baifengji
/
graphite-digester-service
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

调整设备命名方式

master
白凤吉 3 months ago
parent
01db54812f
commit
9d4bcd7595
7 changed files with 112 additions and 112 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 72
      src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
  2. 28
      src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
  3. 16
      src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java
  4. 2
      src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java
  5. 12
      src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java
  6. 6
      src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java
  7. 88
      src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java

72
src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
View File

@ -567,7 +567,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump1, CmdAction.set, params, "加液泵1 设置参数");
return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.set, params, "加液泵1 设置参数");
}
/**
@ -580,7 +580,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump2, CmdAction.set, params, "加液泵2 设置参数");
return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.set, params, "加液泵2 设置参数");
}
/**
@ -593,7 +593,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump3, CmdAction.set, params, "加液泵3 设置参数");
return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.set, params, "加液泵3 设置参数");
}
/**
@ -606,7 +606,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump4, CmdAction.set, params, "加液泵4 设置参数");
return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.set, params, "加液泵4 设置参数");
}
/**
@ -619,7 +619,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump5, CmdAction.set, params, "加液泵5 设置参数");
return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.set, params, "加液泵5 设置参数");
}
/**
@ -632,7 +632,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump6, CmdAction.set, params, "加液泵6 设置参数");
return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.set, params, "加液泵6 设置参数");
}
/**
@ -645,7 +645,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump7, CmdAction.set, params, "加液泵7 设置参数");
return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.set, params, "加液泵7 设置参数");
}
/**
@ -658,7 +658,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump8, CmdAction.set, params, "加液泵8 设置参数");
return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.set, params, "加液泵8 设置参数");
}
/**
@ -671,7 +671,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump1, CmdAction.move, params, "加液泵1 移动");
return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.move, params, "加液泵1 移动");
}
/**
@ -681,7 +681,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump2, CmdAction.move, params, "加液泵2 移动");
return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.move, params, "加液泵2 移动");
}
/**
@ -691,7 +691,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump3, CmdAction.move, params, "加液泵3 移动");
return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.move, params, "加液泵3 移动");
}
/**
@ -701,7 +701,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump4, CmdAction.move, params, "加液泵4 移动");
return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.move, params, "加液泵4 移动");
}
/**
@ -711,7 +711,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump5, CmdAction.move, params, "加液泵5 移动");
return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.move, params, "加液泵5 移动");
}
/**
@ -721,7 +721,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump6, CmdAction.move, params, "加液泵6 移动");
return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.move, params, "加液泵6 移动");
}
/**
@ -731,7 +731,7 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump7, CmdAction.move, params, "加液泵7 移动");
return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.move, params, "加液泵7 移动");
}
/**
@ -741,63 +741,63 @@ public class DeviceCommandGenerator {
DeviceCommandParams params = new DeviceCommandParams();
params.setDirection(direction);
params.setVolume(volume);
return setInfoCmd(CmdDevice.acid_pump8, CmdAction.move, params, "加液泵8 移动");
return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.move, params, "加液泵8 移动");
