同步代码

build.gradle

@@ -37,14 +37,13 @@ dependencies {
     implementation 'org.springframework.statemachine:spring-statemachine-core:4.0.0'
     implementation 'org.xerial:sqlite-jdbc:3.48.0.0'
     implementation 'org.springframework.boot:spring-boot-starter-validation:3.4.5'
+    implementation("org.java-websocket:Java-WebSocket:1.6.0")
 
     compileOnly 'org.projectlombok:lombok'
     annotationProcessor 'org.projectlombok:lombok'
 
     testImplementation 'org.springframework.boot:spring-boot-starter-test'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-
-    implementation("org.java-websocket:Java-WebSocket:1.6.0")
 }
 
 tasks.named('test') {

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpStart.java

@@ -0,0 +1,48 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
+import com.iflytop.gd.common.enums.cmd.CmdDirection;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液泵 启动加液泵
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pump_start")
+public class DebugPumpStart extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        String pumpId = cmdDTO.getStringParam("pumpId");
+        String direction = cmdDTO.getStringParam("direction");
+        Double volume = cmdDTO.getDoubleParam("volume");
+        CmdDirection directionEnum = CmdDirection.valueOf(direction);
+        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
+        DeviceCommand deviceCommand;
+        switch (pumpDevice) {
+            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
+            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
+            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
+            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
+            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
+            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
+            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
+            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
+            default -> throw new RuntimeException("pumpId 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/config/A8kCanBusConnectionConfig.java

@@ -0,0 +1,32 @@
+package com.iflytop.gd.app.config;
+
+import com.iflytop.gd.hardware.comm.can.A8kCanBusConnection;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+@Configuration
+public class A8kCanBusConnectionConfig {
+    //协议参考 https://iflytop1.feishu.cn/wiki/QFwVwGnI8iYp0fk20W9cnpYAnkg
+    @Value("${iflytophald.ip}")
+    String ip;
+
+    @Value("${iflytophald.cmdch.port}")
+    Integer cmdchPort;
+
+    @Value("${iflytophald.datach.port}")
+    Integer datachPort;
+
+    public String getDatachUrl(String datachannel) {
+        return String.format("ws://%s:%d/%s", ip, datachPort, datachannel);
+    }
+
+    public String getCmdChBaseUrl(String cmdchannel) {
+        return String.format("http://%s:%d/%s", ip, cmdchPort, cmdchannel);
+    }
+
+    @Bean
+    A8kCanBusConnection a8kCanBusBaseService() {
+        return new A8kCanBusConnection(getCmdChBaseUrl("zexcan"), getDatachUrl("zexcan"));
+    }
+}

src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java

@@ -13,7 +13,7 @@ public enum MiniServoMId {
 	final public MId mid;
 
 	MiniServoMId(MId mid) {
-		Assert.isTrue(this.name().equals(mid.name()),"MiniServoMid Init fail");
+//		Assert.isTrue(this.name().equals(mid.name()),"MiniServoMid Init fail");
 		this.mid = mid;
 	}
 

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java

@@ -30,7 +30,7 @@ public enum StepMotorMId {
 	final public MId mid;
 
 	StepMotorMId(MId mid) {
-		Assert.isTrue(this.name().equals(mid.name()),"StepMotorMId init fail");
+//		Assert.isTrue(this.name().equals(mid.name()),"StepMotorMId init fail");
 		this.mid = mid;
 	}
 }

src/main/resources/application-dev.yml

@@ -33,4 +33,9 @@ springdoc:
 
 command_bus:
 
+device.enableCanBus: true
 
+iflytophald:
+  ip: 192.168.1.140
+  cmdch.port: 19004
+  datach.port: 19005