    AcidPump2M(231, "加酸泵2电机"),
+    AcidPump3Board(240, "加酸泵3板模块"),//
+    AcidPump3M(241, "加酸泵3电机"),
+    AcidPump4Board(250, "加酸泵4板模块"),//
+    AcidPump4M(251, "加酸泵4电机"),
+    AcidPump5Board(260, "泵5板模块"),//
+    AcidPump5M(261, "泵5电机"),
+    AcidPump6Board(270, "泵6板模块"),//
+    AcidPump6M(271, "泵6电机"),
+    AcidPump7Board(280, "泵7板模块"),//
+    AcidPump7M(281, "泵7电机"),
+    AcidPump8Board(290, "泵8板模块"),//
+    AcidPump8M(291, "泵8电机"),
+    ;
+
+    final public String name;
+    final public int    index;
+
+    ModuleId(int index, String name) {
+        this.name = name;
+        this.index  = index;
+    }
+
+    public int toInt() {
+        return index;
+    }
+
+
+    public static ModuleId valueOf(Integer val) {
+        return valueOf(val.intValue());
+    }
+
+    public static ModuleId valueOf(int val) {
+        ModuleId[] values = ModuleId.values();
+        for (ModuleId e : values) {
+            if (e.toInt() == val)
+                return e;
+        }
+        return null;
+    }
+
+    public static String toString(int val) {
+        ModuleId[] values = ModuleId.values();
+        for (ModuleId e : values) {
+            if (e.toInt() == val) {
+                return e.toString();
+            }
+        }
+        return "unknown(" + val + ")";
+    }
+}
--- a/src/main/java/com/iflytop/gd/infrastructure/drivers/RegIndex.java
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/RegIndex.java
@ -0,0 +1,78 @@
+package com.iflytop.gd.infrastructure.drivers;
+
+/**
+ * @brief 寄存器索引
+ */
+public enum RegIndex {
+
+    /***********************************************************************************************************************
+     * 步进电机控制器 *
+     ***********************************************************************************************************************/
+    /***********************************************************************************************************************
+     * step_motor start *
+     ***********************************************************************************************************************/
+
+    kreg_step_motor_pos(10101), // 机器人x坐标
+    kreg_step_motor_is_enable(10102), // 是否使能
+    kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移
+    kreg_step_motor_has_move_zero(10104),  // 是否回零
+    // kreg_step_motor_shift(10150), // x偏移
+    kreg_step_motor_shaft(10151), // x轴是否反转
+    kreg_step_motor_one_circle_pulse(10152), // x轴一圈脉冲数
+    kreg_step_motor_one_circle_pulse_denominator(10153), // 设置一圈脉冲数的分母
+    kreg_step_motor_default_velocity(10154), // 默认速度
+    kreg_step_motor_low_velocity(10155),  // 低速
+    kreg_step_motor_mid_velocity(10156),  // 中速
+    kreg_step_motor_high_velocity(10157),  // 高速
+    kreg_step_motor_ihold(10158), // 步进电机电流配置
+    kreg_step_motor_irun(10159), // 步进电机电流配置
+    kreg_step_motor_iholddelay(10160), // 步进电机电流配置
+    kreg_step_motor_iglobalscaler(10161), // 步进电机电流配置
+    kreg_step_motor_mres(10162), // 电机细分
+    kreg_step_motor_run_to_zero_speed(10173), // 回零速度
+    kreg_step_motor_look_zero_edge_speed(10175), // 找零边缘速度
+    kreg_step_motor_max_d(10178), // 最大限制距离
+    kreg_step_motor_min_d(10179), // 最小限制距离
+    kreg_step_motor_in_debug_mode(10180), // 驱动器处于调试模式
+    kreg_step_motor_vstart(10181), // a1起作用的速度
+    kreg_step_motor_a1(10182), //
+    kreg_step_motor_amax(10183), //
+    kreg_step_motor_v1(10184), //
+    kreg_step_motor_dmax(10185), //
+    kreg_step_motor_d1(10186), //
+    kreg_step_motor_vstop(10187), //
+    kreg_step_motor_tzerowait(10188), //
+    kreg_step_motor_enc_resolution(10189), // 编码器分辨率 1000,1024,4000,4096,16384
+    kreg_step_motor_enable_enc(10190), //
+    kreg_step_motor_dzero_pos(10191), // 驱动器处于调试模式
+    kret_step_motor_pos_devi_tolerance(10192), // 位置偏差容忍度
+    kret_step_motor_io_trigger_append_distance(10193), // 移动到io时，附加的距离
+
+    /***********************************************************************************************************************
+     * step_motor end *
+     ***********************************************************************************************************************/
+    ;
+
+    public final int     index;
+    public final Boolean trace;
+
+    RegIndex(int regIndex) {
+        this.index = regIndex;
