fix:初始化使能失败修改

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeCloseCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeepCloseCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("bee_close")
-public class DebugBeeCloseCommand extends BaseCommandHandler {
+@CommandDebugMapping("beep_close")
+public class DebugBeepCloseCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeepOpenCommand.java

@@ -23,8 +23,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("bee_open")
-public class DebugBeeOpenCommand extends BaseCommandHandler {
+@CommandDebugMapping("beep_open")
+public class DebugBeepOpenCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -1,8 +1,20 @@
 package com.iflytop.sgs.app.service.device;
 
+import com.iflytop.sgs.app.model.bo.DeviceInitializationData;
 import com.iflytop.sgs.app.model.bo.status.device.DeviceState;
 import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
+import com.iflytop.sgs.app.model.bo.status.device.SolutionContainerState;
+import com.iflytop.sgs.app.model.entity.Container;
+import com.iflytop.sgs.app.model.entity.DeviceParamConfig;
+import com.iflytop.sgs.app.service.api.ContainerService;
+import com.iflytop.sgs.app.service.api.DeviceParamConfigService;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.ContainerCode;
+import com.iflytop.sgs.common.enums.ContainerType;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
+import com.iflytop.sgs.common.enums.cmd.CmdColor;
+import com.iflytop.sgs.common.service.CanBusService;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -10,6 +22,7 @@ import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
+import java.util.concurrent.CompletableFuture;
 
 @Slf4j
 @Service
@@ -17,14 +30,24 @@ import java.util.List;
 public class DeviceInitService {
     private final DeviceStateService deviceStateService;
     private final ObjectProvider<HeatModuleState> heatModuleStateProvider;
+    private final ContainerService containerService;
+    private final DeviceParamConfigService deviceParamConfigService;
+    private final CanBusService canBusService;
+    private final DeviceCommandService deviceCommandService;
 
     @PostConstruct
     public void init() {
         new Thread(() -> {
             try {
                 Thread.sleep(2000);
+                CompletableFuture.runAsync(() -> {
+                    DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.tricolorLightOpen(CmdColor.blue);
+                    deviceCommandService.sendCommand(deviceCommandBundle);
+                });
                 initDeviceState();
                 initDeviceSetData();
+                canBusService.initOvertime();
+                initEnable();
                 deviceStateService.getDeviceState().setInitComplete(true);
             } catch (Exception e) {
                 log.error("设备初始化失败", e);
@@ -34,10 +57,50 @@ public class DeviceInitService {
 
 
     public void initDeviceSetData() throws Exception {
+        if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
+            return;
+        }
+        //从数据库中读取数据通过串口进行数据初始化
+        List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
+        for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
+            DeviceInitializationData data = new DeviceInitializationData();
+            data.setId(Math.toIntExact(deviceParamConfig.getId()));
+            data.setMid(deviceParamConfig.getMid());
+            data.setRegIndex(deviceParamConfig.getRegIndex());
+            data.setRegInitVal(deviceParamConfig.getRegVal());
+            try {
+                canBusService.moduleSetRegByApp(data.getMid(), data.getRegIndex(), data.getRegInitVal());
+            } catch (Exception e) {
+                log.error("设备初始化写入参数失败，2秒后重试", e);
+                Thread.sleep(2000);
+                initDeviceSetData();
+            }
+        }
 
+    }
 
+    /**
+     * 初始化所有设备使能
+     */
+    public void initEnable() throws Exception {
+        //门电机
+        DeviceCommandBundle doorEnableDeviceCommandBundle = DeviceCommandGenerator.doorEnable();
+        deviceCommandService.sendCommand(doorEnableDeviceCommandBundle);
+        //x轴
+        DeviceCommandBundle xEnableDeviceCommandBundle = DeviceCommandGenerator.transferXEnable();
+        deviceCommandService.sendCommand(xEnableDeviceCommandBundle);
+        //z轴
+        DeviceCommandBundle yEnableDeviceCommandBundle = DeviceCommandGenerator.transferZEnable();
+        deviceCommandService.sendCommand(yEnableDeviceCommandBundle);
+        //机械臂
+        DeviceCommandBundle liquidMotorEnableDeviceCommandBundle = DeviceCommandGenerator.liquidMotorEnable();
+        deviceCommandService.sendCommand(liquidMotorEnableDeviceCommandBundle);
+        //蠕动泵
+        DeviceCommandBundle liquidPumpEnableDeviceCommandBundle = DeviceCommandGenerator.liquidPumpEnable();
+        deviceCommandService.sendCommand(liquidPumpEnableDeviceCommandBundle);
     }
 
