feat:实现伺服电机定义及虚拟伺服电机实现

src/main/java/com/iflytop/gd/infrastructure/devices/StandardServoMotor.java

@@ -0,0 +1,65 @@
+package com.iflytop.gd.infrastructure.devices;
+
+import com.iflytop.gd.infrastructure.drivers.RegIndex;
+import com.iflytop.gd.system.devices.ServoMotor;
+
+
+/**
+ * 标准物理伺服电机
+ */
+public class StandardServoMotor implements ServoMotor {
+    @Override
+    public void enable() {
+
+    }
+
+    @Override
+    public void disable() {
+
+    }
+
+    @Override
+    public void stop() {
+
+    }
+
+    @Override
+    public Integer getCurrentPosition() {
+        return 0;
+    }
+
+    @Override
+    public void moveToZero() {
+
+    }
+
+    @Override
+    public void moveTo(Integer position) {
+
+    }
+
+    @Override
+    public void setMaxVelocity(Integer maxVelocity) {
+
+    }
+
+    @Override
+    public void setMaxTorque(Integer maxTorque) {
+
+    }
+
+    @Override
+    public void setProtectiveTorque(Integer protectiveTorque) {
+
+    }
+
+    @Override
+    public Integer readReg(RegIndex regIndex) {
+        return 0;
+    }
+
+    @Override
+    public void writeReg(RegIndex regIndex, Integer value) {
+
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualServoMotor.java

@@ -0,0 +1,75 @@
+package com.iflytop.gd.infrastructure.devices;
+
+import com.iflytop.gd.infrastructure.drivers.RegIndex;
+import com.iflytop.gd.system.devices.ServoMotor;
+import com.iflytop.gd.system.models.ServoMotorStatus;
+import org.springframework.context.annotation.Profile;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.Map;
+
+
+/**
+ * 虚拟伺服电机
+ */
+@Component
+@Profile("dev")
+public class VirtualServoMotor implements ServoMotor {
+    private final ServoMotorStatus servoMotorStatus = new ServoMotorStatus();
+    private final Map<RegIndex, Integer> registers = new HashMap<RegIndex, Integer>();
+    @Override
+    public void enable() {
+        this.servoMotorStatus.setEnabled(true);
+    }
+
+    @Override
+    public void disable() {
+        this.servoMotorStatus.setEnabled(false);
+    }
+
+    @Override
+    public void stop() {
+        this.servoMotorStatus.setStopped(true);
+    }
+
+    @Override
+    public Integer getCurrentPosition() {
+        return this.servoMotorStatus.getCurrentPosition();
+    }
+
+    @Override
+    public void moveToZero() {
+        this.servoMotorStatus.setCurrentPosition(0);
+    }
+
+    @Override
+    public void moveTo(Integer position) {
+        this.servoMotorStatus.setCurrentPosition(position);
+    }
+
+    @Override
+    public void setMaxVelocity(Integer maxVelocity) {
+        //TODO 等待硬件给出寄存器索引
+    }
+
+    @Override
+    public void setMaxTorque(Integer maxTorque) {
+        //TODO 等待硬件给出寄存器索引
+    }
+
+    @Override
+    public void setProtectiveTorque(Integer protectiveTorque) {
+        //TODO 等待硬件给出寄存器索引
+    }
+
+    @Override
+    public Integer readReg(RegIndex regIndex) {
+        return this.registers.get(regIndex);
+    }
+
+    @Override
+    public void writeReg(RegIndex regIndex, Integer value) {
+        this.registers.put(regIndex, value);
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualStepMotor.java

@@ -8,7 +8,7 @@ import com.iflytop.gd.system.constants.RotationDirection;
 import com.iflytop.gd.system.devices.StepMotor;
 import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
 import com.iflytop.gd.system.exceptions.HardwareErrorException;
-import com.iflytop.gd.system.models.MotorStatus;
+import com.iflytop.gd.system.models.StepMotorStatus;
 import lombok.extern.slf4j.Slf4j;
 
 import java.io.IOException;
@@ -20,7 +20,7 @@ import java.util.Map;
  */
 @Slf4j
 public class VirtualStepMotor implements StepMotor {
-    private MotorStatus motorStatus = new MotorStatus();
+    private StepMotorStatus stepMotorStatus = new StepMotorStatus();
     private Map<RegIndex, Integer> registers = new HashMap<RegIndex, Integer>();
     private final ModuleId moduleId;
 
@@ -30,50 +30,50 @@ public class VirtualStepMotor implements StepMotor {
 
     @Override
     public void easyMoveBy(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
-        int position = this.motorStatus.getCurrentPosition() + unit.toMM(value);
-        this.motorStatus.setCurrentPosition(position);
-        this.motorStatus.setStopped(true);
+        int position = this.stepMotorStatus.getCurrentPosition() + unit.toMM(value);
+        this.stepMotorStatus.setCurrentPosition(position);
+        this.stepMotorStatus.setStopped(true);
     }
 
