add: 新增包工厂

src/main/java/com/iflytop/gd/app/service/DeviceParamConfigService.java

@@ -7,8 +7,8 @@ import com.iflytop.gd.app.model.entity.DeviceParamConfig;
 import com.iflytop.gd.app.model.vo.DeviceParamGroupVO;
 import com.iflytop.gd.app.model.vo.ModuleIdVO;
 import com.iflytop.gd.app.model.vo.RegIndexVO;
-import com.iflytop.gd.hardware.drivers.ModuleId;
-import com.iflytop.gd.hardware.drivers.RegIndex;
+import com.iflytop.gd.hardware.type.MId;
+import com.iflytop.gd.hardware.type.RegIndex;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -58,7 +58,7 @@ public class DeviceParamConfigService extends ServiceImpl<DeviceParamConfigMappe
      * @param regIndex 寄存器索引
      * @return 唯一匹配的 DeviceParamConfig，找不到返回 null
      */
-    public DeviceParamConfig getByModuleAndReg(ModuleId moduleId, RegIndex regIndex) {
+    public DeviceParamConfig getByModuleAndReg(MId moduleId, RegIndex regIndex) {
         return deviceParamConfigMapper.selectOne(
                 new LambdaQueryWrapper<DeviceParamConfig>()
                         .eq(DeviceParamConfig::getMid, moduleId.name())
@@ -72,7 +72,7 @@ public class DeviceParamConfigService extends ServiceImpl<DeviceParamConfigMappe
      * @return List<ModuleIdVO>
      */
     public List<ModuleIdVO> listAllModuleIds() {
-        return Arrays.stream(ModuleId.values())
+        return Arrays.stream(MId.values())
                 .map(e -> new ModuleIdVO(
                         e.name(),       // 枚举常量名
                         e.name         // 描述字段

src/main/java/com/iflytop/gd/hardware/command/CommandHandler.java

@@ -3,8 +3,14 @@ package com.iflytop.gd.hardware.command;
 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;
 
 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;
+    }
 }

src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java

@@ -7,7 +7,7 @@ import com.iflytop.gd.hardware.command.CommandHandler;
 
 public class FanHandler extends CommandHandler {
 
-    private int fandId_;
+    private final int fandId_;
 
     public FanHandler(int fanId) {
         fandId_ = fanId;
@@ -17,7 +17,6 @@ public class FanHandler extends CommandHandler {
     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
@@ -25,15 +24,25 @@ public class FanHandler extends CommandHandler {
             // get 参数值
             Double speed = command.getParam().getSpeed();
 
-            // 组包
-            // 发送命令
-            return true;
+            return openFan(speed);
         } else if (command.getAction() == CmdAction.close) {
-            return true;
+            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)) {

src/main/java/com/iflytop/gd/hardware/device/ServoMotor.java

@@ -1,6 +1,6 @@
 package com.iflytop.gd.hardware.device;
 
-import com.iflytop.gd.hardware.drivers.RegIndex;
+import com.iflytop.gd.hardware.type.RegIndex;
 
 
 /**

src/main/java/com/iflytop/gd/hardware/device/StepMotor.java

@@ -1,6 +1,6 @@
 package com.iflytop.gd.hardware.device;
 
-import com.iflytop.gd.hardware.drivers.RegIndex;
+import com.iflytop.gd.hardware.type.RegIndex;
 import com.iflytop.gd.hardware.constants.DistanceUnit;
 import com.iflytop.gd.hardware.constants.RotationDirection;
 

src/main/java/com/iflytop/gd/hardware/drivers/WebSocketCommandBusImpl.java

@@ -5,6 +5,7 @@ import com.iflytop.gd.common.exception.CommandExecTimeoutException;
 import com.iflytop.gd.common.exception.HardwareErrorException;
 import com.iflytop.gd.hardware.model.DataPacket;
 import com.iflytop.gd.common.utils.ByteArray;
+import com.iflytop.gd.hardware.type.CommandBus;
 import jakarta.annotation.PostConstruct;
 import jakarta.websocket.*;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/factory/A8kPacketFactory.java