+        this.trace = true;
+    }
+
+    RegIndex(int regIndex, Boolean trace) {
+        this.index = regIndex;
+        this.trace = trace;
+    }
+
+    public static RegIndex valueOf(int val) {
+        RegIndex[] values = RegIndex.values();
+        for (RegIndex regindex : values) {
+            if (regindex.index == val) {
+                return regindex;
+            }
+        }
+        return null;
+    }
+}
--- a/src/main/java/com/iflytop/gd/infrastructure/drivers/WebSocketCommandBusImpl.java
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/WebSocketCommandBusImpl.java
@ -0,0 +1,98 @@
+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.websocket.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+import org.springframework.web.socket.client.WebSocketClient;
+
+import java.io.IOException;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicReference;
+import java.util.concurrent.locks.ReentrantLock;
+
+
+@Slf4j
+@Component
+@ClientEndpoint
+public class WebSocketCommandBusImpl implements CommandBus {
+    private Session session;
+    private WebSocketClient webSocketClient;
+    private CountDownLatch countDownLatch;
+    private DataPacket lastDataPacket;
+
+
+
+    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;
+    @Override
+    public synchronized DataPacket waitForCommandExec(DataPacket commandPacket, Integer timeout, TimeUnit unit)
+            throws CommandExecTimeoutException, HardwareErrorException, IOException, InterruptedException {
+        try {
+            this.countDownLatch = new CountDownLatch(1);
+            this.session.getBasicRemote().sendText(commandPacket.toByteString());
+            boolean isTimeout = this.countDownLatch.await(timeout, unit);
+            // 命令返回或者超时了
+            if (isTimeout) {
+                // TODO处理超时
+                throw new CommandExecTimeoutException();
+            }
+            if (this.lastDataPacket.getPacketType() == PACKET_TYPE_ERROR_ACK) {
+                log.error("moduleId={}执行command={}发送硬件错误", this.lastDataPacket.getModuleId(), this.lastDataPacket.getCmdId());
+                throw new HardwareErrorException();
+            }
+            return ObjectUtil.cloneByStream(this.lastDataPacket);
+        } catch (IOException e) {
+            log.error("发送指令发生异常", e);
+            throw e;
+        } catch (InterruptedException e) {
+            Thread.currentThread().getName();
+            log.error("");
+            throw e;
+        }
+    }
+
+
+    @OnOpen
+    public void onOpen(Session session) {
+        if (this.session != null) {
+            try {
+                this.session.close();
+            } catch (IOException e) {
+                log.error(e.getMessage(), e);
+            }
+        }
+        this.session = session;
+    }
+
+    @OnMessage
+    public void onMessage(String message) {
+        byte[] bytes = ByteArray.hexStringToBytes(message);
+        this.lastDataPacket = new DataPacket(bytes);
+        this.countDownLatch.countDown();
+    }
+
+
+    @OnClose
+    public void onClose() {
+        if (this.countDownLatch != null) {
+            this.countDownLatch.countDown();
+        }
+    }
+
+    @OnError
+    public void onError(Session session, Throwable throwable) {
+        if (this.countDownLatch != null) {
+            this.countDownLatch.countDown();
+        }
+    }
+}
--- a/src/main/java/com/iflytop/gd/system/constants/RotationDirection.java
+++ b/src/main/java/com/iflytop/gd/system/constants/RotationDirection.java
@ -0,0 +1,18 @@
+package com.iflytop.gd.system.constants;
+
+import lombok.Getter;
+
+/**
+ * 电机转动方向
+ */
+@Getter
+public enum RotationDirection {
+    Forward(1),Backward(-1);
+
+    private Integer value;
+
+    RotationDirection(Integer value) {
+        this.value = value;
+    }
+
+}
--- a/src/main/java/com/iflytop/gd/system/devices/BaseStepStepMotor.java
+++ b/src/main/java/com/iflytop/gd/system/devices/BaseStepStepMotor.java
@ -0,0 +1,46 @@
+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) {
+
+    }
+}
--- a/src/main/java/com/iflytop/gd/system/devices/BinaryDevice.java
+++ b/src/main/java/com/iflytop/gd/system/devices/BinaryDevice.java
@ -0,0 +1,11 @@
+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();