}
/**
* 加液泵 泵1停止
*/
public static DeviceCommand acidPump1Stop() {
return setInfoCmd(CmdDevice.acid_pump1, CmdAction.stop, null, "加液泵1 停止");
return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.stop, null, "加液泵1 停止");
}
/**
* 加液泵 泵2停止
*/
public static DeviceCommand acidPump2Stop() {
return setInfoCmd(CmdDevice.acid_pump2, CmdAction.stop, null, "加液泵2 停止");
return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.stop, null, "加液泵2 停止");
}
/**
* 加液泵 泵3停止
*/
public static DeviceCommand acidPump3Stop() {
return setInfoCmd(CmdDevice.acid_pump3, CmdAction.stop, null, "加液泵3 停止");
return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.stop, null, "加液泵3 停止");
}
/**
* 加液泵 泵4停止
*/
public static DeviceCommand acidPump4Stop() {
return setInfoCmd(CmdDevice.acid_pump4, CmdAction.stop, null, "加液泵4 停止");
return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.stop, null, "加液泵4 停止");
}
/**
* 加液泵 泵5停止
*/
public static DeviceCommand acidPump5Stop() {
return setInfoCmd(CmdDevice.acid_pump5, CmdAction.stop, null, "加液泵5 停止");
return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.stop, null, "加液泵5 停止");
}
/**
* 加液泵 泵6停止
*/
public static DeviceCommand acidPump6Stop() {
return setInfoCmd(CmdDevice.acid_pump6, CmdAction.stop, null, "加液泵6 停止");
return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.stop, null, "加液泵6 停止");
}
/**
* 加液泵 泵7停止
*/
public static DeviceCommand acidPump7Stop() {
return setInfoCmd(CmdDevice.acid_pump7, CmdAction.stop, null, "加液泵7 停止");
return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.stop, null, "加液泵7 停止");
}
/**
* 加液泵 泵8停止
*/
public static DeviceCommand acidPump8Stop() {
return setInfoCmd(CmdDevice.acid_pump8, CmdAction.stop, null, "加液泵8 停止");
return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.stop, null, "加液泵8 停止");
}
@ -835,84 +835,84 @@ public class DeviceCommandGenerator {
* 风扇 1打开
*/
public static DeviceCommand fan1Open() {
return controlCmd(CmdDevice.fan1, CmdAction.open, null, "风扇1 打开");
return controlCmd(CmdDevice.fan_1, CmdAction.open, null, "风扇1 打开");
}
/**
* 风扇 2打开
*/
public static DeviceCommand fan2Open() {
return controlCmd(CmdDevice.fan2, CmdAction.open, null, "风扇2 打开");
return controlCmd(CmdDevice.fan_2, CmdAction.open, null, "风扇2 打开");
}
/**
* 风扇 3打开
*/
public static DeviceCommand fan3Open() {
return controlCmd(CmdDevice.fan3, CmdAction.open, null, "风扇3 打开");
return controlCmd(CmdDevice.fan_3, CmdAction.open, null, "风扇3 打开");
}
/**
* 风扇 4打开
*/
public static DeviceCommand fan4Open() {
return controlCmd(CmdDevice.fan4, CmdAction.open, null, "风扇4 打开");
return controlCmd(CmdDevice.fan_4, CmdAction.open, null, "风扇4 打开");
}
/**
* 风扇 5打开
*/
public static DeviceCommand fan5Open() {
return controlCmd(CmdDevice.fan5, CmdAction.open, null, "风扇5 打开");
return controlCmd(CmdDevice.fan_5, CmdAction.open, null, "风扇5 打开");
}
/**
* 风扇 6打开
*/
public static DeviceCommand fan6Open() {
return controlCmd(CmdDevice.fan6, CmdAction.open, null, "风扇6 打开");
return controlCmd(CmdDevice.fan_6, CmdAction.open, null, "风扇6 打开");
}
/**
* 风扇 1关闭
*/
public static DeviceCommand fan1Close() {
return controlCmd(CmdDevice.fan1, CmdAction.close, null, "风扇1 关闭");
return controlCmd(CmdDevice.fan_1, CmdAction.close, null, "风扇1 关闭");
}
/**
* 风扇 2关闭
*/
public static DeviceCommand fan2Close() {
return controlCmd(CmdDevice.fan2, CmdAction.close, null, "风扇2 关闭");
return controlCmd(CmdDevice.fan_2, CmdAction.close, null, "风扇2 关闭");
}
/**
* 风扇 3关闭
*/
public static DeviceCommand fan3Close() {
return controlCmd(CmdDevice.fan3, CmdAction.close, null, "风扇3 关闭");
return controlCmd(CmdDevice.fan_3, CmdAction.close, null, "风扇3 关闭");
}
/**
* 风扇 4关闭
*/
public static DeviceCommand fan4Close() {
return controlCmd(CmdDevice.fan4, CmdAction.close, null, "风扇4 关闭");
return controlCmd(CmdDevice.fan_4, CmdAction.close, null, "风扇4 关闭");
}
/**
* 风扇 5关闭
*/
public static DeviceCommand fan5Close() {
return controlCmd(CmdDevice.fan5, CmdAction.close, null, "风扇5 关闭");
return controlCmd(CmdDevice.fan_5, CmdAction.close, null, "风扇5 关闭");
}
/**
* 风扇 6关闭
*/
public static DeviceCommand fan6Close() {
return controlCmd(CmdDevice.fan6, CmdAction.close, null, "风扇6 关闭");
return controlCmd(CmdDevice.fan_6, CmdAction.close, null, "风扇6 关闭");
}
/**