@@ -0,0 +1,53 @@
+package com.iflytop.gd.hardware.factory;
+
+
+
+import com.iflytop.gd.hardware.type.A8kPacket;
+import com.iflytop.gd.hardware.type.CmdId;
+
+import java.util.List;
+
+public class A8kPacketFactory {
+
+    //typedef struct {
+    //  uint8_t  packetType;
+    //  uint16_t cmdid;
+    //  uint8_t  moduleId;
+    //  uint8_t  index;
+    //  uint8_t  datalen;
+    //  uint8_t  data[];
+    //  /* int8_t  checksum;*/
+    //} zcr_cmd_header_t;
+
+    static public A8kPacket buildPacket(Integer moduleId, int packetType, Integer cmdId, Integer[] params) {
+        return A8kPacket.createPacket(moduleId, packetType, cmdId, params);
+    }
+
+    static public A8kPacket buildCMDPacket(Integer moduleId, Integer cmdId, Integer[] params) {
+        return buildPacket(moduleId, (byte) 0, cmdId, params);
+    }
+
+    static public A8kPacket buildCMDPacket(Integer moduleId, Integer cmdId, List<Integer> params) {
+        Integer[] array = new Integer[params.size()];
+        params.toArray(array);
+        return buildPacket(moduleId, A8kPacket.PACKET_TYPE_CMD, cmdId, array);
+    }
+
+    static public A8kPacket buildReportPacket(Integer moduleId, Integer cmdId, Integer[] params) {
+        return buildPacket(moduleId, (byte) 3, cmdId, params);
+    }
+
+    //	static public A8kPacket build_event_a8000_idcard_online() {
+    //		return buildReportPacket(MId.A8kIdCardReader.toInt(), CmdId.event_a8000_idcard_online.index, new Integer[0]);
+    //	}
+    //
+    //	static public A8kPacket build_event_a8000_idcard_offline() {
+    //		return buildReportPacket(MId.A8kIdCardReader.toInt(), CmdId.event_a8000_idcard_offline.index, new Integer[0]);
+    //	}
+
+    public static void main(String[] args) {
+        var packet = buildCMDPacket(1, CmdId.module_get_reg.toInt(), List.of(1, 2, 3));
+        System.out.println(packet.toByteString());
+    }
+}
+