+}
--- a/src/main/java/com/iflytop/gd/system/devices/DoorStepMotor.java
+++ b/src/main/java/com/iflytop/gd/system/devices/DoorStepMotor.java
@ -0,0 +1,9 @@
+package com.iflytop.gd.system.devices;
+
+/**
+ * 步进电机
+ */
+public class DoorStepMotor  {
+
+
+}
--- a/src/main/java/com/iflytop/gd/system/devices/Fan.java
+++ b/src/main/java/com/iflytop/gd/system/devices/Fan.java
@ -1,4 +1,4 @@
-package com.iflytop.gd.system.drivers;
+package com.iflytop.gd.system.devices;

 /**
 * 风扇
--- a/src/main/java/com/iflytop/gd/system/devices/Heater.java
+++ b/src/main/java/com/iflytop/gd/system/devices/Heater.java
@ -1,4 +1,4 @@
-package com.iflytop.gd.system.drivers;
+package com.iflytop.gd.system.devices;

 /**
 * 加热器
--- a/src/main/java/com/iflytop/gd/system/devices/Relay.java
+++ b/src/main/java/com/iflytop/gd/system/devices/Relay.java
@ -1,4 +1,4 @@
-package com.iflytop.gd.system.drivers;
+package com.iflytop.gd.system.devices;

 /**
 * 继电器
--- a/src/main/java/com/iflytop/gd/system/devices/ServoMotor.java
+++ b/src/main/java/com/iflytop/gd/system/devices/ServoMotor.java
@ -1,4 +1,4 @@
-package com.iflytop.gd.system.drivers;
+package com.iflytop.gd.system.devices;


 /**
--- a/src/main/java/com/iflytop/gd/system/devices/StepMotor.java
+++ b/src/main/java/com/iflytop/gd/system/devices/StepMotor.java
@ -0,0 +1,77 @@
+package com.iflytop.gd.system.devices;
+
+import com.iflytop.gd.system.constants.DistanceUnit;
+import com.iflytop.gd.system.constants.RotationDirection;
+
+/**
+ * 电机驱动类型设备
+ */
+public interface StepMotor {
+
+    /**
+     * 移动指定距离
+     * @param value
+     * @param unit
+     */
+    void easyMoveBy(Integer value, DistanceUnit unit);
+
+    void easyMoveTo(Integer value, DistanceUnit unit);
+
+    void easyMoveToZero();
+
+    void setCurrentPosition(Integer value);
+
+    void easyMoveToZeroPointQuick();
+
+    void easyMoveToEndPoint();
+
+    /**
+     * 使能电机
+     */
+    void enable();
+
+    /**
+     * 读取当前位置
+     * @return
+     */
+    Integer readPosition();
+
+    /**
+     * 读取编码器位置
+     * @return
+     */
+    Integer readEncoderPosition();
+
+    void easyRotate(RotationDirection direction);
+
+    void easyMoveByBlock();
+
+    void easyMoveToBlock();
+
+    void easyMoveToZeroBlock();
+
+    void readPositionByMoveToZeroBlock();
+
+    void easyMoveToZeroPointQuickBlock();
+
+    void stop();
+
+    void moveByBlock();
+
+    void moveTOBlock();
+
+    void rotate();
+
+    Boolean readIOState();
+
+    void easyReciprocatingMotion();
+
+    void easyReciprocatingMotionBlock();
+
+    Boolean isReturnToZero();
+
+    void setReg();
+
+    Integer readReg();
+
+}
--- a/src/main/java/com/iflytop/gd/system/drivers/CommandBus.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/CommandBus.java
@ -0,0 +1,22 @@
+package com.iflytop.gd.system.drivers;
+
+import com.iflytop.gd.common.exception.AppException;
+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 interface CommandBus {
+
+    /**
+     * 发送命令数据包并等待响应
+     * @param commandPacket 命令数据包
+     * @param timeout 等待超时事件
+     * @param unit 超时时间单位
+     * @return 响应数据包
+     * @throws Exception
+     */
+    DataPacket waitForCommandExec(DataPacket commandPacket, Integer timeout, TimeUnit unit) throws CommandExecTimeoutException, HardwareErrorException, IOException, InterruptedException;
+}
--- a/src/main/java/com/iflytop/gd/system/drivers/StepMotor.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/StepMotor.java
@ -1,34 +0,0 @@
-package com.iflytop.gd.system.drivers;
-
-import com.iflytop.gd.system.constants.DistanceUnit;
-import com.iflytop.gd.system.constants.SpeedUnit;
-
-/**
- * 步进电机
- */
-public interface StepMotor {
-
-    /**
-     * 移动指定距离
-     * @param value
-     * @param unit
-     */
-    void move(Integer value, DistanceUnit unit);
-
-    /**
-     * 停止移动
-     */
-    void stop();
-
-    /**
-     * 设置移动速度
-     * @param value
-     * @param unit
-     */
-    void setSpeed(Integer value, SpeedUnit unit);
-
-    /**
-     * 复位电机
-     */
-    void reset();
-}
--- a/src/main/java/com/iflytop/gd/system/exceptions/CommandExecTimeoutException.java
+++ b/src/main/java/com/iflytop/gd/system/exceptions/CommandExecTimeoutException.java
@ -0,0 +1,22 @@
+package com.iflytop.gd.system.exceptions;
