From cc454c9f15d00c49d6ff2a2bf92b4370bc03108e Mon Sep 17 00:00:00 2001 From: HSZ_HeSongZhen <210202959@qq.com> Date: Sun, 4 May 2025 17:25:34 +0800 Subject: [PATCH] =?UTF-8?q?add:=20=E5=88=9D=E6=AD=A5=E5=AE=9E=E7=8E=B0?= =?UTF-8?q?=E9=99=A4modbus=EF=BC=8C=E7=9B=B8=E6=9C=BA=20=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E4=BB=A5=E5=A4=96=E5=85=B6=E4=BB=96=E8=AE=BE=E5=A4=87=E7=9A=84?= =?UTF-8?q?=E6=8E=A7=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../iflytop/gd/common/cmd/DeviceCommandParams.java | 2 +- .../com/iflytop/gd/common/enums/cmd/CmdAction.java | 4 +- .../gd/hardware/comm/can/A8kCanBusService.java | 8 +- .../gd/hardware/command/CommandHandler.java | 70 +++++++- .../iflytop/gd/hardware/command/SupportDevice.java | 41 ----- .../iflytop/gd/hardware/command/SupportMethod.java | 30 ---- .../gd/hardware/command/checker/SupportDevice.java | 41 +++++ .../gd/hardware/command/checker/SupportMethod.java | 30 ++++ .../command/command_handler/DoorHandler.java | 36 ---- .../command/command_handler/FanHandler.java | 61 ------- .../hardware/command/handlers/AcidPumpHandler.java | 75 ++++++++ .../hardware/command/handlers/CameraHandler.java | 53 ++++++ .../gd/hardware/command/handlers/ClawHandler.java | 67 +++++++ .../hardware/command/handlers/ColdTrapHandler.java | 81 +++++++++ .../gd/hardware/command/handlers/DoorHandler.java | 74 ++++++++ .../command/handlers/DualRobotHandler.java | 76 ++++++++ .../gd/hardware/command/handlers/FanHandler.java | 60 +++++++ .../command/handlers/FillLightHandler.java | 63 +++++++ .../gd/hardware/command/handlers/HBotHandler.java | 71 ++++++++ .../hardware/command/handlers/HeatRodHandler.java | 80 +++++++++ .../command/handlers/HeaterMotorHandler.java | 73 ++++++++ .../command/handlers/ShakeMotorHandler.java | 67 +++++++ .../command/handlers/TrayMotorHandler.java | 69 ++++++++ .../command/handlers/TricolorLightHandler.java | 83 +++++++++ .../command/handlers/VentilatorHandler.java | 53 ++++++ .../command/handlers/WaterPumpHandler.java | 53 ++++++ .../hardware/constants/ActionOvertimeConstant.java | 71 ++++++++ .../com/iflytop/gd/hardware/constants/Dim.java | 5 - .../gd/hardware/constants/DistanceUnit.java | 30 ---- .../constants/LiquidFillArmMotorIndex.java | 5 - .../gd/hardware/constants/MiniServoConstant.java | 52 ++++++ .../gd/hardware/constants/RotationDirection.java | 18 -- .../gd/hardware/constants/VelocityUnit.java | 28 --- .../iflytop/gd/hardware/drivers/CameraDriver.java | 13 ++ .../gd/hardware/drivers/ColdTrapDriver.java | 54 ++++++ .../com/iflytop/gd/hardware/drivers/ColdTray.java | 34 ---- .../drivers/DIDriver/InputDetectDriver.java | 44 +++++ .../gd/hardware/drivers/DODriver/FanDriver.java | 21 +++ .../drivers/DODriver/OutputIOCtrlDriver.java | 19 ++ .../gd/hardware/drivers/DODriver/OutputIOMId.java | 30 ++++ .../drivers/DODriver/VentilatorDriver.java | 21 +++ .../hardware/drivers/DODriver/WaterPumpDriver.java | 21 +++ .../java/com/iflytop/gd/hardware/drivers/Door.java | 17 -- .../java/com/iflytop/gd/hardware/drivers/Fan.java | 13 -- .../gd/hardware/drivers/FillLightDriver.java | 23 +++ .../gd/hardware/drivers/HeaterRodDriver.java | 24 +++ .../iflytop/gd/hardware/drivers/HoldingJaw.java | 22 --- .../gd/hardware/drivers/LiquidFillingArm.java | 24 --- .../drivers/MiniServoDriver/ClawDriver.java | 66 +++++++ .../drivers/MiniServoDriver/DualRobotDriver.java | 122 +++++++++++++ .../drivers/MiniServoDriver/MiniServoDriver.java | 161 +++++++++++++++++ .../drivers/MiniServoDriver/MiniServoMId.java | 20 +++ .../drivers/MiniServoDriver/MiniServoRegIndex.java | 71 ++++++++ .../java/com/iflytop/gd/hardware/drivers/Pump.java | 7 - .../com/iflytop/gd/hardware/drivers/Relay.java | 13 -- .../iflytop/gd/hardware/drivers/ServoMotor.java | 53 ------ .../com/iflytop/gd/hardware/drivers/StepMotor.java | 118 ------------- .../drivers/StepMotorDriver/AcidPumpDriver.java | 70 ++++++++ .../drivers/StepMotorDriver/DoorDriver.java | 70 ++++++++ .../drivers/StepMotorDriver/HBotDriver.java | 70 ++++++++ .../drivers/StepMotorDriver/HeaterMotorDriver.java | 70 ++++++++ .../drivers/StepMotorDriver/ShakeMotorDriver.java | 56 ++++++ .../StepMotorDriver/StepMotorCtrlDriver.java | 192 +++++++++++++++++++++ .../drivers/StepMotorDriver/StepMotorMId.java | 36 ++++ .../StepMotorDriver/StepMotorSpeedLevel.java | 9 + .../drivers/StepMotorDriver/TrayMotorDriver.java | 90 ++++++++++ .../iflytop/gd/hardware/drivers/SwitchSensor.java | 11 -- .../gd/hardware/drivers/TransportationArm.java | 27 --- .../gd/hardware/drivers/TricolorLightDriver.java | 28 +++ .../gd/hardware/factory/A8kPacketFactory.java | 2 +- .../gd/hardware/service/HardwareService.java | 12 +- .../java/com/iflytop/gd/hardware/type/CmdId.java | 11 ++ .../java/com/iflytop/gd/hardware/type/MId.java | 3 +- .../com/iflytop/gd/hardware/type/ModuleType.java | 34 ++++ .../com/iflytop/gd/hardware/type/RegIndex.java | 59 +++++++ 75 files changed, 2877 insertions(+), 614 deletions(-) delete mode 100644 src/main/java/com/iflytop/gd/hardware/command/SupportDevice.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/command/SupportMethod.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/checker/SupportDevice.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/checker/SupportMethod.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/command/command_handler/DoorHandler.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/CameraHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/ClawHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/ColdTrapHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/DualRobotHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/HeatRodHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/HeaterMotorHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/TrayMotorHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/TricolorLightHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/VentilatorHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/command/handlers/WaterPumpHandler.java create mode 100644 src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/constants/Dim.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/constants/DistanceUnit.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/constants/LiquidFillArmMotorIndex.java create mode 100644 src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/constants/RotationDirection.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/constants/VelocityUnit.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/CameraDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/ColdTrapDriver.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/ColdTray.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DODriver/FanDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOCtrlDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOMId.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DODriver/VentilatorDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/DODriver/WaterPumpDriver.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/Door.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/Fan.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/FillLightDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/HeaterRodDriver.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/HoldingJaw.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/LiquidFillingArm.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoRegIndex.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/Pump.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/Relay.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/ServoMotor.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotor.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/AcidPumpDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorSpeedLevel.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/SwitchSensor.java delete mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/TransportationArm.java create mode 100644 src/main/java/com/iflytop/gd/hardware/drivers/TricolorLightDriver.java create mode 100644 src/main/java/com/iflytop/gd/hardware/type/ModuleType.java diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java index 4486ea4..946c568 100644 --- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java +++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java @@ -9,7 +9,7 @@ import lombok.Data; @Data public class DeviceCommandParams { private String device; - private Double current; + private Integer current; private CmdDirection direction; private Double position; private Double speed; diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java index 2019832..30fb736 100644 --- a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java +++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java @@ -1,6 +1,6 @@ package com.iflytop.gd.common.enums.cmd; public enum CmdAction { - open, close, stop, start, origin, move, move_x_joint, move_y_joint, move_joint, set, get, tight, loose, - open_power, close_power, open_circle, close_circle, open_heart, close_heart, take_photo + open, close, stop, start, origin, move, move_x_joint, move_y_joint, move_joint, move_point, set, get, tight, loose, + open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo } diff --git a/src/main/java/com/iflytop/gd/hardware/comm/can/A8kCanBusService.java b/src/main/java/com/iflytop/gd/hardware/comm/can/A8kCanBusService.java index 909df2e..460a2b9 100644 --- a/src/main/java/com/iflytop/gd/hardware/comm/can/A8kCanBusService.java +++ b/src/main/java/com/iflytop/gd/hardware/comm/can/A8kCanBusService.java @@ -93,10 +93,10 @@ public class A8kCanBusService { return connection.callcmd(id, CmdId.module_get_version).getContentI32(0); } -// public ModuleType moduleReadType(MId id) throws HardwareException { -// var packet = connection.callcmd(id, CmdId.module_get_type); -// return ModuleType.of(packet.getContentI32(0)); -// } + public ModuleType moduleReadType(MId id) throws HardwareException { + var packet = connection.callcmd(id, CmdId.module_get_type); + return ModuleType.of(packet.getContentI32(0)); + } // public byte[] a8kIdcardReaderReadRaw() throws HardwareException { // int i = 0; diff --git a/src/main/java/com/iflytop/gd/hardware/command/CommandHandler.java b/src/main/java/com/iflytop/gd/hardware/command/CommandHandler.java index f0df264..aa5ea34 100644 --- a/src/main/java/com/iflytop/gd/hardware/command/CommandHandler.java +++ b/src/main/java/com/iflytop/gd/hardware/command/CommandHandler.java @@ -1,16 +1,72 @@ package com.iflytop.gd.hardware.command; +import cn.hutool.core.util.StrUtil; import com.iflytop.gd.common.cmd.DeviceCommand; -import com.iflytop.gd.common.cmd.DeviceCommandParams; import com.iflytop.gd.common.enums.cmd.CmdAction; -import com.iflytop.gd.hardware.type.A8kPacket; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.type.MId; +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +/** + * 命令处理器 + * H - 硬件 C - 命令 + */ public abstract class CommandHandler { - protected abstract void checkAction(CmdAction action) throws Exception; - public abstract boolean sendCommand(DeviceCommand command) throws Exception; - protected A8kPacket sendPacket(A8kPacket packet) throws Exception { - // 发送数据包 - return packet; + abstract protected Map getSupportCmdDeviceMIdMap(); + abstract protected Set getSupportActions(); + + /** + * 发送指令 + */ + public void sendCommand(DeviceCommand command) throws Exception + { + // 校验动作是否合法 + checkAction(command.getAction()); + // 校验参数是否合法 + checkParams(command); + + // 处理指令 + handleCommand(command); + } + + abstract protected void handleCommand(DeviceCommand command) throws Exception; + + /** + * 获取支持的设备 + */ + protected Set getSupportedDevices() { + Map cmdDeviceMIdMap = getSupportCmdDeviceMIdMap(); + return cmdDeviceMIdMap.keySet(); } + + + + /** + * 检查Action 是否合法 + * @param action + */ + protected void checkAction(CmdAction action) throws Exception + { + Set supportedActions = getSupportActions(); + if (!supportedActions.contains(action)) { + // 生成支持的动作列表字符串 + String supported = supportedActions.stream() + .map(Enum::name) + .collect(Collectors.joining(", ")); + + throw new IllegalArgumentException( + StrUtil.format("action [{}] not supported! Supported actions: {}", + action.name(), supported)); + } + } + + /** + * 检查参数是否合法 + */ + protected void checkParams(DeviceCommand command) throws Exception + {} } diff --git a/src/main/java/com/iflytop/gd/hardware/command/SupportDevice.java b/src/main/java/com/iflytop/gd/hardware/command/SupportDevice.java deleted file mode 100644 index 85905ea..0000000 --- a/src/main/java/com/iflytop/gd/hardware/command/SupportDevice.java +++ /dev/null @@ -1,41 +0,0 @@ -package com.iflytop.gd.hardware.command; - -public class SupportDevice { -// public enum CmdDevice { -// DOOR("door"), -// ShakeMotor("shake_motor"), -// FAN1("fan1"), -// FAN2("fan1"), -// ; -// -// private final String strValue; -// -// CmdDevice(String strValue) { -// this.strValue = strValue; -// } -// -// public String getStrValue() { -// return strValue; -// } -// -// public static CmdDevice fromString(String value) { -// for (CmdDevice device : CmdDevice.values()) { -// if (device.getStrValue().equals(value)) { -// return device; -// } -// } -// return null; -// } -// } - -// static public boolean check(String strDevice) -// { -// for (CmdDevice device : CmdDevice.values()) { -// if (device.getStrValue().equals(strDevice)) { -// return true; -// } -// } -// return false; -// } - -} diff --git a/src/main/java/com/iflytop/gd/hardware/command/SupportMethod.java b/src/main/java/com/iflytop/gd/hardware/command/SupportMethod.java deleted file mode 100644 index 8d9a167..0000000 --- a/src/main/java/com/iflytop/gd/hardware/command/SupportMethod.java +++ /dev/null @@ -1,30 +0,0 @@ -package com.iflytop.gd.hardware.command; - -public class SupportMethod { - public enum CommandMethod { - CMD_CONTROL("controlCmd"), - CMD_CONTROL_MOTOR("controlMotorCmd"), - CMD_GET_INFO("getInfoCmd"); - - private final String cmdName; - CommandMethod(String commandName) { - this.cmdName = commandName; - } - public String getCmdName() { - return cmdName; - } - } - - public static void checkMethod(String strMethod) { - if (strMethod == null || strMethod.isEmpty()) { - throw new NoSuchMethodError("* Empty Method *"); - } - - for (CommandMethod type : CommandMethod.values()) { - if (type.getCmdName().equals(strMethod)) { - return; - } - } - throw new NoSuchMethodError(strMethod); - } -} \ No newline at end of file diff --git a/src/main/java/com/iflytop/gd/hardware/command/checker/SupportDevice.java b/src/main/java/com/iflytop/gd/hardware/command/checker/SupportDevice.java new file mode 100644 index 0000000..5387425 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/checker/SupportDevice.java @@ -0,0 +1,41 @@ +package com.iflytop.gd.hardware.command.checker; + +public class SupportDevice { +// public enum CmdDevice { +// DOOR("door"), +// ShakeMotor("shake_motor"), +// FAN1("fan1"), +// FAN2("fan1"), +// ; +// +// private final String strValue; +// +// CmdDevice(String strValue) { +// this.strValue = strValue; +// } +// +// public String getStrValue() { +// return strValue; +// } +// +// public static CmdDevice fromString(String value) { +// for (CmdDevice device : CmdDevice.values()) { +// if (device.getStrValue().equals(value)) { +// return device; +// } +// } +// return null; +// } +// } + +// static public boolean check(String strDevice) +// { +// for (CmdDevice device : CmdDevice.values()) { +// if (device.getStrValue().equals(strDevice)) { +// return true; +// } +// } +// return false; +// } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/checker/SupportMethod.java b/src/main/java/com/iflytop/gd/hardware/command/checker/SupportMethod.java new file mode 100644 index 0000000..fbdfaa5 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/checker/SupportMethod.java @@ -0,0 +1,30 @@ +package com.iflytop.gd.hardware.command.checker; + +public class SupportMethod { + public enum CommandMethod { + CMD_CONTROL("controlCmd"), + CMD_CONTROL_MOTOR("controlMotorCmd"), + CMD_GET_INFO("getInfoCmd"); + + private final String cmdName; + CommandMethod(String commandName) { + this.cmdName = commandName; + } + public String getCmdName() { + return cmdName; + } + } + + public static void checkMethod(String strMethod) { + if (strMethod == null || strMethod.isEmpty()) { + throw new NoSuchMethodError("* Empty Method *"); + } + + for (CommandMethod type : CommandMethod.values()) { + if (type.getCmdName().equals(strMethod)) { + return; + } + } + throw new NoSuchMethodError(strMethod); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/gd/hardware/command/command_handler/DoorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/command_handler/DoorHandler.java deleted file mode 100644 index b3f3168..0000000 --- a/src/main/java/com/iflytop/gd/hardware/command/command_handler/DoorHandler.java +++ /dev/null @@ -1,36 +0,0 @@ -package com.iflytop.gd.hardware.command.command_handler; - -import com.iflytop.gd.common.cmd.DeviceCommand; -import com.iflytop.gd.common.enums.cmd.CmdAction; -import com.iflytop.gd.hardware.command.CommandHandler; - -public class DoorHandler extends CommandHandler { - @Override - public boolean sendCommand(DeviceCommand command) throws Exception { - // 校验动作 - checkAction(command.getAction()); - // 发送命令 - if (command.getAction() == CmdAction.open) { - // 组包 - // 发送命令 - return true; - } else if (command.getAction() == CmdAction.close) { - return true; - } - else if (command.getAction() == CmdAction.stop) { - return true; - } - - return false; - } - @Override - public void checkAction(CmdAction action) throws Exception { - if (!action.equals(CmdAction.open) && !action.equals(CmdAction.close)) { - throw new IllegalArgumentException("action must be 'open' or 'close'"); - } - } -} - - - - diff --git a/src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java b/src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java deleted file mode 100644 index 0e35648..0000000 --- a/src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java +++ /dev/null @@ -1,61 +0,0 @@ -package com.iflytop.gd.hardware.command.command_handler; - -import com.iflytop.gd.common.cmd.DeviceCommand; -import com.iflytop.gd.common.cmd.DeviceCommandParams; -import com.iflytop.gd.common.enums.cmd.CmdAction; -import com.iflytop.gd.hardware.command.CommandHandler; - -public class FanHandler extends CommandHandler { - - private final int fandId_; - - public FanHandler(int fanId) { - fandId_ = fanId; - } - - @Override - public boolean sendCommand(DeviceCommand command) throws Exception { - // 校验动作 - checkAction(command.getAction()); - // 发送命令 - if (command.getAction() == CmdAction.open) { - // 校验参数 - checkParams(command.getParam()); - // get 参数值 - Double speed = command.getParam().getSpeed(); - - return openFan(speed); - } else if (command.getAction() == CmdAction.close) { - return closeFan(); - } - return false; - } - - private boolean openFan(Double speed) { - // 组包 - // 发送命令 - return true; - } - - private boolean closeFan() { - // 组包 - // 发送命令 - return true; - } - - @Override - protected void checkAction(CmdAction action) throws Exception { - if (!action.equals(CmdAction.open) && !action.equals(CmdAction.close)) { - throw new IllegalArgumentException("action must be 'open' or 'close'"); - } - } - - private void checkParams(DeviceCommandParams params) throws Exception { - Double speed = params.getSpeed(); - if (speed < 0 || speed > 100) { - { - throw new IllegalArgumentException("speed must be between 0 and 100"); - } - } - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java new file mode 100644 index 0000000..ae3d1b3 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java @@ -0,0 +1,75 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.AcidPumpDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class AcidPumpHandler extends CommandHandler { + private final AcidPumpDriver acidPumpDriver_; + + private final Map 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) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + acidPumpDriver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + acidPumpDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + acidPumpDriver_.moveTo(stepMotorMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + acidPumpDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + acidPumpDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/CameraHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/CameraHandler.java new file mode 100644 index 0000000..b5ace63 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/CameraHandler.java @@ -0,0 +1,53 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdColor; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.CameraDriver; +import com.iflytop.gd.hardware.drivers.TricolorLightDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class CameraHandler extends CommandHandler { + private final CameraDriver cameraDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.photo, MId.NotSet) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.take_photo) { + cameraDriver_.takePhoto(); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/ClawHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/ClawHandler.java new file mode 100644 index 0000000..8fc3e65 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/ClawHandler.java @@ -0,0 +1,67 @@ +package com.iflytop.gd.hardware.command.handlers; + + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.MiniServoDriver.ClawDriver; +import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ClawHandler extends CommandHandler { + private final ClawDriver clawDriver_; + + private final Map servoMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.claw, MiniServoMId.CLAW_MID) + ); + private final Map supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + MiniServoMId servoMId = servoMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + clawDriver_.moveToHome(servoMId); + } + else if(command.getAction() == CmdAction.stop) { + clawDriver_.stop(servoMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + clawDriver_.moveTo(servoMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + Double speed = command.getParam().getSpeed(); + if(speed != null) { + clawDriver_.setSpeed(servoMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/ColdTrapHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/ColdTrapHandler.java new file mode 100644 index 0000000..82ebf11 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/ColdTrapHandler.java @@ -0,0 +1,81 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdColor; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.ColdTrapDriver; +import com.iflytop.gd.hardware.drivers.TricolorLightDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ColdTrapHandler extends CommandHandler { + private final ColdTrapDriver coldTrapDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.cold_trap, MId.NotSet) + ); + + private final Set supportActions = Set.of( + CmdAction.open_power, CmdAction.close_power, + CmdAction.set, + CmdAction.open_circle, CmdAction.close_circle, + CmdAction.open_heart, CmdAction.close_heart, + CmdAction.open_cool, CmdAction.close_cool); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open_power) { + coldTrapDriver_.openPower(); + } else if (command.getAction() == CmdAction.close_power) { + coldTrapDriver_.closePower(); + } + else if (command.getAction() == CmdAction.set) { + double temperature = command.getParam().getTemperature(); + coldTrapDriver_.setTemperature(temperature); + } + else if (command.getAction() == CmdAction.open_circle) { + coldTrapDriver_.openCircle(); + } + else if (command.getAction() == CmdAction.close_circle) { + coldTrapDriver_.closeCircle(); + } + else if (command.getAction() == CmdAction.open_heart) { + coldTrapDriver_.openHeart(); + } + else if (command.getAction() == CmdAction.close_heart) { + coldTrapDriver_.closeHeart(); + } + else if (command.getAction() == CmdAction.open_cool) { + coldTrapDriver_.openCool(); + } + else if (command.getAction() == CmdAction.close_cool) { + coldTrapDriver_.closeCool(); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java new file mode 100644 index 0000000..c069fe3 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java @@ -0,0 +1,74 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.DoorDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.HashMap; +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DoorHandler extends CommandHandler { + private final DoorDriver doorDriver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.door, StepMotorMId.DOOR_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + doorDriver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + doorDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + doorDriver_.moveTo(stepMotorMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + doorDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + doorDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} + + + + diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/DualRobotHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/DualRobotHandler.java