src/main/java/com/iflytop/gd/hardware/type/A8kPacket.java

@@ -0,0 +1,227 @@
+package com.iflytop.gd.hardware.type;
+
+import com.iflytop.gd.hardware.utils.ByteArray;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.util.Assert;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+public class A8kPacket {
+
+    //#pragma pack(push, 1)
+    //typedef struct {
+    //  uint8_t  packetType;
+    //  uint16_t cmdid;
+    //  uint8_t  moduleId;
+    //  uint16_t  index;
+    //  uint8_t  datalen;
+    //  uint8_t  data[];
+    //  /* int8_t  checksum;*/
+    //} zcr_cmd_header_t;
+    //
+    //#pragma pack(pop)
+    //typedef enum {
+    //  kptv2_cmd       = 0xA0,
+    //  kptv2_ack       = 0xA1,
+    //  kptv2_error_ack = 0xA2,
+    //  kptv2_event     = 0xA3,
+    //} zcan_cmd_packet_type_t;
+    //
+
+    /**
+     *
+     * @WARNING
+     * 	1. 修改这里时，需要注意连同createPacket一起修改
+     *  2. PACKET_MIN_LEN 比Header多一个字节，是因为还有一个字节的校验位
+     */
+
+    public static final int PACKET_TYPE_OFFSET = 0;
+    public static final int CMDID_OFFSET       = 1;
+    public static final int MODULE_ID_OFFSET   = 3;
+    public static final int INDEX_OFFSET       = 4;
+    public static final int DATA_LEN_OFFSET    = 6;
+    public static final int DATA_OFFSET        = 7;
+
+    public static final int PACKET_MIN_LEN = 8;//
+
+    public static final int CMD_OVERTIME = 1500;
+
+
+    public static final int PACKET_TYPE_CMD       = 0xA0;
+    public static final int PACKET_TYPE_ACK       = 0xA1;
+    public static final int PACKET_TYPE_ERROR_ACK = 0xA2;
+    public static final int PACKET_TYPE_EVENT     = 0xA3;
+
+    public static final Logger logger = LoggerFactory.getLogger(A8kPacket.class);
+
+    byte[] raw;
+
+    public A8kPacket(byte[] cmd) {
+        raw = new byte[cmd.length];
+        System.arraycopy(cmd, 0, raw, 0, cmd.length);
+    }
+
+    public void setPacketIndex(int packetIndex) {
+        ByteArray.setU16bit(raw, INDEX_OFFSET, packetIndex);
+        int checkcode = computeCheckcode();
+        ByteArray.setU8(raw, raw.length - 1, checkcode);
+    }
+
+
+    public int getPacketIndex() {
+        return ByteArray.readU16bit(raw, INDEX_OFFSET);
+    }
+
+    public int getCmdId() {
+        return ByteArray.readU16bit(raw, CMDID_OFFSET);
+    }
+
+    public int getPacketType() {
+        return ByteArray.readU8bit(raw, PACKET_TYPE_OFFSET);
+    }
+
+    public int getModuleId() {
+        return ByteArray.readU8bit(raw, MODULE_ID_OFFSET);
+    }
+
+    public int getDataLen() {
+        return ByteArray.readU8bit(raw, DATA_LEN_OFFSET);
+    }
+
+    public byte[] getCmdContent() {
+        if (raw.length < PACKET_MIN_LEN) {
+            return new byte[0];
+        }
+        byte[] cmdcontent = new byte[getDataLen()];
+        System.arraycopy(raw, DATA_OFFSET, cmdcontent, 0, getDataLen());
+        return cmdcontent;
+    }
+
+    public int getContentI32(int index) {
+        return ByteArray.read32bit(raw, DATA_OFFSET + index * 4);
+    }
+
+    public int getCheckcode() {
+        return ByteArray.readU8bit(raw, raw.length - 1);
+    }
+
+    public int computeCheckcode() {
+        int checkcode = 0;
+        for (int i = 0; i < raw.length - 1; i++) {
+            checkcode += raw[i];
+        }
+        return checkcode & 0xFF;
+    }
+
+    public String toByteString() {
+        return ByteArray.toByteString(raw);
+    }
+
+    public String toString() {
+        int    packetType = getPacketType();
+        String ret        = "";
+
+        CmdId cmdId = CmdId.valueOf(getCmdId());
+        Assert.isTrue(cmdId != null, "cmdId is null");
+        if (packetType == PACKET_TYPE_CMD) {
+
+            if (cmdId.equals(CmdId.module_get_reg) || cmdId.equals(CmdId.module_set_reg)) {
+                RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
+                if (regIndex != null) {
+                    ret = String.format("[CMD  ] index:[%d] %s %s %s(%d)  %d", getPacketIndex(), cmdId,
+                            MId.valueOf(getModuleId()), regIndex, regIndex.index, getContentI32(1));
+                } else {
+                    ret = String.format("[CMD  ] index:[%d] %s unkown_index(%d) %d", getPacketIndex(), cmdId,
+                            getContentI32(0), getContentI32(1));
+                }
+            } else {
+                if (cmdId.getCmdAttachType() == CmdId.ATTACH_IS_INT32) {
+                    ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId,
+                            MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
+                } else {
+                    ret = String.format("[CMD  ] index:[%d] (%s %s(%d) :param:[%s])", getPacketIndex(), cmdId,
+                            MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent()));
+                }
+            }
+
+        } else if (packetType == PACKET_TYPE_ACK) {
+            if (cmdId.getReceiptAttachType() == CmdId.ATTACH_IS_INT32) {
+                ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId,
+                        formatInt32ATTACH(getCmdContent()));
+            } else {
+                ret = String.format("[ACK  ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId,
+                        ByteArray.toByteString(getCmdContent()));
+            }
+        } else if (packetType == PACKET_TYPE_ERROR_ACK) {
+            ret = String.format("[EACK ] index:[%d] (%s :[%s])", getPacketIndex(), cmdId, (getContentI32(0)));
+        } else if (packetType == PACKET_TYPE_EVENT) {
+            if (cmdId.getCmdAttachType() == CmdId.ATTACH_IS_INT32) {
+                ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId,
+                        MId.valueOf(getModuleId()), getModuleId(), formatInt32ATTACH(getCmdContent()));
+            } else {
+                ret = String.format("[EVENT] index:[%d] (%s %s(%d) :[%s])", getPacketIndex(), cmdId,
+                        MId.valueOf(getModuleId()), getModuleId(), ByteArray.toByteString(getCmdContent()));
+            }
+        } else {
+            ret = String.format("Unknown packet type: %d", packetType);
+        }
+        return ret;
+    }
+
+    private String formatInt32ATTACH(byte[] attach) {
+        StringBuilder ret = new StringBuilder();
+        for (int i = 0; i < attach.length; i += 4) {
+            if (i + 3 >= attach.length)
+                break;
+            if (i != 0)
+                ret.append(",");
+            ret.append(String.format("%d", ByteArray.read32bit(attach, i)));
+        }
+        return ret.toString();
+    }
+
+    public Boolean isSupportPacket() {
+        CmdId cmdid = CmdId.valueOf(getCmdId());
+        if (cmdid == null) {
+            return false;
+        }
+        if (CmdId.module_get_reg.equals(cmdid) || CmdId.module_set_reg.equals(cmdid)) {
+            if (getPacketType() == PACKET_TYPE_CMD) {
+                RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
+                return regIndex != null;
+            }
+        }
+        return true;
+    }
+
+
+    static public A8kPacket createPacket(Integer moduleId, int packetType, Integer cmdId, Integer[] params) {
+        int        bufferSize = A8kPacket.PACKET_MIN_LEN + 4 * params.length;
+        ByteBuffer buffer     = ByteBuffer.allocate(bufferSize);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
+        buffer.put((byte) (packetType & 0xff)); // packetType
+        buffer.putShort((short) (cmdId & 0xffff)); // cmdid
+        buffer.put((byte) (moduleId & 0xFF)); // moduleId
+        buffer.put((byte) 0x4C); // index
+        buffer.put((byte) 0x00); // index
+        buffer.put((byte) (params.length * 4)); // datalen
+        for (int value : params) {
+            buffer.putInt(value);
+        }
+        // int8_t  checksum;
+        int checksum = 0;
+        for (int i = 0; i < bufferSize - 1; i++) {
+            checksum += buffer.get(i);
+        }
+        buffer.put((byte) checksum);
+        return new A8kPacket(buffer.array());
+    }
+
+    public static void main(String[] args) {
+        var packet =  createPacket(41, A8kPacket.PACKET_TYPE_CMD, CmdId.module_stop.index, new Integer[]{});
+        logger.info("{}", packet.toByteString());
+    }
+
+}

