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graphite-digester-service
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同步代码

master
白凤吉 3 months ago
committed by HSZ_HeSongZhen
parent
e7ca9cc2fd
commit
e5c3b2d36e
15 changed files with 50 additions and 61 deletions
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  1. 4
      src/main/java/com/iflytop/gd/app/cmd/debug/DoorCloseCommandHandler.java
  2. 29
      src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
  3. 9
      src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java
  4. 2
      src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java
  5. 1
      src/main/java/com/iflytop/gd/hardware/config/StepMotorConfig.java
  6. 1
      src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java
  7. 5
      src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java
  8. 3
      src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java
  9. 3
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java
  10. 3
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java
  11. 3
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java
  12. 3
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java
  13. 1
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java
  14. 4
      src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java
  15. 20
      src/main/resources/init/zapp_sub_module_reg_initial_value.csv

4
src/main/java/com/iflytop/gd/app/cmd/debug/DoorCloseCommandHandler.java
View File

@ -25,13 +25,11 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_door_close")
public class DoorCloseCommandHandler extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final DevicePositionService devicePositionService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorClose);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance());
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
});

29
src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
View File

@ -16,10 +16,11 @@ import com.opencsv.CSVReader;
import jakarta.annotation.PostConstruct;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.core.io.ClassPathResource;
import org.springframework.stereotype.Service;
import java.io.FileReader;
import java.nio.file.Paths;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.List;
@Slf4j
@ -36,22 +37,25 @@ public class DeviceInitService {
try {
initDeviceState();
initDeviceSetData();
deviceStateService.setInitComplete(true);
} catch (Exception ignored) {
}
}).start();
}
public void initDeviceSetData() {
public void initDeviceSetData() throws Exception {
if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
return;
}
try {
// 等待设备状态初始化完成
Thread.sleep(2000);
String filePath = Paths.get("src", "main", "resources", "init", "zapp_sub_module_reg_initial_value.csv").toString();
CSVReader reader = new CSVReader(new FileReader(filePath));
reader.readNext();
// 使用 ClassPathResource 来从类路径加载 CSV 文件并使用 InputStream 读取
ClassPathResource resource = new ClassPathResource("init/zapp_sub_module_reg_initial_value.csv");
try (CSVReader reader = new CSVReader(new InputStreamReader(resource.getInputStream()))) {
reader.readNext(); // 跳过表头
String[] line;
while ((line = reader.readNext()) != null) {
DeviceInitializationData data = new DeviceInitializationData();
@ -61,16 +65,20 @@ public class DeviceInitService {
data.setRegInitVal(Integer.parseInt(line[3]));
sendToDevice(data);
}
reader.close();
}
} catch (Exception e) {
log.error("设备初始化失败", e);
// 如果发生错误，可以递归调用重试（如果需要）
initDeviceSetData();
}
}
public void sendToDevice(DeviceInitializationData data) throws HardwareException {
public void sendToDevice(DeviceInitializationData data){
try{
canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
}catch (Exception e) {
log.error("设备初始化写入失败", e);
}
}
public void initDeviceState() {
@ -79,6 +87,7 @@ public class DeviceInitService {
for (HeatModuleCode code : HeatModuleCode.values()) {
heatArea.add(new HeatModuleState(code));
}
List<Container> containerList = containerService.getList();
List<SolutionContainerState> solutionBucket = deviceState.getSolutionModule().getSolutionContainer();
for (Container container : containerList) {

9
src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java
View File

@ -74,7 +74,8 @@ public class HBotHandler extends CommandHandler {
if(isServo)
{
log.info("HBotHandler origin servo");
servoDriver_.moveToZero(servoMId);
servoDriver_.enable(servoMId, 1);
servoDriver_.moveToZeroBlock(servoMId);
}
else
{
@ -104,7 +105,8 @@ public class HBotHandler extends CommandHandler {
double userPos = command.getParam().getPosition();
int motor_Pos = StepMotorConverter.toMotorPosition(userPos);
log.info("HBotHandler move to userPos: {}, motor_Pos: {}", userPos, motor_Pos);
servoDriver_.moveTo(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos);
servoDriver_.enable(servoMId, 1);
servoDriver_.moveToBlock(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos);
}
else
{
@ -120,7 +122,8 @@ public class HBotHandler extends CommandHandler {
{
int motor_Pos = StepMotorConverter.toMotorPosition(distance);
log.info("HBotHandler move by distance: {}, motor_Pos: {}", distance, motor_Pos);
servoDriver_.moveBy(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos);
servoDriver_.enable(servoMId, 1);
servoDriver_.moveByBlock(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos);
}
else
{