new file mode 100644 index 0000000..c952578 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/DualRobotHandler.java @@ -0,0 +1,76 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.cmd.DeviceCommandParams; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.MiniServoDriver.ClawDriver; +import com.iflytop.gd.hardware.drivers.MiniServoDriver.DualRobotDriver; +import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + + +@Slf4j +@Component +@RequiredArgsConstructor +public class DualRobotHandler extends CommandHandler { + private final DualRobotDriver dualRobotDriver_; + + private final Map servoMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.dual_robot, MiniServoMId.NotSet) + ); + private final Map supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + private DualRobotDriver.Joint getJoint(DeviceCommandParams param) { + return DualRobotDriver.Joint.valueOf(param.toString()); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.origin) { + dualRobotDriver_.moveToHome(MiniServoMId.DUAL_ROBOT_AXIS_1_MID); + } + else if(command.getAction() == CmdAction.stop) { + dualRobotDriver_.stop(getJoint(command.getParam())); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + dualRobotDriver_.moveTo(getJoint(command.getParam()), position, speed); + } + else if(command.getAction() == CmdAction.move) { + double pos_x = command.getParam().getPosition(); + double pos_y = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + dualRobotDriver_.moveToPoint(pos_x, pos_y); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + dualRobotDriver_.setSpeed(getJoint(command.getParam()), speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java new file mode 100644 index 0000000..ab9dfa8 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/FanHandler.java @@ -0,0 +1,60 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.DODriver.FanDriver; +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.gd.hardware.type.MId; +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +// + +@Slf4j +@Component +@RequiredArgsConstructor +public class FanHandler extends CommandHandler { + private final FanDriver fanDriver_; + private final Map 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) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + fanDriver_.open(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + fanDriver_.close(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java new file mode 100644 index 0000000..ab4cbfe --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java @@ -0,0 +1,63 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdColor; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.FillLightDriver; +import com.iflytop.gd.hardware.drivers.TricolorLightDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +/** + * 补光灯处理 + */ +@Slf4j +@Component +@RequiredArgsConstructor +class FillLightHandler extends CommandHandler { + private final FillLightDriver fillLightDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.fill_light, MId.PWMLight) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + Double d_brightness = command.getParam().getBrightness(); + int i_brightnessInt = d_brightness.intValue(); + + if (d_brightness == null) { + fillLightDriver_.open(getMId(command.getDevice()), i_brightnessInt); + } + } else if (command.getAction() == CmdAction.close) { + fillLightDriver_.close(getMId(command.getDevice())); + } + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java new file mode 100644 index 0000000..7022826 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java @@ -0,0 +1,71 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.HBotDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HBotHandler extends CommandHandler { + private final HBotDriver hBotDriver_; + + private final Map 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) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + hBotDriver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + hBotDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + hBotDriver_.moveTo(stepMotorMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + hBotDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + hBotDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} + diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/HeatRodHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/HeatRodHandler.java new file mode 100644 index 0000000..6b4fd92 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/HeatRodHandler.java @@ -0,0 +1,80 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdColor; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.TricolorLightDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeatRodHandler extends CommandHandler { + private final TricolorLightDriver tricolorLightDriver; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.tricolor_light, MId.TriColorLight) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + protected void checkParams(DeviceCommand command) throws Exception { + // 检查参数 + if (command.getAction() == CmdAction.open) { + // 检查参数 + CmdColor cmdColor = command.getParam().getColor(); + getCmdColor(cmdColor); + } + + } + + TricolorLightDriver.Color getCmdColor(CmdColor cmdColor){ + switch (cmdColor){ + case red: + return TricolorLightDriver.Color.RED; + case green: + return TricolorLightDriver.Color.GREEN; + case blue: + return TricolorLightDriver.Color.BLUE; + default: + throw new InvalidParameterException("颜色参数错误"); + } + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + CmdColor cmdColor = command.getParam().getColor(); + TricolorLightDriver.Color color = getCmdColor(cmdColor); + tricolorLightDriver.open(getMId(command.getDevice()), color); + } else if (command.getAction() == CmdAction.close) { + tricolorLightDriver.close(getMId(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/HeaterMotorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/HeaterMotorHandler.java new file mode 100644 index 0000000..cf88a98 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/HeaterMotorHandler.java @@ -0,0 +1,73 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.HeaterMotorDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterMotorHandler extends CommandHandler { + private final HeaterMotorDriver heaterMotorCtrlDriver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.heater_motor_1, StepMotorMId.HEATER_1_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_2, StepMotorMId.HEATER_2_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_3, StepMotorMId.HEATER_3_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_4, StepMotorMId.HEATER_4_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_5, StepMotorMId.HEATER_5_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_6, StepMotorMId.HEATER_6_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + heaterMotorCtrlDriver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + heaterMotorCtrlDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + heaterMotorCtrlDriver_.moveTo(stepMotorMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + heaterMotorCtrlDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + heaterMotorCtrlDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java new file mode 100644 index 0000000..038d652 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java @@ -0,0 +1,67 @@ +package com.iflytop.gd.hardware.command.handlers; + + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.ShakeMotorDriver; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ShakeMotorHandler extends CommandHandler { + private final ShakeMotorDriver shakeMotorDriver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.shake_motor, StepMotorMId.SHAKE_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.start, CmdAction.stop); + + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.start) { + shakeMotorDriver_.start(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + shakeMotorDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + shakeMotorDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + shakeMotorDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} + diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/TrayMotorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/TrayMotorHandler.java new file mode 100644 index 0000000..c80afa5 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/TrayMotorHandler.java @@ -0,0 +1,69 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.TrayMotorDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TrayMotorHandler extends CommandHandler { + private final TrayMotorDriver trayMotorDriver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.tray_motor, StepMotorMId.SHAKE_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + trayMotorDriver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + trayMotorDriver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + double speed = command.getParam().getSpeed(); + trayMotorDriver_.moveTo(stepMotorMId, position, speed); + } + else if(command.getAction() == CmdAction.set) { + Integer current = command.getParam().getCurrent(); + if(current != null) { + trayMotorDriver_.setCurrent(stepMotorMId, current); + } + Double speed = command.getParam().getSpeed(); + if(speed != null) { + trayMotorDriver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/TricolorLightHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/TricolorLightHandler.java new file mode 100644 index 0000000..e955717 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/TricolorLightHandler.java @@ -0,0 +1,83 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdColor; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.TricolorLightDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +/** + * 三色灯 + */ +@Slf4j +@Component +@RequiredArgsConstructor +public class TricolorLightHandler extends CommandHandler { + private final TricolorLightDriver tricolorLightDriver; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.tricolor_light, MId.TriColorLight) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + protected void checkParams(DeviceCommand command) throws Exception { + // 检查参数 + if (command.getAction() == CmdAction.open) { + // 检查参数 + CmdColor cmdColor = command.getParam().getColor(); + getCmdColor(cmdColor); + } + + } + + TricolorLightDriver.Color getCmdColor(CmdColor cmdColor){ + switch (cmdColor){ + case red: + return TricolorLightDriver.Color.RED; + case green: + return TricolorLightDriver.Color.GREEN; + case blue: + return TricolorLightDriver.Color.BLUE; + default: + throw new InvalidParameterException("颜色参数错误"); + } + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + CmdColor cmdColor = command.getParam().getColor(); + TricolorLightDriver.Color color = getCmdColor(cmdColor); + tricolorLightDriver.open(getMId(command.getDevice()), color); + } else if (command.getAction() == CmdAction.close) { + tricolorLightDriver.close(getMId(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/VentilatorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/VentilatorHandler.java new file mode 100644 index 0000000..1ec6fdc --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/VentilatorHandler.java @@ -0,0 +1,53 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.DODriver.FanDriver; +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOMId; +import com.iflytop.gd.hardware.drivers.DODriver.VentilatorDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class VentilatorHandler extends CommandHandler { + private final VentilatorDriver ventilatorDriver_; + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.ventilator_power, OutputIOMId.DO_VENTILATOR) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open_power, CmdAction.close_power); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + ventilatorDriver_.openPower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + ventilatorDriver_.closePower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/WaterPumpHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/WaterPumpHandler.java new file mode 100644 index 0000000..124f33f --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/WaterPumpHandler.java @@ -0,0 +1,53 @@ +package com.iflytop.gd.hardware.command.handlers; + +import com.iflytop.gd.common.cmd.DeviceCommand; +import com.iflytop.gd.common.enums.cmd.CmdAction; +import com.iflytop.gd.common.enums.cmd.CmdDevice; +import com.iflytop.gd.hardware.command.CommandHandler; +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOMId; +import com.iflytop.gd.hardware.drivers.DODriver.VentilatorDriver; +import