28
src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
View File

@ -14,21 +14,21 @@ public enum CmdDevice {
heater_motor_4,
heater_motor_5,
heater_motor_6,
acid_pump1,
acid_pump2,
acid_pump3,
acid_pump4,
acid_pump5,
acid_pump6,
acid_pump7,
acid_pump8,
acid_pump_1,
acid_pump_2,
acid_pump_3,
acid_pump_4,
acid_pump_5,
acid_pump_6,
acid_pump_7,
acid_pump_8,
claw,
fan1,
fan2,
fan3,
fan4,
fan5,
fan6,
fan_1,
fan_2,
fan_3,
fan_4,
fan_5,
fan_6,
water_pump_power,
ventilator_power,
heat_rod_1,

16
src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java
View File

@ -22,14 +22,14 @@ public class AcidPumpHandler extends CommandHandler {
private final AcidPumpDriver acidPumpDriver_;
private final Map<CmdDevice, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
Map.entry(CmdDevice.acid_pump1, StepMotorMId.ACID_PUMP_1_MOTOR_MID),
Map.entry(CmdDevice.acid_pump2, StepMotorMId.ACID_PUMP_2_MOTOR_MID),
Map.entry(CmdDevice.acid_pump3, StepMotorMId.ACID_PUMP_3_MOTOR_MID),
Map.entry(CmdDevice.acid_pump4, StepMotorMId.ACID_PUMP_4_MOTOR_MID),
Map.entry(CmdDevice.acid_pump5, StepMotorMId.ACID_PUMP_5_MOTOR_MID),
Map.entry(CmdDevice.acid_pump6, StepMotorMId.ACID_PUMP_6_MOTOR_MID),
Map.entry(CmdDevice.acid_pump7, StepMotorMId.ACID_PUMP_7_MOTOR_MID),
Map.entry(CmdDevice.acid_pump8, StepMotorMId.ACID_PUMP_8_MOTOR_MID)
Map.entry(CmdDevice.acid_pump_1, StepMotorMId.ACID_PUMP_1_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_2, StepMotorMId.ACID_PUMP_2_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_3, StepMotorMId.ACID_PUMP_3_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_4, StepMotorMId.ACID_PUMP_4_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_5, StepMotorMId.ACID_PUMP_5_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_6, StepMotorMId.ACID_PUMP_6_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_7, StepMotorMId.ACID_PUMP_7_MOTOR_MID),
Map.entry(CmdDevice.acid_pump_8, StepMotorMId.ACID_PUMP_8_MOTOR_MID)
);
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

2
src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java
View File

@ -24,7 +24,7 @@ public class DoorHandler extends CommandHandler {
private final DoorDriver doorDriver_;
private final Map<CmdDevice, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
Map.entry(CmdDevice.door, StepMotorMId.DOOR_MOTOR_MID)
Map.entry(CmdDevice.door_motor, StepMotorMId.DOOR_MOTOR_MID)
);
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

12
src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java
View File

@ -24,12 +24,12 @@ import java.util.stream.Collectors;
public class FanHandler extends CommandHandler {
private final FanDriver fanDriver_;
private final Map<CmdDevice, OutputIOMId> supportCmdDeviceIOOutputMap = Map.ofEntries(
Map.entry(CmdDevice.fan1, OutputIOMId.DO_FAN1),
Map.entry(CmdDevice.fan2, OutputIOMId.DO_FAN2),
Map.entry(CmdDevice.fan3, OutputIOMId.DO_FAN3),
Map.entry(CmdDevice.fan4, OutputIOMId.DO_FAN4),
Map.entry(CmdDevice.fan5, OutputIOMId.DO_FAN5),
Map.entry(CmdDevice.fan6, OutputIOMId.DO_FAN6)
Map.entry(CmdDevice.fan_1, OutputIOMId.DO_FAN1),
Map.entry(CmdDevice.fan_2, OutputIOMId.DO_FAN2),
Map.entry(CmdDevice.fan_3, OutputIOMId.DO_FAN3),
Map.entry(CmdDevice.fan_4, OutputIOMId.DO_FAN4),
Map.entry(CmdDevice.fan_5, OutputIOMId.DO_FAN5),
Map.entry(CmdDevice.fan_6, OutputIOMId.DO_FAN6)
);
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()

