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174 lines
8.7 KiB
174 lines
8.7 KiB
package com.iflytop.gd.app.service;
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import com.iflytop.gd.app.core.device.DeviceState;
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import com.iflytop.gd.app.core.device.HeatModuleState;
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import com.iflytop.gd.app.core.device.SolutionContainerState;
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import com.iflytop.gd.app.model.bo.DeviceInitializationData;
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import com.iflytop.gd.app.model.entity.Container;
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import com.iflytop.gd.app.model.entity.DeviceParamConfig;
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import com.iflytop.gd.common.enums.ContainerCode;
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import com.iflytop.gd.common.enums.ContainerType;
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import com.iflytop.gd.common.enums.HeatModuleCode;
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import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
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import com.iflytop.gd.hardware.constants.ActionOvertimeConstant;
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import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
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import com.iflytop.gd.hardware.drivers.LeisaiServoDriver;
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import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoDriver;
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import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
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import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
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import com.iflytop.gd.hardware.exception.HardwareException;
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import com.iflytop.gd.hardware.type.CmdId;
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import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
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import com.iflytop.gd.hardware.type.IO.OutputIOMId;
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import com.iflytop.gd.hardware.type.MId;
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import com.iflytop.gd.hardware.type.RegIndex;
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import com.iflytop.gd.hardware.type.Servo.LeisaiServoMId;
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import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
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import com.iflytop.gd.hardware.type.Servo.MiniServoMId;
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import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
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import com.opencsv.CSVReader;
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import jakarta.annotation.PostConstruct;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.core.io.ClassPathResource;
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import org.springframework.stereotype.Service;
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import java.io.InputStreamReader;
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import java.util.List;
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import java.util.concurrent.CompletableFuture;
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@Slf4j
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@Service
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@RequiredArgsConstructor
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public class DeviceInitService {
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private final ContainerService containerService;
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private final DeviceStateService deviceStateService;
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private final A8kCanBusService canBusService;
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private final StepMotorCtrlDriver stepMotorCtrlDriver;
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private final MiniServoDriver miniServoDriver;
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private final LiquidDistributionArmDriver liquidDistributionArmDriver;
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private final TricolorLightDriver tricolorLightDriver;
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private final LeisaiServoDriver leisaiServoDriver;
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private final ActionOvertimeConstant actionOvertimeConstant;
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private final OutputIOCtrlDriver outputIOCtrlDriver;
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private final DeviceParamConfigService deviceParamConfigService;
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@PostConstruct
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public void init() {
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new Thread(() -> {
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try {
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Thread.sleep(2000);
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CompletableFuture.runAsync(() -> {
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try {
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tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE);
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} catch (HardwareException e) {
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log.error("设备初始化灯光失败，Color.BLUE");
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}
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});
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initDeviceState();
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initDeviceSetData();
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initOvertime();
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initEnable();
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try {
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tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN);
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} catch (HardwareException e) {
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log.error("设备初始化灯光失败，Color.GREEN");
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}
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deviceStateService.setInitComplete(true);
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} catch (Exception e) {
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try {
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tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED);
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} catch (Exception ignored) {
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}
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log.error("设备初始化失败", e);
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}
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}).start();
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}
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/**
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* 设置各动作超时时间
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*/
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public void initOvertime() {
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actionOvertimeConstant.pushNewConfig(StepMotorMId.DOOR_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 90 * 1000);
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actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainXSV, CmdId.step_motor_easy_move_to_zero, 300 * 1000);
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actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainYSV, CmdId.step_motor_easy_move_to_zero, 120 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HBOT_Z_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_1_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_2_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_3_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_4_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_5_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_6_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
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actionOvertimeConstant.pushNewConfig(StepMotorMId.TRAY_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 300 * 1000);
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actionOvertimeConstant.pushNewConfig(LiquidArmMId.LiquidDistributionArm, CmdId.liquid_distribution_arm_move_to, 6 * 1000);
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}
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/**
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* 初始化所有设备使能
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*/
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public void initEnable() throws Exception {
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_1_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_2_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_3_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_4_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 1);
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 1);
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liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
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miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1);
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leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1);
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leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1);
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outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
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outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
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}
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public void initDeviceSetData() throws Exception {
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if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
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return;
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}
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//从数据库中读取数据通过串口进行数据初始化
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List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
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for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
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DeviceInitializationData data = new DeviceInitializationData();
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data.setId(Math.toIntExact(deviceParamConfig.getId()));
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data.setMid(deviceParamConfig.getMid());
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data.setRegIndex(deviceParamConfig.getRegIndex());
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data.setRegInitVal(deviceParamConfig.getRegVal());
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try {
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sendToDevice(data);
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} catch (Exception e) {
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log.error("设备初始化写入参数失败，2秒后重试", e);
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Thread.sleep(2000);
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initDeviceSetData();
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}
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}
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}
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public void sendToDevice(DeviceInitializationData data) throws Exception {
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canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
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}
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public void initDeviceState() {
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DeviceState deviceState = deviceStateService.getDeviceState();
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List<HeatModuleState> heatArea = deviceState.getHeatModule();
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for (HeatModuleCode code : HeatModuleCode.values()) {
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heatArea.add(new HeatModuleState(code));
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}
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List<Container> containerList = containerService.getList();
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List<SolutionContainerState> solutionBucket = deviceState.getSolutionModule().getSolutionContainer();
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for (Container container : containerList) {
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if (container.getType() == 0) {
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solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.solution));
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} else {
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solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization));
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}
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}
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}
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}
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