com.iflytop.gd.hardware.drivers.DODriver.WaterPumpDriver; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class WaterPumpHandler extends CommandHandler { + private final WaterPumpDriver waterPumpDriver_; + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.ventilator_power, OutputIOMId.DO_VENTILATOR) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open_power, CmdAction.close_power); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + waterPumpDriver_.openPower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + waterPumpDriver_.closePower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java b/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java new file mode 100644 index 0000000..96e8d58 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java @@ -0,0 +1,71 @@ +package com.iflytop.gd.hardware.constants; + + +import com.iflytop.gd.hardware.type.CmdId; +import com.iflytop.gd.hardware.type.MId; +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import jakarta.annotation.PostConstruct; +import org.springframework.stereotype.Component; + +import java.util.ArrayList; +import java.util.List; + +@Component +public class ActionOvertimeConstant { + final Integer defaultOvertime = 10 * 1000; + + static class OvertimeConfigItem { + public MId mid; + public CmdId cmdId; + public Integer overtime; + } + + List overtimeConfigItems = new ArrayList<>(); + + @PostConstruct + void init() { +// pushNewConfig(StepMotorMId.IncubatorRotateCtrlM, CmdId.step_motor_easy_move_to_zero, 20 * 1000); +// pushNewConfig(StepMotorMId.IncubatorRotateCtrlM, CmdId.step_motor_easy_move_to_end_point, 20 * 1000); +// pushNewConfig(StepMotorMId.PlatesBoxYM, CmdId.step_motor_easy_move_to_zero, 20 * 1000); +// pushNewConfig(StepMotorMId.PlatesBoxYM, CmdId.step_motor_easy_move_to_end_point, 20 * 1000); +// +// pushNewConfig(StepMotorMId.OptModPullM, CmdId.step_motor_easy_move_to_end_point, 15 * 1000); +// pushNewConfig(StepMotorMId.OptModPullM, CmdId.step_motor_easy_move_to_zero, 15 * 1000); +// +// pushNewConfig(StepMotorMId.FeedingModXM, CmdId.step_motor_easy_move_to_zero, 15 * 1000); +// pushNewConfig(StepMotorMId.FeedingModXM, CmdId.step_motor_easy_move_to_end_point, 15 * 1000); + + + } + + public Integer get(MId mid, CmdId cmdId) { + return priGetOvertime(mid, cmdId); + } + + public Integer get(StepMotorMId mid, CmdId cmdId) { + return priGetOvertime(mid.mid, cmdId); + } + + + private void pushNewConfig(StepMotorMId mid, CmdId cmdId, Integer overtime) { + pushNewConfig(mid.mid, cmdId, overtime); + } + + private void pushNewConfig(MId mid, CmdId cmdId, Integer overtime) { + OvertimeConfigItem item = new OvertimeConfigItem(); + item.mid = mid; + item.cmdId = cmdId; + item.overtime = overtime; + overtimeConfigItems.add(item); + } + + private Integer priGetOvertime(MId mid, CmdId cmdId) { + for (OvertimeConfigItem item : overtimeConfigItems) { + if (item.mid == mid && item.cmdId == cmdId) { + return item.overtime; + } + } + return defaultOvertime; + } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/Dim.java b/src/main/java/com/iflytop/gd/hardware/constants/Dim.java deleted file mode 100644 index cbd586b..0000000 --- a/src/main/java/com/iflytop/gd/hardware/constants/Dim.java +++ /dev/null @@ -1,5 +0,0 @@ -package com.iflytop.gd.hardware.constants; - -public enum Dim { - X, Y, Z -} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/DistanceUnit.java b/src/main/java/com/iflytop/gd/hardware/constants/DistanceUnit.java deleted file mode 100644 index da0f33d..0000000 --- a/src/main/java/com/iflytop/gd/hardware/constants/DistanceUnit.java +++ /dev/null @@ -1,30 +0,0 @@ -package com.iflytop.gd.hardware.constants; - -public enum DistanceUnit { - MM, CM; - - public Integer toMM(Integer value) { - if (this == MM) { - return value; - } - - if (this == CM) { - return value * 10; - } - - return value; - } - - - public static DistanceUnit toDistanceUnit(String unitString) { - if ("mm".equals(unitString)) { - return MM; - } - - if ("cm".equals(unitString)) { - return CM; - } - - throw new IllegalArgumentException("Unknown distance unit " + unitString); - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/LiquidFillArmMotorIndex.java b/src/main/java/com/iflytop/gd/hardware/constants/LiquidFillArmMotorIndex.java deleted file mode 100644 index 693e189..0000000 --- a/src/main/java/com/iflytop/gd/hardware/constants/LiquidFillArmMotorIndex.java +++ /dev/null @@ -1,5 +0,0 @@ -package com.iflytop.gd.hardware.constants; - -public enum LiquidFillArmMotorIndex { - LargeArm, SmallArm -} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java b/src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java new file mode 100644 index 0000000..d06b9c6 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java @@ -0,0 +1,52 @@ +package com.iflytop.gd.hardware.constants; + +import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId; +import org.springframework.util.Assert; + +import java.util.Map; + +public class MiniServoConstant { + static public final Integer actionOvertime = 10000; + static class MiniServoFixPosConfig { + public Integer zeroPos; + public Integer refPos; + } + + static Map map = Map.of( +// //摇匀模组Y轴 +// MiniServoMId.ShakeModGripperYSV, new MiniServoFixPosConfig() {{ +// zeroPos = 110; +// refPos = 100;//Y轴最外侧的位置 +// }}, +// //摇匀模组夹爪 +// MiniServoMId.ShakeModGripperSV, new MiniServoFixPosConfig() {{ +// zeroPos = 1600; +// refPos = 1800;//完全张开的位置 +// }}, +// //试管架夹紧 +// MiniServoMId.ShakeModTubeScanerClampingSV, new MiniServoFixPosConfig() {{ +// zeroPos = 1800; +// refPos = 1800;//水平位置 +// }}, +// //试管顶升舵机 +// MiniServoMId.ShakeModLiftingSV, new MiniServoFixPosConfig() {{ +// zeroPos = 644;//底部 644/3000 = 220/1024 +// refPos = 644;//底部 +// }} + + ); + + static public Integer getZeroPos(MiniServoMId mid) { + var config = map.get(mid); + Assert.notNull(config, "getZeroPos fail"); + return config.zeroPos; + } + + static public Integer getRefPos(MiniServoMId mid) { + var config = map.get(mid); + Assert.notNull(config, "getRefPos fail"); + return config.refPos; + } + + +} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/RotationDirection.java b/src/main/java/com/iflytop/gd/hardware/constants/RotationDirection.java deleted file mode 100644 index 27c3c6d..0000000 --- a/src/main/java/com/iflytop/gd/hardware/constants/RotationDirection.java +++ /dev/null @@ -1,18 +0,0 @@ -package com.iflytop.gd.hardware.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; - } - -} diff --git a/src/main/java/com/iflytop/gd/hardware/constants/VelocityUnit.java b/src/main/java/com/iflytop/gd/hardware/constants/VelocityUnit.java deleted file mode 100644 index 46705f6..0000000 --- a/src/main/java/com/iflytop/gd/hardware/constants/VelocityUnit.java +++ /dev/null @@ -1,28 +0,0 @@ -package com.iflytop.gd.hardware.constants; - -/** - * 移动速度单位 - */ -public enum VelocityUnit { - MM_PER_SEC, CM_PER_SEC; - - public Integer toMM_PER_SEC(Integer value) { - if (this == VelocityUnit.CM_PER_SEC) { - return value * 10; - } - return value; - } - - - public static VelocityUnit toVelocityUnit(String unitString) { - if ("mm/s".equals(unitString)) { - return VelocityUnit.MM_PER_SEC; - } - - if ("cm/s".equals(unitString)) { - return VelocityUnit.CM_PER_SEC; - } - - throw new IllegalArgumentException("Unrecognized SpeedUnit: " + unitString); - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/CameraDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/CameraDriver.java new file mode 100644 index 0000000..8b7de46 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/CameraDriver.java @@ -0,0 +1,13 @@ +package com.iflytop.gd.hardware.drivers; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class CameraDriver { + public void takePhoto(){ + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/ColdTrapDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/ColdTrapDriver.java new file mode 100644 index 0000000..553a5d9 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/ColdTrapDriver.java @@ -0,0 +1,54 @@ +package com.iflytop.gd.hardware.drivers; + +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.gd.hardware.drivers.DODriver.OutputIOMId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Component; + +import static com.iflytop.gd.hardware.drivers.DODriver.OutputIOMId.DO_COLD_TRAP_POWER; + +/** + * 物理冷阱 + */ +@Component +@RequiredArgsConstructor +public class ColdTrapDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void setTemperature(Double temperature) throws Exception { + + } + + public void openPower() throws Exception{ + outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, true); + } + + public void closePower() throws Exception{ + outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, false); + } + + public boolean openCircle() { + return false; + } + + public boolean closeCircle() { + return false; + } + + public boolean openHeart() { + return false; + } + + public boolean closeHeart() { + return false; + } + + public boolean openCool() { + return false; + } + + public boolean closeCool() { + return false; + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/ColdTray.java b/src/main/java/com/iflytop/gd/hardware/drivers/ColdTray.java deleted file mode 100644 index afa5fb7..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/ColdTray.java +++ /dev/null @@ -1,34 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理冷阱 - */ -public class ColdTray { - public boolean setTemperature(Double temperature) { - return false; - } - - public boolean startRecycle() { - return false; - } - - public boolean stopRecycle() { - return false; - } - - public boolean startHeating() { - return false; - } - - public boolean stopHeating() { - return false; - } - - public boolean startRefrigeration() { - return false; - } - - public boolean stopRefrigeration() { - return false; - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java new file mode 100644 index 0000000..a1cbf7b --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DIDriver/InputDetectDriver.java @@ -0,0 +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))); + } + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/FanDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/FanDriver.java new file mode 100644 index 0000000..39b84ba --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/FanDriver.java @@ -0,0 +1,21 @@ +package com.iflytop.gd.hardware.drivers.DODriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class FanDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void open(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void close(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOCtrlDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOCtrlDriver.java new file mode 100644 index 0000000..39bf889 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOCtrlDriver.java @@ -0,0 +1,19 @@ +package com.iflytop.gd.hardware.drivers.DODriver; + + +import com.iflytop.gd.hardware.comm.can.A8kCanBusService; +import com.iflytop.gd.hardware.exception.HardwareException; +import com.iflytop.gd.hardware.type.CmdId; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Component; + +@Component +@RequiredArgsConstructor +public class OutputIOCtrlDriver { + + private final A8kCanBusService canBus; + + public void setIOState(OutputIOMId IOOutput, Boolean state) throws HardwareException { + canBus.callcmd(IOOutput.mid, CmdId.extboard_write_outio, IOOutput.ioIndex, state ? 1 : 0); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOMId.java b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOMId.java new file mode 100644 index 0000000..6c40662 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/OutputIOMId.java @@ -0,0 +1,30 @@ +package com.iflytop.gd.hardware.drivers.DODriver; + +import com.iflytop.gd.hardware.type.MId; + +public enum OutputIOMId { + DO_FAN1("FAN1", MId.IO1Board, 0,false), + DO_FAN2("FAN2", MId.IO1Board, 1,false), + DO_FAN3("FAN3", MId.IO1Board, 2,false), + DO_FAN4("FAN4", MId.IO1Board, 3,false), + DO_FAN5("FAN5", MId.IO1Board, 4,false), + DO_FAN6("FAN6", MId.IO1Board, 5,false), + DO_VENTILATOR("VENTILATOR", MId.IO1Board, 6,false), + DO_WATER_PUMP("WATER_PUMP", MId.IO1Board, 7,false), + DO_COLD_TRAP_POWER("COLD_TRAP_POWER", MId.IO1Board, 8,false), + ; + + final public String description; + final public MId mid; + final public int ioIndex; + final public boolean mirror; + + OutputIOMId(String description, MId mid, int ioIndex, boolean mirror) { + this.description = description; + this.mid = mid; + this.ioIndex = ioIndex; + this.mirror = mirror; + + } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/VentilatorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/VentilatorDriver.java new file mode 100644 index 0000000..aac9a34 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/VentilatorDriver.java @@ -0,0 +1,21 @@ +package com.iflytop.gd.hardware.drivers.DODriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class VentilatorDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void openPower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void closePower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/WaterPumpDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/WaterPumpDriver.java new file mode 100644 index 0000000..d45a452 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/DODriver/WaterPumpDriver.java @@ -0,0 +1,21 @@ +package com.iflytop.gd.hardware.drivers.DODriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class WaterPumpDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void openPower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void closePower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/Door.java b/src/main/java/com/iflytop/gd/hardware/drivers/Door.java deleted file mode 100644 index 201d9b9..