diff --git a/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java b/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java index 8029471..9ebc0ca 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java @@ -16,6 +16,7 @@ import com.iflytop.sgs.common.enums.HeatModuleCode; import com.iflytop.sgs.common.enums.cmd.CmdColor; import com.iflytop.sgs.common.service.CanBusService; import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.service.setup.A8kSubModuleRegInitService; import jakarta.annotation.PostConstruct; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -38,26 +39,34 @@ public class DeviceInitService { private final ObjectProvider heatModuleStateProvider; private final ObjectProvider solutionContainerStateProvider; private final DeviceLightSoundService deviceLightSoundService; + private final A8kSubModuleRegInitService a8kSubModuleRegInitService; @PostConstruct - public void init() { + public void init() throws InterruptedException { + while (!a8kSubModuleRegInitService.getIsInited()) { + Thread.sleep(100); + } new Thread(() -> { try { - Thread.sleep(2000); CompletableFuture.runAsync(() -> { - DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.tricolorLightOpen(CmdColor.blue); - deviceCommandService.sendCommand(deviceCommandBundle); + try { + deviceLightSoundService.openColor(CmdColor.blue); + } catch (HardwareException e) { + log.error("设备初始化灯光失败，CmdColor.blue"); + } }); initDeviceState(); initDeviceSetData(); canBusService.initOvertime(); initEnable(); initSensorState(); - try { - deviceLightSoundService.openColor(CmdColor.green); - } catch (HardwareException e) { - log.error("设备初始化灯光失败，Color.GREEN"); - } + CompletableFuture.runAsync(() -> { + try { + deviceLightSoundService.openColor(CmdColor.green); + } catch (HardwareException e) { + log.error("设备初始化灯光失败，CmdColor.green"); + } + }); deviceStateService.getDeviceState().setInitComplete(true); } catch (Exception e) { log.error("设备初始化失败", e); @@ -73,7 +82,6 @@ public class DeviceInitService { 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 deviceParamConfigs = deviceParamConfigService.list(); for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) { DeviceInitializationData data = new DeviceInitializationData(); @@ -81,18 +89,20 @@ public class DeviceInitService { 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); - canBusService.moduleSetRegByApp(data.getMid(), data.getRegIndex(), data.getRegInitVal()); - //initDeviceSetData(); + boolean success = false; // 标记是否执行成功 + while (!success) { + try { + canBusService.moduleSetRegByApp(data.getMid(), data.getRegIndex(), data.getRegInitVal()); + success = true; + } catch (Exception e) { + log.error("设备初始化写入参数失败，错误: {}", e.getMessage()); + Thread.sleep(2000); + } } } - } + /** * 初始化所有设备使能 */ diff --git a/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java b/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java index efc6e05..a32d69b 100644 --- a/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java +++ b/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java @@ -183,7 +183,7 @@ public class A8kCanBusConnection extends WebSocketClient { // // PRIVATE // - @Scheduled(fixedRate = 10000) + @Scheduled(fixedRate = 2000) private void autoConnect() { if (!enableCanBus) return; @@ -191,10 +191,18 @@ public class A8kCanBusConnection extends WebSocketClient { if (!isOpen()) { if (getReadyState().equals(ReadyState.NOT_YET_CONNECTED)) { try { + log.warn("canbus connect ..."); connect(); + log.warn("canbus connect success"); } catch (IllegalStateException ignored) { + log.warn("a8k canbus connect failed, maybe already connected"); + } catch (Exception e) { + log.error("a8k canbus connect error", e); + // 连接失败，等待重试 + return; } } else if (getReadyState().equals(ReadyState.CLOSED)) { + log.warn("a8k canbus connection closed, try to reconnect"); reconnect(); } } diff --git a/src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java b/src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java index 5aa669c..f0ed16a 100644 --- a/src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java +++ b/src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java @@ -19,118 +19,118 @@ import org.springframework.stereotype.Component; import java.util.List; /** - * 子设备寄存器初始化服务 + * 子设备寄存器初始化服务 */ @Component @Slf4j @RequiredArgsConstructor public class A8kSubModuleRegInitService { - private final A8kCanBusService canBus; - private final ModuleEnableCtrlDriver moduleEnableCtrlDriver; - private final AppEventBusService eventBus; - private final A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig; - private final SubModuleRegInitialValueMgrService subModuleRegInitialValueMgrService; - private Boolean isInited = false; - - @PostConstruct - void init() { - eventBus.regListener(this::onAppEvent); - } - - public synchronized boolean getIsInited() { - return isInited; - } - - - private void onAppEvent(AppEvent event) { - if (event instanceof A8kCanBusOnConnectEvent) { - var initThread = new Thread(this::initModuleRegVal); - initThread.setName("initModuleRegVal"); - initThread.start(); - } - } - - private void initModuleRegVal() { - do { + private final A8kCanBusService canBus; + private final ModuleEnableCtrlDriver moduleEnableCtrlDriver; + private final AppEventBusService eventBus; + private final A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig; + private final SubModuleRegInitialValueMgrService subModuleRegInitialValueMgrService; + private Boolean isInited = false; + + @PostConstruct + void init() { + eventBus.regListener(this::onAppEvent); + } + + public synchronized boolean getIsInited() { + return isInited; + } + + + private void onAppEvent(AppEvent event) { + if (event instanceof A8kCanBusOnConnectEvent) { + var initThread = new Thread(this::initModuleRegVal); + initThread.setName("initModuleRegVal"); + initThread.start(); + } + } + + private void initModuleRegVal() { + do { // try { - log.info("forceInitA8kModParams"); - dumpAllSubBoardVersion(); + log.info("forceInitA8kModParams"); + dumpAllSubBoardVersion(); // initA8kModParams(); - isInited = true; + isInited = true; - log.info("======================================================"); - log.info("= init hardware param success...... ="); - log.info("======================================================"); - break; + log.info("======================================================"); + log.info("= init hardware param success...... ="); + log.info("======================================================"); + break; // } catch (HardwareException e) { // log.error("init hardware param fail......, try init it after 5s", e); // } - } while (false); - } - - private void dumpAllSubBoardVersion() { - log.info("======================================================="); - log.info("= dump all sub board version...... ="); - log.info("="); - - boolean hasDiffVersion = false; - Integer maxVersion = null; - for (MId mid : MId.values()) { - if (mid == MId.NotSet) { - continue; - } - try { - if (!canBus.ping(mid)) { - log.error(String.format("+ %-40s(%d): offline", mid, mid.index)); - continue; - } - - Integer ver = canBus.moduleReadVersion(mid); - String moduleType = canBus.moduleReadType(mid).toString(); - if (maxVersion != null && !maxVersion.equals(ver)) { - hasDiffVersion = true; - } - if (maxVersion == null || ver > maxVersion) { - maxVersion = ver; - } - log.info(String.format("+ %-40s(%d): type:%-20s version:%s", mid, mid.index, moduleType, ver)); - } catch (HardwareException e) { - log.error(String.format("+ %20s(%d): offline", mid, mid.index)); - - } - } - - if (!hasDiffVersion) { - // gStateMgrService.setMcuVersion(String.format("V%04d", maxVersion)); - } else { - //版本不一致，标记为(*)，表示需要升级 - // gStateMgrService.setMcuVersion(String.format("V%04d(*)", maxVersion)); - } - } - - - private void initA8kModParams() throws HardwareException { - for (MId mid : MId.values()) { - if (mid == MId.NotSet) - continue; - - log.info("============== {}({}) ===============", mid, mid.index); - - ModuleType moduleType = canBus.moduleReadType(mid); - List regIndexes = a8kSubModuleInitRegConfig.findRegIndexByModuleType(moduleType); - - for (RegIndex regIndex : regIndexes) { - SubModuleRegInitialValue val = subModuleRegInitialValueMgrService.findByIDAndRegIndex(mid, regIndex); - if (val == null) - continue; - - log.info(String.format("= init %s(%d) %-45s: %d", mid, mid.index, regIndex, val.regInitVal)); - canBus.moduleSetReg(mid, regIndex, val.regInitVal); - } - log.info("="); - } - } + } while (false); + } + + private void dumpAllSubBoardVersion() { + log.info("======================================================="); + log.info("= dump all sub board version...... ="); + log.info("="); + + boolean hasDiffVersion = false; + Integer maxVersion = null; + for (MId mid : MId.values()) { + if (mid == MId.NotSet) { + continue; + } + try { + if (!canBus.ping(mid)) { + log.error(String.format("+ %-40s(%d): offline", mid, mid.index)); + continue; + } + + Integer ver = canBus.moduleReadVersion(mid); + String moduleType = canBus.moduleReadType(mid).toString(); + if (maxVersion != null && !maxVersion.equals(ver)) { + hasDiffVersion = true; + } + if (maxVersion == null || ver > maxVersion) { + maxVersion = ver; + } + log.info(String.format("+ %-40s(%d): type:%-20s version:%s", mid, mid.index, moduleType, ver)); + } catch (HardwareException e) { + log.error(String.format("+ %20s(%d): offline", mid, mid.index)); + + } + } + + if (!hasDiffVersion) { + // gStateMgrService.setMcuVersion(String.format("V%04d", maxVersion)); + } else { + //版本不一致，标记为(*)，表示需要升级 + // gStateMgrService.setMcuVersion(String.format("V%04d(*)", maxVersion)); + } + } + + + private void initA8kModParams() throws HardwareException { + for (MId mid : MId.values()) { + if (mid == MId.NotSet) + continue; + + log.info("============== {}({}) ===============", mid, mid.index); + + ModuleType moduleType = canBus.moduleReadType(mid); + List regIndexes = a8kSubModuleInitRegConfig.findRegIndexByModuleType(moduleType); + + for (RegIndex regIndex : regIndexes) { + SubModuleRegInitialValue val = subModuleRegInitialValueMgrService.findByIDAndRegIndex(mid, regIndex); + if (val == null) + continue; + + log.info(String.format("= init %s(%d) %-45s: %d", mid, mid.index, regIndex, val.regInitVal)); + canBus.moduleSetReg(mid, regIndex, val.regInitVal); + } + log.info("="); + } + } } diff --git a/src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java b/src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java index b690487..084693c 100644 --- a/src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java @@ -30,7 +30,8 @@ public enum A8kEcode { SYS_EXCEPTION(18), //系统异常 DEVICE_NOT_INIT(19), //设备未初始化 APPE_PAUSE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(20), // - APPE_CONTINUE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(21), // + APPE_CONTINUE_OPERATION_NOT_SUPPORT_IN_ENGINEER_TASK(21), + WEBSOCKET_CONNECT_ERROR(22), //websocket连接错误// // // 参数错误