+
     public void initDeviceState() {
         //初始化加热模块属性
         DeviceState deviceState = deviceStateService.getDeviceState();
@@ -45,5 +108,15 @@ public class DeviceInitService {
         for (HeatModuleCode code : HeatModuleCode.values()) {
             heatArea.add(heatModuleStateProvider.getObject(code));
         }
+        List<Container> containerList = containerService.getList();
+        List<SolutionContainerState> solutionBucket = deviceState.getSolutionModule().getSolutionContainer();
+        for (Container container : containerList) {
+            if (container.getType() == 0) {
+                solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.solution));
+            } else {
+                solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.waste));
+            }
+        }
+
     }
 }

src/main/java/com/iflytop/sgs/common/service/CanBusService.java

@@ -0,0 +1,11 @@
+package com.iflytop.sgs.common.service;
+
+import com.iflytop.sgs.hardware.exception.HardwareException;
+
+public interface CanBusService {
+
+	 void moduleSetRegByApp(String mid, String regindex, Integer reg) throws HardwareException;
+
+
+	 void initOvertime();
+}

src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java

@@ -1,5 +1,7 @@
 package com.iflytop.sgs.hardware.comm.can;
 
+import com.iflytop.sgs.common.service.CanBusService;
+import com.iflytop.sgs.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.sgs.hardware.exception.HardwareException;
 import com.iflytop.sgs.hardware.type.*;
 import com.iflytop.sgs.hardware.type.error.A8kEcode;
@@ -10,14 +12,17 @@ import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
+import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId;
 
 import java.net.URISyntaxException;
 
 @Component
 @Slf4j
-public class A8kCanBusService {
+public class A8kCanBusService implements CanBusService {
 	@Resource
 	A8kCanBusConnection connection;
+	@Resource
+	ActionOvertimeConstant actionOvertimeConstant;
 
 	@Value("${device.enableCanBus}")
 	Boolean enableCanBus;
@@ -76,6 +81,21 @@ public class A8kCanBusService {
 	public ModuleStatus moduleGetStatus(MId id) throws HardwareException {
 		return connection.moduleGetStatus(id);
 	}
+	public void moduleSetRegByApp(String id, String regindex, Integer reg) throws HardwareException {
+		MId mId=MId.valueOf(id);
+		RegIndex regIndex=RegIndex.valueOf(reg);
+		this.moduleSetReg(mId,regIndex,reg);
+	}
+	/**
+	 * 设置各动作超时时间
+	 */
+	@Override
+	public void initOvertime() {
+        actionOvertimeConstant.pushNewConfig(StepMotorMId.DoorM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
+        actionOvertimeConstant.pushNewConfig(StepMotorMId.LiquidM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
+        actionOvertimeConstant.pushNewConfig(StepMotorMId.LiquidPumpM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
+        actionOvertimeConstant.pushNewConfig(StepMotorMId.ZM, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
+	}
 
 	public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws HardwareException {
 		connection.callcmd2(id, CmdId.module_set_reg, 100, regindex.index, reg);

src/main/java/com/iflytop/sgs/hardware/command/handlers/LeiSaiServoHandler.java

@@ -25,7 +25,7 @@ public class LeiSaiServoHandler extends CommandHandler {
     private final LeiSaiServoWrapperDriver driver_;
 
     private final Map<CmdDevice, LeisaiServoMId> motorIdMap_ = Map.ofEntries(
-            Map.entry(CmdDevice.door_motor, LeisaiServoMId.XSV)
+            Map.entry(CmdDevice.x_motor, LeisaiServoMId.XSV)
     );
     private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = motorIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

src/main/java/com/iflytop/sgs/hardware/command/handlers/MotorHandler.java

@@ -26,7 +26,8 @@ public class MotorHandler extends CommandHandler {
     private final Map<CmdDevice, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
             Map.entry(CmdDevice.door_motor, StepMotorMId.DoorM),
             Map.entry(CmdDevice.z_motor, StepMotorMId.ZM),
-            Map.entry(CmdDevice.liquid_motor, StepMotorMId.LiquidM)  // TODO: 蠕动泵后期可能会调整方案
+            Map.entry(CmdDevice.liquid_motor, StepMotorMId.LiquidM),
+            Map.entry(CmdDevice.liquid_pump, StepMotorMId.LiquidPumpM)// TODO: 蠕动泵后期可能会调整方案
     );
     private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

src/main/resources/application-dev.yml

@@ -36,7 +36,7 @@ command_bus:
 device.enableCanBus: true
 
 iflytophald:
-  ip: 192.168.8.168
+  ip: 192.168.10.168
   cmdch.port: 19004
   datach.port: 19005