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/Door.java +++ /dev/null @@ -1,17 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理门 - */ - -public class Door { - public void open() { - } - - public void close() { - } - - public void stop() { - } - -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/Fan.java b/src/main/java/com/iflytop/gd/hardware/drivers/Fan.java deleted file mode 100644 index dd9df09..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/Fan.java +++ /dev/null @@ -1,13 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理风扇 - */ -public class Fan { - public boolean open() { - return false; - } - public boolean close() { - return false; - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/FillLightDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/FillLightDriver.java new file mode 100644 index 0000000..868766b --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/FillLightDriver.java @@ -0,0 +1,23 @@ +package com.iflytop.gd.hardware.drivers; + +import com.iflytop.gd.hardware.comm.can.A8kCanBusService; +import com.iflytop.gd.hardware.type.CmdId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class FillLightDriver { + private final A8kCanBusService canBus; + + public void open(MId mId, Integer brightness) throws Exception { + // 模拟打开 + canBus.callcmd(mId, CmdId.module_pwm_light_on, brightness); + } + public void close(MId mId) throws Exception { + canBus.callcmd(mId, CmdId.module_pwm_light_off); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/HeaterRodDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/HeaterRodDriver.java new file mode 100644 index 0000000..ff63913 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/HeaterRodDriver.java @@ -0,0 +1,24 @@ +package com.iflytop.gd.hardware.drivers; + +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterRodDriver { + public double getTemperature(MId mId) { + // 模拟获取温度 + return 25.0; + } + + public void open(MId mId, double temperature) throws Exception { + // 模拟加热 + } + + public void close(MId mId) throws Exception { + // 模拟关闭 + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/HoldingJaw.java b/src/main/java/com/iflytop/gd/hardware/drivers/HoldingJaw.java deleted file mode 100644 index fcbceac..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/HoldingJaw.java +++ /dev/null @@ -1,22 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理夹爪 - */ -public class HoldingJaw{ - public void open() { - - } - public void close() { - - } - public void pause() { - - } - public void resume() { - - } - public void setSpeed(int speed) { - - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/LiquidFillingArm.java b/src/main/java/com/iflytop/gd/hardware/drivers/LiquidFillingArm.java deleted file mode 100644 index efa2198..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/LiquidFillingArm.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - - -import com.iflytop.gd.hardware.constants.LiquidFillArmMotorIndex; -import com.iflytop.gd.hardware.constants.RotationDirection; -import com.iflytop.gd.hardware.constants.VelocityUnit; -import com.iflytop.gd.app.model.bo.Point3D; - -/** - * 物理液体加注机械臂 - */ -public class LiquidFillingArm { - public void moveTo(Point3D point) { - - } - - public void rotateTo(LiquidFillArmMotorIndex liquidFillArmMotorIndex, Integer angle, RotationDirection direction) { - - } - - public void setRotationSpeed(Integer speed, VelocityUnit speedUnit) { - - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java new file mode 100644 index 0000000..4e571cc --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java @@ -0,0 +1,66 @@ +package com.iflytop.gd.hardware.drivers.MiniServoDriver; + +import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ClawDriver { + private final MiniServoDriver miniServoDriver; + + private double speed_ = 10.0; // mm/s + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getServoPosition(double position) { + int servoPosition = 0; + servoPosition = (int)position; + return servoPosition; + } + + private int getServoSpeed(double speed) { + int servoSpeed = 0; + servoSpeed = (int)speed; + return servoSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(MiniServoMId sevoMid) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(MiniServoMId sevoMid, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(MiniServoMId sevoMid) throws Exception + { + double speed = getSpeed(sevoMid); + int motorSpeed = getServoSpeed(speed); + miniServoDriver.miniServoMoveToZero(sevoMid); + } + + public void moveTo(MiniServoMId sevoMid, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(sevoMid, speed); + miniServoDriver.miniServoMoveToBlock(sevoMid, getServoPosition(position)); + } + + public void stop(MiniServoMId sevoMid) throws Exception { + miniServoDriver.miniServoStop(sevoMid); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java new file mode 100644 index 0000000..b897a41 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java @@ -0,0 +1,122 @@ +package com.iflytop.gd.hardware.drivers.MiniServoDriver; + +import com.iflytop.gd.hardware.exception.HardwareException; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.awt.geom.Point2D; +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DualRobotDriver { + public enum Joint { + JOINT_1, + JOINT_2 + } + + private final MiniServoDriver miniServoDriver; + + private double speed_ = 10.0; // mm/s + + + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getServoPosition(double position) { + int servoPosition = 0; + servoPosition = (int)position; + return servoPosition; + } + + private int getServoSpeed(double speed) { + int servoSpeed = 0; + servoSpeed = (int)speed; + return servoSpeed; + } + + private Point2D getServoPosition(Point2D point) { + Point2D servoPosition = new Point2D.Double(0, 0); + servoPosition.setLocation(point.getX(), point.getY()); + return servoPosition; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(MiniServoMId sevoMid) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(MiniServoMId sevoMid, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + public MiniServoMId getMiniServoMId(Joint joint) { + switch (joint) { + case JOINT_1: + return MiniServoMId.DUAL_ROBOT_AXIS_1_MID; + case JOINT_2: + return MiniServoMId.DUAL_ROBOT_AXIS_2_MID; + default: + return null; + } + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(MiniServoMId sevoMid) throws HardwareException + { + double speed = getSpeed(sevoMid); + int motorSpeed = getServoSpeed(speed); + miniServoDriver.miniServoMoveToZero(sevoMid); + } + + public void moveTo(MiniServoMId sevoMid, double position, double speed) throws HardwareException + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(sevoMid, speed); + miniServoDriver.miniServoMoveToBlock(sevoMid, getServoPosition(position)); + } + + public void stop(MiniServoMId sevoMid) throws HardwareException { + miniServoDriver.miniServoStop(sevoMid); + } + + // ==== ==== ==== ==== ==== ==== Application ==== ==== ==== ==== ==== ==== + + public void setSpeed(Joint joint, double speed) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + setSpeed(servoMId, speed); + } + + public void moveToPoint(double pointX, double pointY) throws HardwareException { + Point2D point = getServoPosition(new Point2D.Double(pointX, pointY)); + + miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS_1_MID, (int)point.getX()); + miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS_2_MID, (int)point.getY()); + } + + public void moveToHome(Joint joint) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + moveToHome(servoMId); + } + + public void moveTo(Joint joint, double position, double speed) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + moveTo(servoMId, position, speed); + } + + public void stop(Joint joint) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + stop(servoMId); + } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoDriver.java new file mode 100644 index 0000000..e9833dd --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoDriver.java @@ -0,0 +1,161 @@ +package com.iflytop.gd.hardware.drivers.MiniServoDriver; + +import com.iflytop.gd.hardware.comm.can.A8kCanBusService; +import com.iflytop.gd.hardware.constants.MiniServoConstant; +import com.iflytop.gd.hardware.exception.HardwareException; +import com.iflytop.gd.hardware.type.A8kEcode; +import com.iflytop.gd.hardware.type.AEHardwareError; +import com.iflytop.gd.hardware.type.CmdId; +import com.iflytop.gd.hardware.type.RegIndex; +import com.iflytop.gd.hardware.utils.OS; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + + +@Component +@Slf4j +@RequiredArgsConstructor +public class MiniServoDriver { + final private A8kCanBusService canBus; + + public void moduleStop(MiniServoMId id) throws HardwareException { + canBus.moduleStop(id.mid); + } + + public void miniServoEnable(MiniServoMId id, int enable) throws HardwareException { + log.debug("{} miniServoEnable {}", id.mid, enable); + canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable); + } + + public void miniServoForceEnable(MiniServoMId id, int enable) { + try { + miniServoEnable(id, enable); + } catch (HardwareException e) { + log.error("miniServoForceEnable error", e); + } + } + + public Boolean miniServoPing(MiniServoMId id) { + try { + miniServoReadPos(id); + } catch (HardwareException e) { + return false; + } + return true; + } + + public int miniServoReadPos(MiniServoMId id) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos); + return packet.getContentI32(0); + } + + public void miniServoMoveToZeroBlock(MiniServoMId id) throws HardwareException { + log.debug("{} miniServoMoveToZeroBlock", id.mid); + miniServoMoveToBlock(id, MiniServoConstant.getZeroPos(id)); + } + + public void miniServoMoveToZero(MiniServoMId id) throws HardwareException { + log.debug("{} miniServoMoveToZero", id.mid); + miniServoMoveTo(id, MiniServoConstant.getZeroPos(id)); + } + + + public void miniServoActiveCfg(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_active_cfg); + } + + public void miniServoStop(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_stop); + } + + public void miniServoSetMidPoint(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_set_mid_point); + } + + public int miniServoReadIoState(MiniServoMId id) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_io_state); + return packet.getContentI32(0); + } + + public void miniServoMoveTo(MiniServoMId id, int pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_move_to, pos); + } + + public void miniServoMoveToBlock(MiniServoMId id, int pos) throws HardwareException { + log.debug("{} miniServoMoveTo {}", id.mid, pos); + miniServoMoveTo(id, pos); + canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime); + } + + + public void miniServoRotate(MiniServoMId id, int direction) throws HardwareException { + log.debug("{} miniServoRotate {}", id.mid, direction); + canBus.callcmd(id.mid, CmdId.mini_servo_rotate, direction); + } + + public void miniServoRotateBlock(MiniServoMId id, int direction) throws HardwareException { + miniServoRotate(id, direction); + canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime); + } + + public void miniServoRotateWithTorque(MiniServoMId id, int torque) throws HardwareException { + log.debug("{} miniServoRotateWithTorque {}", id.mid, torque); + canBus.callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque); + } + + public void