src/main/java/com/iflytop/gd/hardware/drivers/AppErrorCode.java → src/main/java/com/iflytop/gd/hardware/type/AppErrorCode.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers;
+package com.iflytop.gd.hardware.type;
 
 public  enum AppErrorCode {
     APP_OK(200, "操作成功"),

src/main/java/com/iflytop/gd/hardware/drivers/CmdId.java → src/main/java/com/iflytop/gd/hardware/type/CmdId.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers;
+package com.iflytop.gd.hardware.type;
 
 
 public enum CmdId {
@@ -77,11 +77,17 @@ public enum CmdId {
     public final static int    ATTACH_IS_BYTES = 1;
     public final static int    ATTACH_IS_INT32 = 2;
     public final        int    index;
-    public final        String name;
+    public final        String chName;
+
+
+    //	public final int     cmdAttachType     = ATTACH_IS_INT32;
+    //	public final int     receiptAttachType = ATTACH_IS_INT32;
+    //	public final boolean trace     = true;
+    //	public final boolean actionCmd = true;
 
     CmdId(int index, String chname) {
         this.index  = index;
-        this.name = chname;
+        this.chName = chname;
     }
 
     public int toInt() {
@@ -104,11 +110,11 @@ public enum CmdId {
                 return e.toString();
             }
         }
-        return "unknown(" + val + ")";
+        return "unkown(" + val + ")";
     }
 