+
+public class CommandExecTimeoutException extends Exception{
+    public CommandExecTimeoutException() {
+    }
+
+    public CommandExecTimeoutException(String message) {
+        super(message);
+    }
+
+    public CommandExecTimeoutException(String message, Throwable cause) {
+        super(message, cause);
+    }
+
+    public CommandExecTimeoutException(Throwable cause) {
+        super(cause);
+    }
+
+    public CommandExecTimeoutException(String message, Throwable cause, boolean enableSuppression, boolean writableStackTrace) {
+        super(message, cause, enableSuppression, writableStackTrace);
+    }
+}
--- a/src/main/java/com/iflytop/gd/system/exceptions/HardwareErrorException.java
+++ b/src/main/java/com/iflytop/gd/system/exceptions/HardwareErrorException.java
@ -0,0 +1,22 @@
+package com.iflytop.gd.system.exceptions;
+
+public class HardwareErrorException extends Exception{
+    public HardwareErrorException() {
+    }
+
+    public HardwareErrorException(String message) {
+        super(message);
+    }
+
+    public HardwareErrorException(String message, Throwable cause) {
+        super(message, cause);
+    }
+
+    public HardwareErrorException(Throwable cause) {
+        super(cause);
+    }
+
+    public HardwareErrorException(String message, Throwable cause, boolean enableSuppression, boolean writableStackTrace) {
+        super(message, cause, enableSuppression, writableStackTrace);
+    }
+}
--- a/src/main/java/com/iflytop/gd/system/models/DataPacket.java
+++ b/src/main/java/com/iflytop/gd/system/models/DataPacket.java
@ -0,0 +1,83 @@
+package com.iflytop.gd.system.models;
+
+import com.iflytop.gd.system.utils.ByteArray;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+public class DataPacket {
+    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       = 4;
+    public static final int DATA_LEN_OFFSET    = 6;
+    public static final int DATA_OFFSET        = 7;
+
+    public static final int PACKET_MIN_LEN = 8;//
+
+    public static final int CMD_OVERTIME = 1500;
+
+
+    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;
+
+    byte[] raw;
+
+    public DataPacket(byte[] cmd) {
+        raw = new byte[cmd.length];
+        System.arraycopy(cmd, 0, raw, 0, cmd.length);
+    }
+
+    public String toByteString() {
+        return ByteArray.toByteString(raw);
+    }
+
+    static public DataPacket createPacket(Integer moduleId, int packetType, Integer cmdId, Integer[] params) {
+        int        bufferSize = DataPacket.PACKET_MIN_LEN + 4 * params.length;
+        ByteBuffer buffer     = ByteBuffer.allocate(bufferSize);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
+        buffer.put((byte) (packetType & 0xff)); // packetType
+        buffer.putShort((short) (cmdId & 0xffff)); // cmdid
+        buffer.put((byte) (moduleId & 0xFF)); // moduleId
+        buffer.put((byte) 0x4C); // index
+        buffer.put((byte) 0x00); // index
+        buffer.put((byte) (params.length * 4)); // datalen
+        for (int value : params) {
+            buffer.putInt(value);
+        }
+        // int8_t  checksum;
+        int checksum = 0;
+        for (int i = 0; i < bufferSize - 1; i++) {
+            checksum += buffer.get(i);
+        }
+        buffer.put((byte) checksum);
+        return new DataPacket(buffer.array());
+    }
+
+
+    public static DataPacket createCommandDataPacket(Integer moduleId, Integer cmdId, Integer... params) {
+        return createPacket(moduleId, PACKET_TYPE_CMD, cmdId, params);
+    }
+
+    public int getPacketIndex() {
+        return ByteArray.readU16bit(raw, INDEX_OFFSET);
+    }
+
+    public int getCmdId() {
+        return ByteArray.readU16bit(raw, CMDID_OFFSET);
+    }
+
+    public int getPacketType() {
+        return ByteArray.readU8bit(raw, PACKET_TYPE_OFFSET);
+    }
+
+    public int getModuleId() {
+        return ByteArray.readU8bit(raw, MODULE_ID_OFFSET);
+    }
+
+    public int getDataLen() {
+        return ByteArray.readU8bit(raw, DATA_LEN_OFFSET);
+    }
+}
--- a/src/main/java/com/iflytop/gd/system/utils/ByteArray.java
+++ b/src/main/java/com/iflytop/gd/system/utils/ByteArray.java
@ -0,0 +1,125 @@
+// Source code is decompiled from a .class file using FernFlower decompiler.