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

@ -29,7 +29,7 @@ public class ShakeMotorHandler extends CommandHandler {
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
private final Set<CmdAction> supportActions = Set.of(CmdAction.start, CmdAction.stop);
private final Set<CmdAction> supportActions = Set.of(CmdAction.start, CmdAction.stop, CmdAction.set);
@Override

1
src/main/java/com/iflytop/gd/hardware/config/StepMotorConfig.java
View File

@ -83,6 +83,7 @@ public class StepMotorConfig {
static final double HEATER_MOTOR_DEFAULT_MAX_LIMIT = 100.0;
static final double ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT = 1000000;
final static Map<StepMotorMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
Map.entry(StepMotorMId.DOOR_MOTOR_MID, 400.0),
Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 20000.0),
Map.entry(StepMotorMId.TRAY_MOTOR_MID, 200.0),
Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 1400.0),

1
src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java
View File

@ -33,7 +33,6 @@ public class MiniServoConstant {
// zeroPos = 644;//底部 644/3000 = 220/1024
// refPos = 644;//底部
// }}
);
static public Integer getZeroPos(MiniServoMId mid) {

5
src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java
View File

@ -98,14 +98,13 @@ public class ClawDriver {
}
miniServoDriver.miniServoEnable(servoMid, 1);
int servoPosition = toServoPosition(position);
log.info("[ {} ] moveTo {}, servo position {}", servoMid, position, servoPosition);
log.info("[ {} ] moveTo {}, servo position {} ...", servoMid, position, servoPosition);
miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition);
miniServoDriver.miniServoEnable(servoMid, 0);
log.info("[ {} ] moveTo {}, servo position {} end", servoMid, position, servoPosition);
}
public void stop(MiniServoMId servoMid) throws HardwareException {
log.info("[ {} ] stop", servoMid.mid.getDescription());
miniServoDriver.miniServoStop(servoMid);
miniServoDriver.miniServoEnable(servoMid, 0);
}
}

3
src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/DualRobotDriver.java
View File

@ -128,8 +128,6 @@ public class DualRobotDriver {
{
log.info("Servo {} Move To Home", servoMid.mid.getDescription());
this.servoEnable(servoMid, true);
miniServoDriver.miniServoMoveToZero(servoMid);
this.servoEnable(servoMid, false);
}
public void moveJointTo(MiniServoMId servoMid, double position) throws HardwareException
@ -139,7 +137,6 @@ public class DualRobotDriver {
log.info("Servo {} Move To position {}, Servo Position {}", servoMid.mid.getDescription(), position, servoPosition);
this.servoEnable(servoMid, true);
miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition);
this.servoEnable(servoMid, false);
}
public void stop(MiniServoMId servoMid) throws HardwareException {

3
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java
View File

@ -43,7 +43,6 @@ public class DoorDriver{
log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
motorEnable(stepMotorMId, true);
stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
motorEnable(stepMotorMId, false);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
@ -57,7 +56,6 @@ public class DoorDriver{
int motorPosition = StepMotorConverter.toMotorPosition(position);
log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
@ -71,7 +69,6 @@ public class DoorDriver{
int motorPosition = StepMotorConverter.toMotorPosition(distance);
log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {

3
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java
View File

@ -46,7 +46,6 @@ public class HBotDriver {
log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
motorEnable(stepMotorMId, true);
stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
motorEnable(stepMotorMId, false);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
@ -60,7 +59,6 @@ public class HBotDriver {
int motorPosition = StepMotorConverter.toMotorPosition(position);
log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
@ -74,7 +72,6 @@ public class HBotDriver {
int motorPosition = StepMotorConverter.toMotorPosition(distance);
log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {

3
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java
View File

@ -43,7 +43,6 @@ public class HeaterMotorDriver {
log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
motorEnable(stepMotorMId, true);
stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
motorEnable(stepMotorMId, false);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
@ -57,7 +56,6 @@ public class HeaterMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(position);
log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
@ -71,7 +69,6 @@ public class HeaterMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(distance);
log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {

3
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java
View File

@ -44,7 +44,6 @@ public class ShakeMotorDriver {
log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
motorEnable(stepMotorMId, true);
stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
motorEnable(stepMotorMId, false);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
@ -58,7 +57,6 @@ public class ShakeMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(position);
log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
@ -72,7 +70,6 @@ public class ShakeMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(distance);
log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {

1
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java
View File

@ -92,7 +92,6 @@ public class StepMotorCtrlDriver {
stepMotorEasyMoveToZeroBlock(id);
Integer nowpos = stepMotorReadPos(id);
Integer measurepos = -canBus.moduleGetReg(id.mid, RegIndex.kreg_step_motor_dpos) + nowpos;
stepMotorEnable(id, 0);
return measurepos;
}

4
src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java
View File

@ -46,7 +46,6 @@ public class TrayMotorDriver {
log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription());
motorEnable(stepMotorMId, true);
stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
motorEnable(stepMotorMId, false);
}
public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception {
@ -60,7 +59,6 @@ public class TrayMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(position);
log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception {
@ -74,13 +72,11 @@ public class TrayMotorDriver {
int motorPosition = StepMotorConverter.toMotorPosition(distance);
log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition);
stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
motorEnable(stepMotorMId, false);
}
public void stop(StepMotorMId stepMotorMId) throws Exception {
log.info("Motor {} Stop", stepMotorMId.mid.getDescription());
stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
motorEnable(stepMotorMId, true);
}
// ==== ==== ==== ==== ==== ==== IO Ctrl ==== ==== ==== ==== ====

20
src/main/resources/init/zapp_sub_module_reg_initial_value.csv
View File

@ -47,9 +47,9 @@ id,mid,regIndex,regInitVal
46,DualRobotAxis2SV,kreg_mini_servo_servo_protect_time,200
47,DualRobotAxis2SV,kreg_mini_servo_servo_overload_torque,80
48,DualRobotAxis2SV,kreg_mini_servo_servo_acc,0
49,LiquidDistributionArm,kreg_liquid_distribution_arm_enable,1
50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,571
51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,1149
49,LiquidDistributionArm,kreg_liquid_distribution_arm_enable,0
50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,466
51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,992
52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,616
53,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d1,613
54,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d0,841
@ -82,20 +82,20 @@ id,mid,regIndex,regInitVal
81,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d1,1389
82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,1748
83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,1450
84,DoorM,kreg_step_motor_shaft,1
84,DoorM,kreg_step_motor_shaft,0
85,DoorM,kreg_step_motor_one_circle_pulse,500
86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1
87,DoorM,kreg_step_motor_default_velocity,500
88,DoorM,kreg_step_motor_low_velocity,0
89,DoorM,kreg_step_motor_mid_velocity,0
90,DoorM,kreg_step_motor_high_velocity,0
87,DoorM,kreg_step_motor_default_velocity,30
88,DoorM,kreg_step_motor_low_velocity,30
89,DoorM,kreg_step_motor_mid_velocity,30
90,DoorM,kreg_step_motor_high_velocity,30
91,DoorM,kreg_step_motor_ihold,5
92,DoorM,kreg_step_motor_irun,15
93,DoorM,kreg_step_motor_iholddelay,10
94,DoorM,kreg_step_motor_iglobalscaler,0
95,DoorM,kreg_step_motor_mres,0
96,DoorM,kreg_step_motor_run_to_zero_speed,100
97,DoorM,kreg_step_motor_look_zero_edge_speed,100
96,DoorM,kreg_step_motor_run_to_zero_speed,30
97,DoorM,kreg_step_motor_look_zero_edge_speed,30
98,DoorM,kreg_step_motor_max_d,0
99,DoorM,kreg_step_motor_min_d,0
100,DoorM,kreg_step_motor_in_debug_mode,0

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