waitForMod(MiniServoMId mid) throws HardwareException { + canBus.waitForMod(mid.mid, MiniServoConstant.actionOvertime); + } + + public void waitForMod(MiniServoMId... mid) throws HardwareException { + for (MiniServoMId m : mid) { + waitForMod(m); + } + } + + + // kmini_servo_set_cur_pos + private void miniServoSetCurPos(MiniServoMId id, Integer pos) throws HardwareException { + log.debug("{} miniServoSetCurPos {}", id.mid, pos); + canBus.callcmd2(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos); + } + + public Integer miniServoSetRefPos(MiniServoMId id) throws HardwareException { + miniServoSetCurPos(id, MiniServoConstant.getRefPos(id)); + return MiniServoConstant.getRefPos(id); + } + + public void setReg(MiniServoMId id, MiniServoRegIndex regindex, int val) throws HardwareException { + log.debug("{} setReg {} {}", id.mid, regindex, val); + canBus.moduleSetReg(id.mid, regindex.regIndex, val); + } + + public Integer getReg(MiniServoMId id, MiniServoRegIndex regindex) throws HardwareException { + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } + + public Integer getRegNoEx(MiniServoMId id, MiniServoRegIndex regindex) { + try { + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } catch (HardwareException e) { + log.error("readRegNoEx error", e); + return null; + } + } + + public void miniServoWaitIsNotMove(MiniServoMId id, int acitionOvertime) throws HardwareException { + long startedAt = System.currentTimeMillis(); + do { + var isMove = canBus.moduleGetReg(id.mid, RegIndex.kreg_mini_servo_is_move); + if (isMove != 0) { + break; + } + long now = System.currentTimeMillis(); + if (now - startedAt > acitionOvertime) { + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, id.mid, null)); + } + + } while (true); + } +} 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 new file mode 100644 index 0000000..d4aef63 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java @@ -0,0 +1,20 @@ +package com.iflytop.gd.hardware.drivers.MiniServoDriver; + +import com.iflytop.gd.hardware.type.MId; +import org.springframework.util.Assert; + +public enum MiniServoMId { + NotSet(MId.NotSet),// + DUAL_ROBOT_AXIS_1_MID(MId.DualRobotAxis1M),// + DUAL_ROBOT_AXIS_2_MID(MId.DualRobotAxis2M), + CLAW_MID(MId.HBotClawS) + ; + + final public MId mid; + + MiniServoMId(MId mid) { + Assert.isTrue(this.name().equals(mid.name()),"MiniServoMid Init fail"); + this.mid = mid; + } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoRegIndex.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoRegIndex.java new file mode 100644 index 0000000..615b22e --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoRegIndex.java @@ -0,0 +1,71 @@ +package com.iflytop.gd.hardware.drivers.MiniServoDriver; + +import com.iflytop.gd.hardware.type.RegIndex; + +public enum MiniServoRegIndex { + // kreg_module_version(RegIndex.kreg_module_version), // 模块版本 + // kreg_module_type(RegIndex.kreg_module_type), // 模块类型 + // kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error + // kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag + + kreg_mini_servo_pos(RegIndex.kreg_mini_servo_pos), // 位置 + kreg_mini_servo_limit_velocity(RegIndex.kreg_mini_servo_limit_velocity), // 限制速度 + kreg_mini_servo_limit_torque(RegIndex.kreg_mini_servo_limit_torque), // 限制扭矩 + kreg_mini_servo_protective_torque(RegIndex.kreg_mini_servo_protective_torque), // 保护扭矩 + kreg_mini_servo_is_move(RegIndex.kreg_mini_servo_is_move), // 是否在运动 + + + kreg_mini_servo_status(RegIndex.kreg_mini_servo_status), // 舵机状态 + kreg_mini_servo_voltage(RegIndex.kreg_mini_servo_voltage), // 电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_current(RegIndex.kreg_mini_servo_current), // 电流 反馈当前工作电流值,单位为ma + kreg_mini_servo_temperature(RegIndex.kreg_mini_servo_temperature), // 温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_loadvalue(RegIndex.kreg_mini_servo_loadvalue), // 负载值 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_target_pos_tolerance(RegIndex.kreg_mini_servo_target_pos_tolerance), // 目标位置容忍度 + + + kreg_mini_servo_firmware_main_version(RegIndex.kreg_mini_servo_firmware_main_version), // 固件主版本号 + kreg_mini_servo_firmware_sub_version(RegIndex.kreg_mini_servo_firmware_sub_version), // 固件次版本号 + kreg_mini_servo_servo_main_version(RegIndex.kreg_mini_servo_servo_main_version), // 舵机主版本号 + kreg_mini_servo_servo_sub_version(RegIndex.kreg_mini_servo_servo_sub_version), // 舵机次版本号 + kreg_mini_servo_servo_min_angle(RegIndex.kreg_mini_servo_servo_min_angle), // 最小角度限制 + kreg_mini_servo_servo_max_angle(RegIndex.kreg_mini_servo_servo_max_angle), // 最大角度限制 + kreg_mini_servo_servo_max_temp(RegIndex.kreg_mini_servo_servo_max_temp), // 最高温度上限 + kreg_mini_servo_servo_max_voltage(RegIndex.kreg_mini_servo_servo_max_voltage), // 最高输入电压 + kreg_mini_servo_servo_min_voltage(RegIndex.kreg_mini_servo_servo_min_voltage), // 最低输入电压 + kreg_mini_servo_servo_max_torque(RegIndex.kreg_mini_servo_servo_max_torque), // 最大扭矩 + kreg_mini_servo_servo_unload_condition(RegIndex.kreg_mini_servo_servo_unload_condition), // 卸载条件 + kreg_mini_servo_servo_p(RegIndex.kreg_mini_servo_servo_p), // P 比例系 + kreg_mini_servo_servo_d(RegIndex.kreg_mini_servo_servo_d), // D 微分系 + kreg_mini_servo_servo_i(RegIndex.kreg_mini_servo_servo_i), // I + kreg_mini_servo_servo_min_start(RegIndex.kreg_mini_servo_servo_min_start), // 最小启动 + kreg_mini_servo_servo_cw_dead_zone(RegIndex.kreg_mini_servo_servo_cw_dead_zone), // 顺时针不灵敏区 + kreg_mini_servo_servo_ccw_dead_zone(RegIndex.kreg_mini_servo_servo_ccw_dead_zone), // 逆时针不灵敏 + kreg_mini_servo_servo_protect_current(RegIndex.kreg_mini_servo_servo_protect_current), // 保护电流 + kreg_mini_servo_servo_protect_torque(RegIndex.kreg_mini_servo_servo_protect_torque), // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除 + kreg_mini_servo_servo_protect_time(RegIndex.kreg_mini_servo_servo_protect_time), // 保护时间 + kreg_mini_servo_servo_overload_torque(RegIndex.kreg_mini_servo_servo_overload_torque), // 过载扭矩 + kreg_mini_servo_servo_speed_p(RegIndex.kreg_mini_servo_servo_speed_p), // 速度闭环P比例参数 + kreg_mini_servo_servo_overload_time(RegIndex.kreg_mini_servo_servo_overload_time), // 过流保护时间 + kreg_mini_servo_servo_speed_i(RegIndex.kreg_mini_servo_servo_speed_i), // 速度闭环I积分参数 + kreg_mini_servo_servo_torque_switch(RegIndex.kreg_mini_servo_servo_torque_switch), // 扭矩开关 + kreg_mini_servo_servo_acc(RegIndex.kreg_mini_servo_servo_acc), // 加速度 + kreg_mini_servo_servo_target_pos(RegIndex.kreg_mini_servo_servo_target_pos), // 目标位置 + kreg_mini_servo_servo_run_time(RegIndex.kreg_mini_servo_servo_run_time), // 运行时间 + kreg_mini_servo_servo_run_speed(RegIndex.kreg_mini_servo_servo_run_speed), // 运行速度 + kreg_mini_servo_servo_torque_limit(RegIndex.kreg_mini_servo_servo_torque_limit), // 转矩限制 + kreg_mini_servo_servo_lock_flag(RegIndex.kreg_mini_servo_servo_lock_flag), // 锁标志 + kreg_mini_servo_servo_current_pos(RegIndex.kreg_mini_servo_servo_current_pos), // 当前位置 + kreg_mini_servo_servo_current_speed(RegIndex.kreg_mini_servo_servo_current_speed), // 当前速度 + kreg_mini_servo_servo_current_load(RegIndex.kreg_mini_servo_servo_current_load), // 当前负载 bit10为方向位 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_servo_current_voltage(RegIndex.kreg_mini_servo_servo_current_voltage), // 当前电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_servo_current_temp(RegIndex.kreg_mini_servo_servo_current_temp), // 当前温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_servo_status(RegIndex.kreg_mini_servo_servo_status), // 舵机状态 + kreg_mini_servo_servo_move_flag(RegIndex.kreg_mini_servo_servo_move_flag), // 移动标志 + kreg_mini_servo_servo_current_current(RegIndex.kreg_mini_servo_servo_current_current), // 当前电流 反馈当前工作电流值,单位为6.26.5mA,最大可反馈电流为500*6.5mA=3250mA + ; + public final RegIndex regIndex; + + MiniServoRegIndex(RegIndex regIndex) { + this.regIndex = regIndex; + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/Pump.java b/src/main/java/com/iflytop/gd/hardware/drivers/Pump.java deleted file mode 100644 index c82ab6d..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/Pump.java +++ /dev/null @@ -1,7 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理泵 - */ -public class Pump { -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/Relay.java b/src/main/java/com/iflytop/gd/hardware/drivers/Relay.java deleted file mode 100644 index fc040ad..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/Relay.java +++ /dev/null @@ -1,13 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理继电器 - */ -public class Relay{ - public boolean open() { - return false; - } - public boolean close() { - return false; - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/ServoMotor.java b/src/main/java/com/iflytop/gd/hardware/drivers/ServoMotor.java deleted file mode 100644 index cf5297f..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/ServoMotor.java +++ /dev/null @@ -1,53 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -import com.iflytop.gd.hardware.type.RegIndex; - - -/** - * 物理伺服电机 - */ -public class ServoMotor { - public void enable() { - - } - - public void disable() { - - } - - public void stop() { - - } - - public Integer getCurrentPosition() { - return 0; - } - - public void moveToZero() { - - } - - public void moveTo(Integer position) { - - } - - public void setMaxVelocity(Integer maxVelocity) { - - } - - public void setMaxTorque(Integer maxTorque) { - - } - - public void setProtectiveTorque(Integer protectiveTorque) { - - } - - public Integer readReg(RegIndex regIndex) { - return 0; - } - - public void writeReg(RegIndex regIndex, Integer value) { - - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotor.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotor.java deleted file mode 100644 index 488bfc4..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotor.java +++ /dev/null @@ -1,118 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -import com.iflytop.gd.hardware.type.RegIndex; -import com.iflytop.gd.hardware.constants.DistanceUnit; -import com.iflytop.gd.hardware.constants.RotationDirection; - -import java.util.Map; - -/** - * 物理步进电机实现 - */ -public class StepMotor { - public void easyMoveTo(Integer value, DistanceUnit unit) { - } - - public void easyMoveBy(Integer value, DistanceUnit unit) { - } - - public void easyMoveToZero() { - } - - public void easyMoveToZeroPointQuick() { - - } - - public void enable() { - - } - - public void disable() { - - } - - public void moveForward(RotationDirection direction, Integer distance, DistanceUnit unit) { - - } - - public void moveBackward(RotationDirection direction, Integer distance, DistanceUnit unit) { - - } - - public Integer readPosition() { - return 0; - } - - public Integer readEncoderPosition() { - return 0; - } - - public void stop() { - - } - - public void rotateForward() { - - } - - public void rotateBackward() { - - } - - - public Map readIOState() { - return null; - } - - - public void setReg(RegIndex regIndex, Integer value) { - } - - public Integer readReg(RegIndex regIndex) { - return 0; - } - - public void setMRes(Integer value) { - - } - - public void setIRun(Integer value) { - - } - - public void setIHold(Integer value) { - - } - - public void setStartAndStopVelocity(Integer value) { - - } - - public void setV1(Integer value) { - - } - - public void setA1AndD1(Integer value) { - - } - - public void setAmaxAndDmax(Integer value) { - - } - - public void setDefaultVelocity(Integer value) { - - } - - public void setVelocity(Integer low, Integer mid, Integer high) { - - } - - public void setOneCyclePulse(Integer pause, Integer denominator) { - - } - - public void setDZero(Integer value) { - - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/AcidPumpDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/AcidPumpDriver.java new file mode 100644 index 0000000..c9a3ab3 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/AcidPumpDriver.java @@ -0,0 +1,70 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class AcidPumpDriver { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorPosition(double position) { + int motorPosition = 0; + motorPosition = (int)position; + return motorPosition; + } + + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + stepMotorCtrlDriver_.moveToZeroQuickBlock(stepMotorMId, motorSpeed); + } + + public void moveTo(StepMotorMId stepMotorMId, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(stepMotorMId, speed); + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, getMotorPosition(position), getMotorSpeed(speed)); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java new file mode 100644 index 0000000..e0a5d54 