-    public String getName() {
-        return name;
+    public String getChname() {
+        return chName;
     }
 
     public Boolean eq(Integer index) {
@@ -116,7 +122,33 @@ public enum CmdId {
     }
 
 
+    public int getCmdAttachType() {
+        return switch (this) {
+            default -> ATTACH_IS_INT32;
+        };
+    }
+
+    public int getReceiptAttachType() {
+        return switch (this) {
+            default -> ATTACH_IS_INT32;
+        };
+    }
+
     public boolean isTrace() {
         return true;
     }
+
+    public boolean isActionCmd() {
+
+        return switch (this) {
+            case module_get_status,
+                 module_get_error,
+                 step_motor_read_io_state,
+                 extboard_read_inio,
+                 extboard_read_muti_inio,
+                 module_get_reg,
+                 module_set_reg -> false;
+            default -> true;
+        };
+    }
 }

src/main/java/com/iflytop/gd/hardware/drivers/CommandBus.java → src/main/java/com/iflytop/gd/hardware/type/CommandBus.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers;
+package com.iflytop.gd.hardware.type;
 
 import com.iflytop.gd.common.exception.CommandExecTimeoutException;
 import com.iflytop.gd.common.exception.HardwareErrorException;

src/main/java/com/iflytop/gd/hardware/drivers/ModuleId.java → src/main/java/com/iflytop/gd/hardware/type/MId.java

@@ -1,6 +1,6 @@
-package com.iflytop.gd.hardware.drivers;
+package com.iflytop.gd.hardware.type;
 
-public enum ModuleId {
+public enum MId {
     NotSet(0, "未设置"),
     IO1Board(10, "台面 IO 板模块"),
     PWMLight(11, "PWM 灯"),
@@ -63,7 +63,7 @@ public enum ModuleId {
     final public String name;
     final public int    index;
 
-    ModuleId(int index, String name) {
+    MId(int index, String name) {
         this.name = name;
         this.index  = index;
     }
@@ -73,13 +73,13 @@ public enum ModuleId {
     }
 
 
-    public static ModuleId valueOf(Integer val) {
+    public static MId valueOf(Integer val) {
         return valueOf(val.intValue());
     }
 
-    public static ModuleId valueOf(int val) {
-        ModuleId[] values = ModuleId.values();
-        for (ModuleId e : values) {
+    public static MId valueOf(int val) {
+        MId[] values = MId.values();
+        for (MId e : values) {
             if (e.toInt() == val)
                 return e;
         }
@@ -87,8 +87,8 @@ public enum ModuleId {
     }
 
     public static String toString(int val) {
-        ModuleId[] values = ModuleId.values();
-        for (ModuleId e : values) {
+        MId[] values = MId.values();
+        for (MId e : values) {
             if (e.toInt() == val) {
                 return e.toString();
             }

src/main/java/com/iflytop/gd/hardware/drivers/RegIndex.java → src/main/java/com/iflytop/gd/hardware/type/RegIndex.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers;
+package com.iflytop.gd.hardware.type;
 