     @Override
     public void easyMoveTo(Integer value, DistanceUnit unit) throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
         log.debug("Moving to {}", value);
-        this.motorStatus.setCurrentPosition(unit.toMM(value));
-        this.motorStatus.setZeroPosition(this.motorStatus.getCurrentPosition() == 0);
-        this.motorStatus.setStopped(true);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setCurrentPosition(unit.toMM(value));
+        this.stepMotorStatus.setZeroPosition(this.stepMotorStatus.getCurrentPosition() == 0);
+        this.stepMotorStatus.setStopped(true);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
     public void easyMoveToZero() throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
         log.debug("Easy move to zero.");
-        this.motorStatus.setCurrentPosition(0);
-        this.motorStatus.setZeroPosition(this.motorStatus.getCurrentPosition() == 0);
-        this.motorStatus.setStopped(true);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setCurrentPosition(0);
+        this.stepMotorStatus.setZeroPosition(this.stepMotorStatus.getCurrentPosition() == 0);
+        this.stepMotorStatus.setStopped(true);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
     public void easyMoveToZeroPointQuick() {
         log.debug("Easy move to zero quick.");
-        this.motorStatus.setCurrentPosition(0);
-        this.motorStatus.setZeroPosition(this.motorStatus.getCurrentPosition() == 0);
-        this.motorStatus.setStopped(true);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setCurrentPosition(0);
+        this.stepMotorStatus.setZeroPosition(this.stepMotorStatus.getCurrentPosition() == 0);
+        this.stepMotorStatus.setStopped(true);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
     public void enable() {
         log.debug("Enable step motor.");
-        this.motorStatus.setEnabled(true);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setEnabled(true);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
     public void disable() {
         log.debug("Disable step motor.");
-        this.motorStatus.setEnabled(false);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setEnabled(false);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
@@ -89,8 +89,8 @@ public class VirtualStepMotor implements StepMotor {
     @Override
     public void stop() throws HardwareErrorException, CommandExecTimeoutException, IOException, InterruptedException {
         log.debug("Stop step motor.");
-        this.motorStatus.setStopped(true);
-        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.motorStatus));
+        this.stepMotorStatus.setStopped(true);
+        log.debug("MotorStatus {}", JSONUtil.toJsonStr(this.stepMotorStatus));
     }
 
     @Override
@@ -113,12 +113,12 @@ public class VirtualStepMotor implements StepMotor {
 
     @Override
     public Integer readPosition() {
-        return this.motorStatus.getCurrentPosition();
+        return this.stepMotorStatus.getCurrentPosition();
     }
 
     @Override
     public Integer readEncoderPosition() {
-        return this.motorStatus.getEncoderPosition();
+        return this.stepMotorStatus.getEncoderPosition();
     }
 
     @Override

src/main/java/com/iflytop/gd/system/devices/Door.java

@@ -1,7 +1,18 @@
 package com.iflytop.gd.system.devices;
 
 public interface Door {
+    /**
+     * 开门
+     */
     void open();
+
+    /**
+     * 关门
+     */
     void close();
+
+    /**
+     * 停止
+     */
     void stop();
 }

src/main/java/com/iflytop/gd/system/devices/ServoMotor.java

@@ -1,20 +1,82 @@
 package com.iflytop.gd.system.devices;
 
 
+import com.iflytop.gd.infrastructure.drivers.RegIndex;
+
 /**
  * 伺服电机
  */
 public interface ServoMotor {
 
+    /**
+     * 使能
+     */
     void enable();
 
+    /**
+     * 失能
+     */
     void disable();
 
+    /**
+     * 停止
+     */
     void stop();
 
+
+    /**
+     * 获取当前位置
+     * @return
+     */
     Integer getCurrentPosition();
 
+
+    /**
+     * 移动到零点
+     */
     void moveToZero();
 
+
+    /**
+     * 移动到指定位置
+     * @param position
+     */
     void moveTo(Integer position);
+
+    /****************寄存器配置开始*****************/
+
+    /**
+     * 设置最大速度
+     * @param maxVelocity
+     */
+    void setMaxVelocity(Integer maxVelocity);
+
+    /**
+     * 设置最大力矩
+     * @param maxTorque
+     */
+    void setMaxTorque(Integer maxTorque);
+
+    /**
+     * 设置保护力矩
+     * @param protectiveTorque
+     */
+    void setProtectiveTorque(Integer protectiveTorque);
+
+
+    /**
+     * 读取寄存器值
+     * @param regIndex
+     * @return
+     */
+    Integer readReg(RegIndex regIndex);
+
+
+    /**
+     * 设置寄存器
+     * @param regIndex
+     * @param value
+     */
+    void writeReg(RegIndex regIndex, Integer value);
+    /****************寄存器配置结束*****************/
 }

src/main/java/com/iflytop/gd/system/models/ServoMotorStatus.java

@@ -0,0 +1,12 @@
+package com.iflytop.gd.system.models;
+
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ServoMotorStatus {
+    private boolean stopped = false;
+    private boolean isEnabled = false;
+    private Integer currentPosition;
+}

src/main/java/com/iflytop/gd/system/models/MotorStatus.java → src/main/java/com/iflytop/gd/system/models/StepMotorStatus.java

@@ -5,7 +5,7 @@ import lombok.Setter;
 
 @Getter
 @Setter
-public class MotorStatus {
+public class StepMotorStatus {
     private boolean stopped = false;
     private boolean isEnabled = false;
     private Integer currentSpeed;