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java @@ -0,0 +1,70 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DoorDriver{ + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorPosition(double position) { + int motorPosition = 0; + motorPosition = (int)position; + return motorPosition; + } + + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + stepMotorCtrlDriver_.moveToZeroQuickBlock(stepMotorMId, motorSpeed); + } + + public void moveTo(StepMotorMId stepMotorMId, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(stepMotorMId, speed); + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, getMotorPosition(position), getMotorSpeed(speed)); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java new file mode 100644 index 0000000..c32e40f --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java @@ -0,0 +1,70 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HBotDriver { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorPosition(double position) { + int motorPosition = 0; + motorPosition = (int)position; + return motorPosition; + } + + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + stepMotorCtrlDriver_.moveToZeroQuickBlock(stepMotorMId, motorSpeed); + } + + public void moveTo(StepMotorMId stepMotorMId, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(stepMotorMId, speed); + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, getMotorPosition(position), getMotorSpeed(speed)); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java new file mode 100644 index 0000000..1a5304b --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java @@ -0,0 +1,70 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterMotorDriver { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorPosition(double position) { + int motorPosition = 0; + motorPosition = (int)position; + return motorPosition; + } + + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + stepMotorCtrlDriver_.moveToZeroQuickBlock(stepMotorMId, motorSpeed); + } + + public void moveTo(StepMotorMId stepMotorMId, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(stepMotorMId, speed); + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, getMotorPosition(position), getMotorSpeed(speed)); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java new file mode 100644 index 0000000..a6c9375 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java @@ -0,0 +1,56 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ShakeMotorDriver { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void start(StepMotorMId stepMotorMId) throws Exception + { + // TODO: 从数据库中获取门的速度 + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + int direction = 1; + stepMotorCtrlDriver_.rotate(stepMotorMId, direction, motorSpeed); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } + +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java new file mode 100644 index 0000000..b809835 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java @@ -0,0 +1,192 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import com.iflytop.gd.hardware.comm.can.A8kCanBusService; +import com.iflytop.gd.hardware.constants.ActionOvertimeConstant; +import com.iflytop.gd.hardware.exception.HardwareException; +import com.iflytop.gd.hardware.type.*; +import lombok.RequiredArgsConstructor; +import org.slf4j.Logger; +import org.springframework.stereotype.Component; + +@Component +@RequiredArgsConstructor +public class StepMotorCtrlDriver { + static Logger logger = org.slf4j.LoggerFactory.getLogger(StepMotorCtrlDriver.class); + + final private A8kCanBusService canBus; + + private final ActionOvertimeConstant actionOvertimeConstant; + + public void stepMotorEasyMoveBy(StepMotorMId id, Integer dpos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_by, dpos); + } + + public void stepMotorEasyMoveTo(StepMotorMId id, Integer pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos); + } + + public void stepMotorEasyMoveToZero(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero); + } + + public void setCurrentPos(StepMotorMId id, Integer pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_set_current_pos, pos); + } + + void stepMotorEasyMoveToZeroPointQuick(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero_point_quick); + } + + void stepMotorEasyMoveToEndPoint(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_end_point); + } + + public void stepMotorEnable(StepMotorMId mid, Integer enable) throws HardwareException { + canBus.callcmd(mid.mid, CmdId.step_motor_enable, enable); + } + + public Integer stepMotorReadPos(StepMotorMId id) throws HardwareException { + A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_pos); + return packet.getContentI32(0); + } + + public Integer stepMotorReadEncPos(StepMotorMId id) throws HardwareException { + A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_enc_pos); + return packet.getContentI32(0); + } + + public void stepMotorEasyRotate(StepMotorMId id, Integer direction) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_rotate, direction); + } + + public void stepMotorEasyMoveByBlock(StepMotorMId id, Integer dpos) throws HardwareException { + logger.debug("stepMotorEasyMoveByBlock {} {}", id, dpos); + stepMotorEasyMoveBy(id, dpos); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_by)); + } + + public void waitForMod(StepMotorMId id, Integer overtime) throws HardwareException { + canBus.waitForMod(id.mid, overtime); + } + + public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos) throws HardwareException { + logger.debug("stepMotorEasyMoveToBlock {} {}", id, pos); + stepMotorEasyMoveTo(id, pos); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to)); + } + + public void stepMotorEasyMoveToZeroBlock(StepMotorMId id) throws HardwareException { + logger.debug("stepMotorEasyMoveToZeroBlock {}", id); + stepMotorEasyMoveToZero(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_zero)); + } + + public Integer stepMotorReadPosByMoveToZeroBlock(StepMotorMId id) throws HardwareException { + stepMotorEnable(id, 1); + stepMotorEasyMoveToZeroBlock(id); + Integer nowpos = stepMotorReadPos(id); + Integer measurepos = -canBus.moduleGetReg(id.mid, RegIndex.kreg_step_motor_dpos) + nowpos; + stepMotorEnable(id, 0); + return measurepos; + } + + public void stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId id) throws HardwareException { + stepMotorEasyMoveToZeroPointQuick(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_zero_point_quick)); + } + + public void stepMotorStop(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_stop, 0); + } + + + // 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"), // + +// public void moveByBlock(StepMotorMId id, Integer dpos, StepMotorSpeedLevel speedLevel) throws HardwareException { +// canBus.callcmd(id.mid, CmdId.step_motor_move_by, dpos, speedLevel.ordinal()); +// waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_by)); +// } +// +// public void moveToBlock(StepMotorMId id, Integer pos, StepMotorSpeedLevel speedLevel) throws HardwareException { +// canBus.callcmd(id.mid, CmdId.step_motor_move_to, pos, speedLevel.ordinal()); +// waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to)); +// } +// +// public void moveToZeroQuickBlock(StepMotorMId id, StepMotorSpeedLevel speedLevel) throws HardwareException { +// canBus.callcmd(id.mid, CmdId.step_motor_move_to_zero_point_quick, speedLevel.ordinal()); +// waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to_zero_point_quick)); +// } +// +// public void rotate(StepMotorMId id, Integer direction, StepMotorSpeedLevel speedLevel) throws HardwareException { +// canBus.callcmd(id.mid, CmdId.step_motor_rotate, direction, speedLevel.ordinal()); +// } + + public Boolean stepMotorReadIoState(StepMotorMId id, Integer ioindex) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.step_motor_read_io_state, ioindex); + return packet.getContentI32(0) != 0; + } + + public void stepMotorEasyMoveToEndPointBlock(StepMotorMId id) throws HardwareException { + stepMotorEasyMoveToEndPoint(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_end_point)); + } + + void stepMotorEasyReciprocatingMotion(StepMotorMId id, Integer startpos, Integer endpos, Integer times) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_reciprocating_motion, startpos, endpos, times); + } + + public void stepMotorEasyReciprocatingMotionBlock(StepMotorMId id, Integer startpos, Integer endpos, Integer times) throws HardwareException { + stepMotorEasyReciprocatingMotion(id, startpos, endpos, times); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_reciprocating_motion)); + } + + // ==== ==== ==== ==== ==== ==== raw ctrl ==== ==== ==== ==== ==== ==== + public void rotate(StepMotorMId id, Integer direction, Integer speed) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_rotate, direction, speed); + } + + public void moveToBlock(StepMotorMId id, Integer pos, Integer speed) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_to, pos, speed); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to)); + } + + public void moveByBlock(StepMotorMId id, Integer pos, Integer speed) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_by, pos, speed); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_by)); + } + + public void moveToZeroQuickBlock(StepMotorMId id, Integer speed) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_to_zero_point_quick, speed); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to_zero_point_quick)); + } + + +// public Boolean isHasMoveToZero(StepMotorMId id) throws HardwareException { +// return getReg(id, StepMotorRegIndex.kreg_step_motor_has_move_zero) != 0; +// } + +// public void setReg(StepMotorMId id, StepMotorRegIndex regIndex, Integer val) throws HardwareException { +// canBus.moduleSetReg(id.mid, regIndex.regIndex, val); +// } + +// public Integer getReg(StepMotorMId id, StepMotorRegIndex regIndex) throws HardwareException { +// return canBus.moduleGetReg(id.mid, regIndex.regIndex); +// } + + public void resetRegs(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.module_reset_reg); + } + +// public Object getAllReg(StepMotorMId id) throws HardwareException { +// ObjectNode node = ZJsonHelper.createObjectNode(); +// for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) { +// Integer regVal = getReg(id, regIndex); +// logger.debug("read reg {} -> {}", regIndex, regVal); +// node.put(regIndex.name(), getReg(id, regIndex)); +// } +// return node; +// } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java new file mode 100644 index 0000000..82f56a0 --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java @@ -0,0 +1,36 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import com.iflytop.gd.hardware.type.MId; +import org.springframework.util.Assert; + +public enum StepMotorMId { + DOOR_MOTOR_MID(MId.DoorM), + SHAKE_MOTOR_MID(MId.ShakeM), + TRAY_MOTOR_MID(MId.CapStorageM), + DUAL_ROBOT_AXIS1_MOTOR_MID(MId.DualRobotAxis1M), + DUAL_ROBOT_AXIS2_MOTOR_MID(MId.DualRobotAxis2M), + HBOT_X_MOTOR_MID(MId.HBotXM), + HBOT_Y_MOTOR_MID(MId.HBotYM), + HBOT_Z_MOTOR_MID(MId.HBotZM), + HEATER_1_MOTOR_MID(MId.Heater1M), + HEATER_2_MOTOR_MID(MId.Heater2M), + HEATER_3_MOTOR_MID(MId.Heater3M), + HEATER_4_MOTOR_MID(MId.Heater4M), + HEATER_5_MOTOR_MID(MId.Heater5M), + HEATER_6_MOTOR_MID(MId.Heater6M), + ACID_PUMP_1_MOTOR_MID(MId.AcidPump1M), + ACID_PUMP_2_MOTOR_MID(MId.AcidPump2M), + ACID_PUMP_3_MOTOR_MID(MId.AcidPump3M), + ACID_PUMP_4_MOTOR_MID(MId.AcidPump4M), + ACID_PUMP_5_MOTOR_MID(MId.AcidPump5M), + ACID_PUMP_6_MOTOR_MID(MId.AcidPump6M), + ACID_PUMP_7_MOTOR_MID(MId.AcidPump7M), + ACID_PUMP_8_MOTOR_MID(MId.AcidPump8M), + ; + final public MId mid; + + StepMotorMId(MId mid) { + Assert.isTrue(this.name().equals(mid.name()),"StepMotorMId init fail"); + this.mid = mid; + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorSpeedLevel.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorSpeedLevel.java new file mode 100644 index 0000000..a981b6e --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorSpeedLevel.java @@ -0,0 +1,9 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +public enum StepMotorSpeedLevel { + DEFAULT, + LOW, + MID, + HIGH, + ; +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java new file mode 100644 index 0000000..9bc5ebe --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java @@ -0,0 +1,90 @@ +package com.iflytop.gd.hardware.drivers.StepMotorDriver; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TrayMotorDriver { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + private double speed_ = 10.0; // mm/s + private int current_ = 5; // [0-31] + + private int trayLevelCount_ = 10; // 托盘层数 + private double trayInterval_ = 10; // mm + private double tray0Position_ = 0; // 托盘 0 位置 mm + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + private int getMotorPosition(double position) { + int motorPosition = 0; + motorPosition = (int)position; + return motorPosition; + } + + private int getMotorSpeed(double speed) { + int motorSpeed = 0; + motorSpeed = (int)speed; + return motorSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + double getTrayPosition(int trayLevel) { + // TODO: 从数据库中获取托盘的位置 + return tray0Position_ + trayLevel * trayInterval_; + } + + private double getSpeed(StepMotorMId stepMotorMId) + { + // TODO: 从数据库中获取门的速度 + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setCurrent(StepMotorMId stepMotorMId, int current) { + current_ = current; + // TODO: 写入数据库 + } + public void setSpeed(StepMotorMId stepMotorMId, double speed) { + // 检查速度是否合法 + speed_ = speed; + // TODO: 写入数据库 + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + double speed = getSpeed(stepMotorMId); + int motorSpeed = getMotorSpeed(speed); + stepMotorCtrlDriver_.moveToZeroQuickBlock(stepMotorMId, motorSpeed); + } + + public void moveTo(StepMotorMId stepMotorMId, double position, double speed) throws Exception + { + // 检查位置是否合法 + if (position < 0) { + throw new InvalidParameterException("Position is out of range"); + } + this.setSpeed(stepMotorMId, speed); + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, getMotorPosition(position), getMotorSpeed(speed)); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } + + // ==== ==== ==== ==== ==== ==== Application ==== ==== ==== ==== ==== ==== + public void moveToTrayLevel(StepMotorMId stepMotorMId, int trayLevel) throws Exception { + double position = getTrayPosition(trayLevel); + double speed = getSpeed(stepMotorMId); + + int motorPosition = getMotorPosition(position); + int motorSpeed = getMotorSpeed(speed); + + stepMotorCtrlDriver_.moveToBlock(stepMotorMId, motorPosition, motorSpeed); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/SwitchSensor.java b/src/main/java/com/iflytop/gd/hardware/drivers/SwitchSensor.java deleted file mode 100644 index 60c190e..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/SwitchSensor.java +++ /dev/null @@ -1,11 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -/** - * 物理传感器 - */ - -public class SwitchSensor { - public boolean isOpen() { - return false; - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/TransportationArm.java b/src/main/java/com/iflytop/gd/hardware/drivers/TransportationArm.java deleted file mode 100644 index d589f82..0000000 --- a/src/main/java/com/iflytop/gd/hardware/drivers/TransportationArm.java +++ /dev/null @@ -1,27 +0,0 @@ -package com.iflytop.gd.hardware.drivers; - -import com.iflytop.gd.hardware.constants.Dim; -import com.iflytop.gd.hardware.constants.DistanceUnit; -import com.iflytop.gd.hardware.constants.VelocityUnit; - -/** - * 物理转移机械臂 - */ - -public class TransportationArm { - public void moveTo(Dim dim, Integer distance, DistanceUnit unit) { - - } - - public void relativelyMove(Dim dim, Integer distance, DistanceUnit unit) { - - } - - public void stop(Dim dim) { - - } - - public void setSpeed(Dim dim, Integer speed, VelocityUnit unit) { - - } -} diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/TricolorLightDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/TricolorLightDriver.java new file mode 100644 index 0000000..9aecaac --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/drivers/TricolorLightDriver.java @@ -0,0 +1,28 @@ +package com.iflytop.gd.hardware.drivers; + + +import com.iflytop.gd.hardware.comm.can.A8kCanBusService; +import com.iflytop.gd.hardware.exception.HardwareException; +import com.iflytop.gd.hardware.type.CmdId; +import com.iflytop.gd.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TricolorLightDriver { + private final A8kCanBusService canBus; + public enum Color { + RED, GREEN, BLUE + } + + public void open(MId mid, Color color) throws HardwareException { + canBus.callcmd(mid, CmdId.module_tricolor_light_on, color.ordinal()); + } + + public void close(MId mid) throws HardwareException{ + canBus.callcmd(mid, CmdId.module_tricolor_light_off); + } +} diff --git a/src/main/java/com/iflytop/gd/hardware/factory/A8kPacketFactory.java b/src/main/java/com/iflytop/gd/hardware/factory/A8kPacketFactory.java index d565ae0..0679463 100644 --- a/src/main/java/com/iflytop/gd/hardware/factory/A8kPacketFactory.java +++ b/src/main/java/com/iflytop/gd/hardware/factory/A8kPacketFactory.java @@ -13,7 +13,7 @@ public class A8kPacketFactory { // uint8_t packetType; // uint16_t cmdid; // uint8_t moduleId; - // uint8_t index; + // uint16_t index; // uint8_t datalen; // uint8_t data[]; // /* int8_t checksum;*/ diff --git a/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java b/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java index 1e88c98..55ab7d7 100644 --- a/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java +++ b/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java @@ -5,7 +5,8 @@ import cn.hutool.core.util.StrUtil; import com.iflytop.gd.common.cmd.DeviceCommand; import com.iflytop.gd.common.enums.cmd.CmdDevice; import com.iflytop.gd.hardware.command.CommandHandler; -import com.iflytop.gd.hardware.command.SupportMethod; +import com.iflytop.gd.hardware.command.checker.SupportMethod; +import jakarta.annotation.PostConstruct; import org.springframework.stereotype.Component; import java.security.InvalidParameterException; @@ -17,9 +18,10 @@ import java.util.Map; public class HardwareService { private final Map cmdHandlers = new HashMap<>(); - public void post_initialize() + @PostConstruct + public void postInit() { -// cmdHandlers.put(CmdDevice.door, new FanHandler(0)); + } public boolean sendCommand(DeviceCommand cmd) @@ -30,17 +32,17 @@ public class HardwareService { SupportMethod.checkMethod(strMethod); if(cmdHandlers.containsKey(cmd.getDevice())) { - return cmdHandlers.get(cmd.getDevice()).sendCommand(cmd); + cmdHandlers.get(cmd.getDevice()).sendCommand(cmd); } else { throw new InvalidParameterException(StrUtil.format("[Device]: {}", cmd.getDevice())); } + return true; } catch (Exception e) { handleException(e); return false; } - } void handleException(Exception e) diff --git a/src/main/java/com/iflytop/gd/hardware/type/CmdId.java b/src/main/java/com/iflytop/gd/hardware/type/CmdId.java index 8a64a6c..cedace5 100644 --- a/src/main/java/com/iflytop/gd/hardware/type/CmdId.java +++ b/src/main/java/com/iflytop/gd/hardware/type/CmdId.java @@ -71,6 +71,17 @@ public enum CmdId { 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"), + mini_servo_enable(0x6601, "MINI_SERVO_ENABLE"),// + mini_servo_read_pos(0x6602, "MINI_SERVO_READ_POS"),// + mini_servo_active_cfg(0x6603, "MINI_SERVO_ACTIVE_CFG"),// + mini_servo_stop(0x6604, "MINI_SERVO_STOP"),// + mini_servo_set_mid_point(0x6607, "MINI_SERVO_SET_MID_POINT"),// + mini_servo_read_io_state(0x6608, "MINI_SERVO_READ_IO_STATE"),// + mini_servo_move_to(0x6609, "MINI_SERVO_MOVE_TO"),// + mini_servo_rotate(0x660a, "MINI_SERVO_ROTATE"),// + mini_servo_rotate_with_torque(0x660b, "MINI_SERVO_ROTATE_WITH_TORQUE"),// + mini_servo_set_cur_pos(0x660c, "MINI_SERVO_SET_CUR_POS"),// + ; 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 fe21551..e580bf4 100644 --- a/src/main/java/com/iflytop/gd/hardware/type/MId.java +++ b/src/main/java/com/iflytop/gd/hardware/type/MId.java @@ -5,6 +5,7 @@ public enum MId { IO1Board(10, "台面 IO 板模块"), PWMLight(11, "PWM 灯"), TriColorLight(12, "三色灯"), + HBotClawS(13, "夹爪舵机"),// IO2Board(30, "台下 IO 板模块"), @@ -12,7 +13,7 @@ public enum MId { DoorM(81, "门电机"), ShakeModBoard(90, "摇匀模组板"), // - ShakeModShakeM(91, "加液位摇匀电机"), // + ShakeM(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"), // diff --git a/src/main/java/com/iflytop/gd/hardware/type/ModuleType.java b/src/main/java/com/iflytop/gd/hardware/type/ModuleType.java new file mode 100644 index 0000000..dc8d11d --- /dev/null +++ b/src/main/java/com/iflytop/gd/hardware/type/ModuleType.java @@ -0,0 +1,34 @@ +//package com.iflytop.gd.hardware.type; +// +//public enum ModuleType { +// Board(0), // 板子 +// HBOT(1), // hbot模块 +// WaterCoolingTempCtrl(2), // 温度控制 +// FanCtrl(3), // 风扇控制 +// CodeScaner(4), // 扫码器 +// TMCStepMotor(5), // 步进电机 +// MiniServo(6), // 舵机 +// PipetteGunCtrl(7), // 移液体枪控制 +// +// A8kOptical(100), // a8000光学模组 +// A8KIdCardReader(101), // id卡读卡器 +// A8KPlateCodeScaner(102), // 反应板条扫码器 +// +// UNKNOWN(999); // 未知类型 +// public final int code; +// +// ModuleType(int val) { +// this.code = val; +// } +// +// static public ModuleType of(int val) { +// for (ModuleType type : ModuleType.values()) { +// if (type.code == val) { +// return type; +// } +// } +// return UNKNOWN; +// } +// +// +//} diff --git a/src/main/java/com/iflytop/gd/hardware/type/RegIndex.java b/src/main/java/com/iflytop/gd/hardware/type/RegIndex.java index a195ded..b560f1b 100644 --- a/src/main/java/com/iflytop/gd/hardware/type/RegIndex.java +++ b/src/main/java/com/iflytop/gd/hardware/type/RegIndex.java @@ -51,6 +51,65 @@ public enum RegIndex { /*********************************************************************************************************************** * step_motor end * ***********************************************************************************************************************/ + + + /*********************************************************************************************************************** + * step_motor * + ***********************************************************************************************************************/ + + kreg_mini_servo_pos(10201), // 位置 + kreg_mini_servo_limit_velocity(10251), // 限制速度 + kreg_mini_servo_limit_torque(10252), // 限制扭矩 + kreg_mini_servo_protective_torque(10253), // 保护扭矩 + kreg_mini_servo_is_move(10254), // 是否在运动 + kreg_mini_servo_status(10255), // 舵机状态 + kreg_mini_servo_voltage(10256), // 电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_current(10257), // 电流 反馈当前工作电流值,单位为ma + kreg_mini_servo_temperature(10258), // 温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_loadvalue(10259), // 负载值 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_target_pos_tolerance(10260), // 目标位置容忍度 + + + kreg_mini_servo_firmware_main_version(10500), // 固件主版本号 + kreg_mini_servo_firmware_sub_version(10501), // 固件次版本号 + kreg_mini_servo_servo_main_version(10503), // 舵机主版本号 + kreg_mini_servo_servo_sub_version(10504), // 舵机次版本号 + kreg_mini_servo_servo_min_angle(10509), // 最小角度限制 + kreg_mini_servo_servo_max_angle(10511), // 最大角度限制 + kreg_mini_servo_servo_max_temp(10513), // 最高温度上限 + kreg_mini_servo_servo_max_voltage(10514), // 最高输入电压 + kreg_mini_servo_servo_min_voltage(10515), // 最低输入电压 + kreg_mini_servo_servo_max_torque(10516), // 最大扭矩 + kreg_mini_servo_servo_unload_condition(10519), // 卸载条件 + kreg_mini_servo_servo_p(10521), // P 比例系 + kreg_mini_servo_servo_d(10522), // D 微分系 + kreg_mini_servo_servo_i(10523), // I + kreg_mini_servo_servo_min_start(10524), // 最小启动 + kreg_mini_servo_servo_cw_dead_zone(10526), // 顺时针不灵敏区 + kreg_mini_servo_servo_ccw_dead_zone(10527), // 逆时针不灵敏 + kreg_mini_servo_servo_protect_current(10528), // 保护电流 + kreg_mini_servo_servo_protect_torque(10534), // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除 + kreg_mini_servo_servo_protect_time(10535), // 保护时间 + kreg_mini_servo_servo_overload_torque(10536), // 过载扭矩 + kreg_mini_servo_servo_speed_p(10537), // 速度闭环P比例参数 + kreg_mini_servo_servo_overload_time(10538), // 过流保护时间 + kreg_mini_servo_servo_speed_i(10539), // 速度闭环I积分参数 + kreg_mini_servo_servo_torque_switch(10540), // 扭矩开关 + kreg_mini_servo_servo_acc(10541), // 加速度 + kreg_mini_servo_servo_target_pos(10542), // 目标位置 + kreg_mini_servo_servo_run_time(10544), // 运行时间 + kreg_mini_servo_servo_run_speed(10546), // 运行速度 + kreg_mini_servo_servo_torque_limit(10548), // 转矩限制 + kreg_mini_servo_servo_lock_flag(10555), // 锁标志 + kreg_mini_servo_servo_current_pos(10556), // 当前位置 + kreg_mini_servo_servo_current_speed(10558), // 当前速度 + kreg_mini_servo_servo_current_load(10560), // 当前负载 bit10为方向位 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_servo_current_voltage(10562), // 当前电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_servo_current_temp(10563), // 当前温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_servo_status(10565), // 舵机状态 + kreg_mini_servo_servo_move_flag(10566), // 移动标志 + kreg_mini_servo_servo_current_current(10569), // 当前电流 反馈当前工作电流值,单位为6.26.5mA,最大可反馈电流为500*6.5mA=3250mA + ; public final int index;