+package com.iflytop.gd.system.utils;
+
+import org.springframework.lang.NonNull;
+
+public class ByteArray {
+	public ByteArray() {
+	}
+
+	public static int readU8bit(byte[] code, int index) {
+		if (index >= code.length)
+			return 0;
+		return code[index] & 255;
+	}
+
+	public static int readS8bit(byte[] code, int index) {
+		if (index >= code.length)
+			return 0;
+
+		return code[index];
+	}
+
+	public static int readU16bit(byte[] code, int index) {
+		if (index + 1 >= code.length)
+			return 0;
+		return (code[index + 1] & 255) << 8 | code[index] & 255;
+	}
+
+	public static void setU16bit(byte[] code, int index, int value) {
+		code[index + 1] = (byte) (value >> 8);
+		code[index]     = (byte) value;
+	}
+
+	public static void setU8(byte[] code, int off, int value) {
+		code[off] = (byte) value;
+	}
+
+	public static int readS16bit(byte[] code, int index) {
+		if (index + 1 >= code.length)
+			return 0;
+
+		return code[index + 1] << 8 | code[index] & 255;
+	}
+
+	public static int read32bit(byte[] code, int index) {
+		if (index + 3 >= code.length)
+			return 0;
+		return code[index + 3] << 24 | (code[index + 2] & 255) << 16 | (code[index + 1] & 255) << 8 | code[index] & 255;
+	}
+
+	public static Integer[] read32bitArray(byte[] code) {
+		int       count = code.length / 4;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = read32bit(code, i * 4);
+		}
+		return array;
+	}
+
+	public static Integer[] read16bitArray(byte[] code) {
+		int       count = code.length / 2;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = readS16bit(code, i * 2);
+		}
+		return array;
+	}
+
+	public static Integer[] readU16bitArray(byte[] code) {
+		int       count = code.length / 2;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = readU16bit(code, i * 2);
+		}
+		return array;
+	}
+
+
+	public static String toByteString(byte[] arrary) {
+		StringBuilder sb = new StringBuilder();
+		for (byte b : arrary) {
+			sb.append(String.format("%02X", b));
+		}
+		return sb.toString();
+	}
+
+	public static byte[] hexStringToBytes(@NonNull String str) {
+		if (str.isEmpty()) {
+			return new byte[0];
+		} else {
+			byte[] byteArray = new byte[str.length() / 2];
+			for (int i = 0; i < byteArray.length; i++) {
+				int high = Character.digit(str.charAt(i * 2), 16);
+				int low  = Character.digit(str.charAt(i * 2 + 1), 16);
+				if (high == -1 || low == -1) {
+					return null;
+				}
+				byteArray[i] = (byte) (high * 16 + low);
+			}
+			return byteArray;
+		}
+	}
+
+
+	public static byte[] concat(byte[]... arrays) {
+		int length = 0;
+		for (byte[] array : arrays) {
+			length += array.length;
+		}
+
+		byte[] result  = new byte[length];
+		int    destPos = 0;
+		for (byte[] array : arrays) {
+			System.arraycopy(array, 0, result, destPos, array.length);
+			destPos += array.length;
+		}
+
+		return result;
+	}
+
+	// public static void main(String[] args) {
+	//    byte[] bytes = new byte[]{0x01, 0x02, 0x03, 0x04};
+	//    System.out.println(toByteString(bytes));
+	// }
+}