6
src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java
View File

@ -22,9 +22,9 @@ public class HBotHandler extends CommandHandler {
private final HBotDriver hBotDriver_;
private final Map<CmdDevice, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
Map.entry(CmdDevice.hbot_x, StepMotorMId.HBOT_X_MOTOR_MID),
Map.entry(CmdDevice.hbot_y, StepMotorMId.HBOT_Y_MOTOR_MID),
Map.entry(CmdDevice.hbot_z, StepMotorMId.HBOT_Z_MOTOR_MID)
Map.entry(CmdDevice.gantry_x, StepMotorMId.HBOT_X_MOTOR_MID),
Map.entry(CmdDevice.gantry_y, StepMotorMId.HBOT_Y_MOTOR_MID),
Map.entry(CmdDevice.gantry_z, StepMotorMId.HBOT_Z_MOTOR_MID)
);
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

88
src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java
View File

@ -1,44 +1,44 @@
package com.iflytop.gd.hardware.drivers.DIDriver;
import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.type.ModuleType;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@Slf4j
@Component
@RequiredArgsConstructor
public class InputDetectDriver {
private final A8kCanBusService a8kCanBusService;
public Boolean getIOState(InputIOId ioid) throws HardwareException {
while (true) {
Boolean firstReadIO = priGetIOState(ioid);
Boolean secondReadIO = priGetIOState(ioid);
if (firstReadIO == secondReadIO) {
if (ioid.mirror) {
return !firstReadIO;
}
return firstReadIO;
} else {
log.warn("getIOState {} not match, retry", ioid);
}
}
}
private Boolean priGetIOState(InputIOId ioid) throws HardwareException {
if (ioid.mtype == ModuleType.Board) {
return a8kCanBusService.callcmd(ioid.mid, CmdId.extboard_read_inio, ioid.ioIndex).getContentI32(0) != 0;
} else if (ioid.mtype == ModuleType.TMCStepMotor) {
return a8kCanBusService.callcmd(ioid.mid, CmdId.step_motor_read_io_state, ioid.ioIndex).getContentI32(0) != 0;
} else if (ioid.mtype == ModuleType.MiniServo) {
return a8kCanBusService.callcmd(ioid.mid, CmdId.mini_servo_read_io_state, ioid.ioIndex).getContentI32(0) != 0;
} else {
throw new HardwareException(new AECodeError(String.format("IOID MODULE TYPE %s NOT SUPPORT", ioid.mtype)));
}
}
}
//package com.iflytop.gd.hardware.drivers.DIDriver;
//
//import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
//import com.iflytop.gd.hardware.exception.HardwareException;
//import com.iflytop.gd.hardware.type.ModuleType;
//import lombok.RequiredArgsConstructor;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.stereotype.Component;
//
//@Slf4j
//@Component
//@RequiredArgsConstructor
//public class InputDetectDriver {
//
// private final A8kCanBusService a8kCanBusService;
//
// public Boolean getIOState(InputIOId ioid) throws HardwareException {
// while (true) {
// Boolean firstReadIO = priGetIOState(ioid);
// Boolean secondReadIO = priGetIOState(ioid);
// if (firstReadIO == secondReadIO) {
// if (ioid.mirror) {
// return !firstReadIO;
// }
// return firstReadIO;
// } else {
// log.warn("getIOState {} not match, retry", ioid);
// }
// }
// }
//
//
// private Boolean priGetIOState(InputIOId ioid) throws HardwareException {
// if (ioid.mtype == ModuleType.Board) {
// return a8kCanBusService.callcmd(ioid.mid, CmdId.extboard_read_inio, ioid.ioIndex).getContentI32(0) != 0;
// } else if (ioid.mtype == ModuleType.TMCStepMotor) {
// return a8kCanBusService.callcmd(ioid.mid, CmdId.step_motor_read_io_state, ioid.ioIndex).getContentI32(0) != 0;
// } else if (ioid.mtype == ModuleType.MiniServo) {
// return a8kCanBusService.callcmd(ioid.mid, CmdId.mini_servo_read_io_state, ioid.ioIndex).getContentI32(0) != 0;
// } else {
// throw new HardwareException(new AECodeError(String.format("IOID MODULE TYPE %s NOT SUPPORT", ioid.mtype)));
// }
// }
//}
Write Preview
Loading…
Cancel
Save