 /**
  * @brief 寄存器索引

src/main/java/com/iflytop/gd/hardware/utils/ByteArray.java

@@ -0,0 +1,124 @@
+package com.iflytop.gd.hardware.utils;
+
+import org.springframework.lang.NonNull;
+
+public class ByteArray {
+    public ByteArray() {
+    }
+
+    public static int readU8bit(byte[] code, int index) {
+        if (index >= code.length)
+            return 0;
+        return code[index] & 255;
+    }
+
+    public static int readS8bit(byte[] code, int index) {
+        if (index >= code.length)
+            return 0;
+
+        return code[index];
+    }
+
+    public static int readU16bit(byte[] code, int index) {
+        if (index + 1 >= code.length)
+            return 0;
+        return (code[index + 1] & 255) << 8 | code[index] & 255;
+    }
+
+    public static void setU16bit(byte[] code, int index, int value) {
+        code[index + 1] = (byte) (value >> 8);
+        code[index]     = (byte) value;
+    }
+
+    public static void setU8(byte[] code, int off, int value) {
+        code[off] = (byte) value;
+    }
+
+    public static int readS16bit(byte[] code, int index) {
+        if (index + 1 >= code.length)
+            return 0;
+
+        return code[index + 1] << 8 | code[index] & 255;
+    }
+
+    public static int read32bit(byte[] code, int index) {
+        if (index + 3 >= code.length)
+            return 0;
+        return code[index + 3] << 24 | (code[index + 2] & 255) << 16 | (code[index + 1] & 255) << 8 | code[index] & 255;
+    }
+
+    public static Integer[] read32bitArray(byte[] code) {
+        int       count = code.length / 4;
+        Integer[] array = new Integer[count];
+        for (int i = 0; i < count; i++) {
+            array[i] = read32bit(code, i * 4);
+        }
+        return array;
+    }
+
+    public static Integer[] read16bitArray(byte[] code) {
+        int       count = code.length / 2;
+        Integer[] array = new Integer[count];
+        for (int i = 0; i < count; i++) {
+            array[i] = readS16bit(code, i * 2);
+        }
+        return array;
+    }
+
+    public static Integer[] readU16bitArray(byte[] code) {
+        int       count = code.length / 2;
+        Integer[] array = new Integer[count];
+        for (int i = 0; i < count; i++) {
+            array[i] = readU16bit(code, i * 2);
+        }
+        return array;
+    }
+
+
+    public static String toByteString(byte[] arrary) {
+        StringBuilder sb = new StringBuilder();
+        for (byte b : arrary) {
+            sb.append(String.format("%02X", b));
+        }
+        return sb.toString();
+    }
+
+    public static byte[] hexStringToBytes(@NonNull String str) {
+        if (str.isEmpty()) {
+            return new byte[0];
+        } else {
+            byte[] byteArray = new byte[str.length() / 2];
+            for (int i = 0; i < byteArray.length; i++) {
+                int high = Character.digit(str.charAt(i * 2), 16);
+                int low  = Character.digit(str.charAt(i * 2 + 1), 16);
+                if (high == -1 || low == -1) {
+                    return null;
+                }
+                byteArray[i] = (byte) (high * 16 + low);
+            }
+            return byteArray;
+        }
+    }
+
+
+    public static byte[] concat(byte[]... arrays) {
+        int length = 0;
+        for (byte[] array : arrays) {
+            length += array.length;
+        }
+
+        byte[] result  = new byte[length];
+        int    destPos = 0;
+        for (byte[] array : arrays) {
+            System.arraycopy(array, 0, result, destPos, array.length);
+            destPos += array.length;
+        }
+
+        return result;
+    }
+
+    // public static void main(String[] args) {
+    //    byte[] bytes = new byte[]{0x01, 0x02, 0x03, 0x04};
+    //    System.out.println(toByteString(bytes));
+    // }
+}

src/test/java/com/iflytop/gd/infrastructure/drivers/WebSocketCommandBusImplTest.java

@@ -1,7 +1,7 @@
 package com.iflytop.gd.infrastructure.drivers;
 
-import com.iflytop.gd.hardware.drivers.CmdId;
-import com.iflytop.gd.hardware.drivers.ModuleId;
+import com.iflytop.gd.hardware.type.CmdId;
+import com.iflytop.gd.hardware.type.MId;
 import com.iflytop.gd.hardware.drivers.WebSocketCommandBusImpl;
 import com.iflytop.gd.common.exception.CommandExecTimeoutException;
 import com.iflytop.gd.common.exception.HardwareErrorException;
@@ -20,7 +20,7 @@ class WebSocketCommandBusImplTest {
         WebSocketCommandBusImpl webSocketCommandBus = new WebSocketCommandBusImpl(webSocketUrl, true);
         webSocketCommandBus.connectToCommandBusWebSocketServer();
 
-        DataPacket dataPacket = DataPacket.createCommandDataPacket(ModuleId.HBotXM.index, CmdId.step_motor_easy_move_to.index, 100);
+        DataPacket dataPacket = DataPacket.createCommandDataPacket(MId.HBotXM.index, CmdId.step_motor_easy_move_to.index, 100);
         webSocketCommandBus.waitForCommandExec(dataPacket, 30, TimeUnit.SECONDS);
     }
 }