From 9c9d54b0f14eeb4600dde530cf18f9ea37e0755d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Sun, 25 May 2025 17:55:50 +0800 Subject: [PATCH] first commit! --- build.gradle | 56 ++ build.gradle.kts | 28 - lib/modbus4j-3.1.0.jar | Bin 0 -> 190012 bytes .../iflytop/sgs/app/cmd/AnnealStartCommand.java | 50 ++ .../com/iflytop/sgs/app/cmd/AnnealStopCommand.java | 42 ++ .../com/iflytop/sgs/app/cmd/CleanStartCommand.java | 44 ++ .../com/iflytop/sgs/app/cmd/CleanStopCommand.java | 44 ++ .../com/iflytop/sgs/app/cmd/DoorCloseCommand.java | 35 ++ .../com/iflytop/sgs/app/cmd/DoorOpenCommand.java | 40 ++ .../com/iflytop/sgs/app/cmd/DoorOriginCommand.java | 38 ++ .../com/iflytop/sgs/app/cmd/DryStartCommand.java | 50 ++ .../com/iflytop/sgs/app/cmd/DryStopCommand.java | 43 ++ .../com/iflytop/sgs/app/cmd/FanStartCommand.java | 40 ++ .../com/iflytop/sgs/app/cmd/FanStopCommand.java | 40 ++ .../iflytop/sgs/app/cmd/GantryXOriginCommand.java | 33 + .../iflytop/sgs/app/cmd/GantryZOriginCommand.java | 33 + .../com/iflytop/sgs/app/cmd/HeatStartCommand.java | 50 ++ .../com/iflytop/sgs/app/cmd/HeatStopCommand.java | 41 ++ .../iflytop/sgs/app/cmd/MoveToHeatAreaCommand.java | 77 +++ .../sgs/app/cmd/MoveToSolutionAreaCommand.java | 81 +++ .../iflytop/sgs/app/cmd/SolutionAddCommand.java | 66 ++ .../iflytop/sgs/app/cmd/SolutionReduceCommand.java | 67 ++ .../sgs/app/cmd/debug/DebugDoorCloseCommand.java | 35 ++ .../sgs/app/cmd/debug/DebugDoorOpenCommand.java | 40 ++ .../sgs/app/cmd/debug/DebugDoorStopCommand.java | 35 ++ .../sgs/app/cmd/debug/DebugFanStartCommand.java | 45 ++ .../sgs/app/cmd/debug/DebugFanStopCommand.java | 45 ++ .../sgs/app/cmd/debug/DebugHeaterStartCommand.java | 46 ++ .../sgs/app/cmd/debug/DebugHeaterStopCommand.java | 45 ++ .../app/cmd/debug/DebugLiquidPumpStartCommand.java | 46 ++ .../app/cmd/debug/DebugLiquidPumpStopCommand.java | 41 ++ .../cmd/debug/DebugMotorLiquidMoveByCommand.java | 75 +++ .../cmd/debug/DebugMotorLiquidMoveToCommand.java | 37 ++ .../cmd/debug/DebugMotorLiquidResetCommand.java | 35 ++ .../app/cmd/debug/DebugMotorLiquidStopCommand.java | 35 ++ .../app/cmd/debug/DebugMotorXMoveByCommand.java | 78 +++ .../app/cmd/debug/DebugMotorXMoveToCommand.java | 41 ++ .../app/cmd/debug/DebugMotorXOriginCommand.java | 39 ++ .../sgs/app/cmd/debug/DebugMotorXStopCommand.java | 35 ++ .../app/cmd/debug/DebugMotorZMoveByCommand.java | 76 +++ .../app/cmd/debug/DebugMotorZMoveToCommand.java | 37 ++ .../app/cmd/debug/DebugMotorZOriginCommand.java | 35 ++ .../sgs/app/cmd/debug/DebugMotorZStopCommand.java | 35 ++ .../cmd/debug/DebugValveOpenThickWayCommand.java | 35 ++ .../cmd/debug/DebugValveOpenThinWayCommand.java | 35 ++ .../cmd/debug/DebugValveOpenVacantWayCommand.java | 35 ++ .../cmd/debug/DebugValveOpenWasteWayCommand.java | 35 ++ .../cmd/debug/DebugValveOpenWaterWayCommand.java | 35 ++ .../debug/step/DebugDisabledAllMotorCommand.java | 31 + .../cmd/debug/step/DebugEnableAllMotorCommand.java | 31 + .../cmd/debug/step/DebugStopAllMotorCommand.java | 30 + .../sgs/app/config/A8kCanBusConnectionConfig.java | 32 + .../com/iflytop/sgs/app/config/AsyncConfig.java | 21 + .../sgs/app/config/CraftsStateMachineConfig.java | 76 +++ .../iflytop/sgs/app/config/MybatisPlusConfig.java | 61 ++ .../com/iflytop/sgs/app/config/SwaggerConfig.java | 68 ++ .../java/com/iflytop/sgs/app/config/WebConfig.java | 16 + .../iflytop/sgs/app/controller/AuthController.java | 57 ++ .../iflytop/sgs/app/controller/CmdController.java | 74 +++ .../sgs/app/controller/CmdDebugController.java | 67 ++ .../sgs/app/controller/ContainerController.java | 34 + .../sgs/app/controller/CraftsController.java | 112 ++++ .../sgs/app/controller/DeviceParamController.java | 121 ++++ .../sgs/app/controller/DevicePointController.java | 59 ++ .../sgs/app/controller/HeatModuleController.java | 33 + .../iflytop/sgs/app/controller/OresController.java | 74 +++ .../sgs/app/controller/SelfTestController.java | 59 ++ .../sgs/app/controller/SolutionsController.java | 74 +++ .../sgs/app/controller/StepCommandController.java | 72 +++ .../sgs/app/controller/SystemController.java | 51 ++ .../sgs/app/controller/SystemLogController.java | 48 ++ .../sgs/app/controller/TasksController.java | 83 +++ .../iflytop/sgs/app/controller/TrayController.java | 47 ++ .../iflytop/sgs/app/controller/UserController.java | 72 +++ .../iflytop/sgs/app/core/BaseCommandHandler.java | 33 + .../sgs/app/core/CommandHandlerRegistry.java | 58 ++ .../iflytop/sgs/app/core/CommandPoolManager.java | 31 + .../com/iflytop/sgs/app/core/CraftsContext.java | 151 +++++ .../iflytop/sgs/app/core/CraftsDebugGenerator.java | 15 + .../com/iflytop/sgs/app/core/DebugGenerator.java | 22 + .../iflytop/sgs/app/core/device/CommandState.java | 35 ++ .../iflytop/sgs/app/core/device/CraftsState.java | 23 + .../iflytop/sgs/app/core/device/DeviceState.java | 36 ++ .../com/iflytop/sgs/app/core/device/DoorState.java | 11 + .../sgs/app/core/device/GantryArmState.java | 11 + .../sgs/app/core/device/HeatModuleState.java | 47 ++ .../iflytop/sgs/app/core/device/SelfTestState.java | 49 ++ .../app/core/device/SolutionContainerState.java | 34 + .../sgs/app/core/device/SolutionModuleState.java | 23 + .../com/iflytop/sgs/app/core/device/TrayState.java | 37 ++ .../com/iflytop/sgs/app/core/device/TubeState.java | 17 + .../sgs/app/core/event/CommandFeedbackEvent.java | 16 + .../app/core/listener/CommandFeedbackListener.java | 18 + .../sgs/app/core/listener/DeviceStateListener.java | 33 + .../iflytop/sgs/app/mapper/ContainerMapper.java | 15 + .../com/iflytop/sgs/app/mapper/CraftsMapper.java | 19 + .../sgs/app/mapper/DeviceParamConfigMapper.java | 12 + .../sgs/app/mapper/DevicePositionMapper.java | 12 + .../com/iflytop/sgs/app/mapper/OresMapper.java | 15 + .../iflytop/sgs/app/mapper/SolutionsMapper.java | 13 + .../iflytop/sgs/app/mapper/SystemConfigMapper.java | 13 + .../iflytop/sgs/app/mapper/SystemLogMapper.java | 13 + .../iflytop/sgs/app/mapper/TaskStepsMapper.java | 12 + .../com/iflytop/sgs/app/mapper/TasksMapper.java | 13 + .../com/iflytop/sgs/app/mapper/UserMapper.java | 13 + .../com/iflytop/sgs/app/model/bo/CraftsStep.java | 10 + .../sgs/app/model/bo/DeviceInitializationData.java | 11 + .../com/iflytop/sgs/app/model/bo/Notification.java | 102 +++ .../java/com/iflytop/sgs/app/model/bo/Point2D.java | 20 + .../java/com/iflytop/sgs/app/model/bo/Point3D.java | 22 + .../java/com/iflytop/sgs/app/model/bo/TubeSol.java | 23 + .../sgs/app/model/dto/AddDevicePositionDTO.java | 20 + .../java/com/iflytop/sgs/app/model/dto/CmdDTO.java | 67 ++ .../iflytop/sgs/app/model/dto/GetAllTasksDTO.java | 13 + .../com/iflytop/sgs/app/model/dto/LoginDTO.java | 22 + .../iflytop/sgs/app/model/dto/PauseCraftsDto.java | 13 + .../iflytop/sgs/app/model/dto/ResumeCraftsDTO.java | 13 + .../iflytop/sgs/app/model/dto/SetCraftsDTO.java | 19 + .../sgs/app/model/dto/SetSystemDatetimeDTO.java | 15 + .../iflytop/sgs/app/model/dto/StartCraftsDTO.java | 13 + .../iflytop/sgs/app/model/dto/StopCraftsDTO.java | 13 + .../com/iflytop/sgs/app/model/dto/StopTaskDTO.java | 10 + .../com/iflytop/sgs/app/model/dto/TaskDTO.java | 10 + .../iflytop/sgs/app/model/dto/WebsocketResult.java | 18 + .../iflytop/sgs/app/model/entity/Container.java | 47 ++ .../com/iflytop/sgs/app/model/entity/Crafts.java | 32 + .../sgs/app/model/entity/DeviceParamConfig.java | 30 + .../sgs/app/model/entity/DevicePosition.java | 57 ++ .../com/iflytop/sgs/app/model/entity/Ores.java | 20 + .../iflytop/sgs/app/model/entity/Solutions.java | 20 + .../iflytop/sgs/app/model/entity/SystemConfig.java | 22 + .../iflytop/sgs/app/model/entity/SystemLog.java | 22 + .../iflytop/sgs/app/model/entity/TaskSteps.java | 30 + .../com/iflytop/sgs/app/model/entity/Tasks.java | 40 ++ .../com/iflytop/sgs/app/model/entity/User.java | 45 ++ .../com/iflytop/sgs/app/model/vo/ContainerVO.java | 41 ++ .../iflytop/sgs/app/model/vo/CraftStatusVO.java | 39 ++ .../sgs/app/model/vo/DeviceParamGroupVO.java | 36 ++ .../iflytop/sgs/app/model/vo/DevicePositionVO.java | 39 ++ .../com/iflytop/sgs/app/model/vo/ModuleIdVO.java | 19 + .../iflytop/sgs/app/model/vo/OresCraftsListVO.java | 30 + .../com/iflytop/sgs/app/model/vo/RegIndexVO.java | 16 + .../com/iflytop/sgs/app/model/vo/SetCraftsVO.java | 22 + .../sgs/app/model/vo/SetTargetTemperatureVO.java | 32 + .../iflytop/sgs/app/model/vo/SetTrayTubeVO.java | 18 + .../com/iflytop/sgs/app/model/vo/TaskStepsVO.java | 16 + .../iflytop/sgs/app/service/ContainerService.java | 49 ++ .../com/iflytop/sgs/app/service/CraftsService.java | 191 ++++++ .../iflytop/sgs/app/service/CraftsStepService.java | 86 +++ .../sgs/app/service/DeviceCommandService.java | 180 ++++++ .../sgs/app/service/DeviceCommandUtilService.java | 567 +++++++++++++++++ .../iflytop/sgs/app/service/DeviceInitService.java | 171 +++++ .../sgs/app/service/DeviceParamConfigService.java | 119 ++++ .../sgs/app/service/DevicePositionService.java | 69 ++ .../sgs/app/service/DeviceStateService.java | 381 ++++++++++++ .../iflytop/sgs/app/service/GantryArmService.java | 62 ++ .../iflytop/sgs/app/service/HeatModuleService.java | 18 + .../com/iflytop/sgs/app/service/OresService.java | 102 +++ .../iflytop/sgs/app/service/SelfTestService.java | 16 + .../iflytop/sgs/app/service/SolutionsService.java | 39 ++ .../sgs/app/service/StepCommandService.java | 84 +++ .../sgs/app/service/SystemConfigService.java | 83 +++ .../iflytop/sgs/app/service/SystemLogService.java | 28 + .../iflytop/sgs/app/service/TaskStepsService.java | 16 + .../com/iflytop/sgs/app/service/TasksService.java | 98 +++ .../com/iflytop/sgs/app/service/TrayService.java | 47 ++ .../com/iflytop/sgs/app/service/UserService.java | 35 ++ .../iflytop/sgs/app/service/WebSocketService.java | 37 ++ .../scheduled/FetchTemperatureScheduledTask.java | 50 ++ .../app/ws/client/DeviceEmergencyStopClient.java | 61 ++ .../app/ws/client/DeviceEmergencyStopConfig.java | 49 ++ .../iflytop/sgs/app/ws/server/WebSocketServer.java | 52 ++ .../sgs/app/ws/server/WebSocketServerConfig.java | 14 + .../sgs/common/annotation/CheckedRunnable.java | 6 + .../sgs/common/annotation/CommandMapping.java | 12 + .../com/iflytop/sgs/common/base/BaseEntity.java | 44 ++ .../com/iflytop/sgs/common/base/BasePageQuery.java | 26 + .../com/iflytop/sgs/common/base/IBaseEnum.java | 84 +++ .../com/iflytop/sgs/common/cmd/CommandFuture.java | 55 ++ .../com/iflytop/sgs/common/cmd/CommandHandler.java | 9 + .../sgs/common/cmd/CyclicNumberGenerator.java | 39 ++ .../com/iflytop/sgs/common/cmd/DeviceCommand.java | 34 + .../sgs/common/cmd/DeviceCommandBundle.java | 19 + .../sgs/common/cmd/DeviceCommandGenerator.java | 532 ++++++++++++++++ .../sgs/common/cmd/DeviceCommandParams.java | 26 + .../iflytop/sgs/common/constant/CommandStatus.java | 47 ++ .../sgs/common/constant/WebSocketMessageType.java | 42 ++ .../sgs/common/enums/AcidPumpDeviceCode.java | 12 + .../iflytop/sgs/common/enums/ContainerCode.java | 19 + .../iflytop/sgs/common/enums/ContainerType.java | 18 + .../iflytop/sgs/common/enums/HeatModuleCode.java | 15 + .../sgs/common/enums/automaton/CraftEvents.java | 22 + .../sgs/common/enums/automaton/CraftStates.java | 19 + .../iflytop/sgs/common/enums/cmd/CmdAction.java | 9 + .../com/iflytop/sgs/common/enums/cmd/CmdAxis.java | 5 + .../com/iflytop/sgs/common/enums/cmd/CmdColor.java | 5 + .../iflytop/sgs/common/enums/cmd/CmdDevice.java | 47 ++ .../iflytop/sgs/common/enums/cmd/CmdDirection.java | 5 + .../com/iflytop/sgs/common/enums/data/Deleted.java | 12 + .../sgs/common/enums/data/DevicePositionCode.java | 186 ++++++ .../sgs/common/enums/data/DevicePositionType.java | 31 + .../iflytop/sgs/common/enums/data/FixedUser.java | 12 + .../com/iflytop/sgs/common/enums/data/UsrRole.java | 7 + .../sgs/common/enums/data/ValveWaysCode.java | 15 + .../iflytop/sgs/common/exception/AppException.java | 21 + .../exception/CommandExecTimeoutException.java | 22 + .../common/exception/HardwareErrorException.java | 22 + .../exception/UnSupportCommandException.java | 25 + .../sgs/common/handler/GlobalExceptionHandler.java | 82 +++ .../sgs/common/handler/MyMetaObjectHandler.java | 36 ++ .../com/iflytop/sgs/common/result/IResultCode.java | 12 + .../com/iflytop/sgs/common/result/PageResult.java | 43 ++ .../java/com/iflytop/sgs/common/result/Result.java | 75 +++ .../com/iflytop/sgs/common/result/ResultCode.java | 90 +++ .../com/iflytop/sgs/common/utils/ByteArray.java | 125 ++++ .../com/iflytop/sgs/common/utils/LambdaUtil.java | 15 + .../com/iflytop/sgs/hardware/HardwareService.java | 95 +++ .../sgs/hardware/comm/can/A8kCanBusConnection.java | 360 +++++++++++ .../sgs/hardware/comm/can/A8kCanBusService.java | 132 ++++ .../hardware/comm/modbus/JSerialCommWrapper.java | 85 +++ .../hardware/comm/modbus/ModbusMasterFactory.java | 13 + .../hardware/comm/modbus/ModbusMasterService.java | 283 +++++++++ .../sgs/hardware/command/CommandHandler.java | 70 +++ .../sgs/hardware/command/DeviceResponse.java | 12 + .../hardware/command/checker/SupportMethod.java | 31 + .../hardware/command/handlers/AcidPumpHandler.java | 92 +++ .../hardware/command/handlers/CameraHandler.java | 50 ++ .../sgs/hardware/command/handlers/ClawHandler.java | 64 ++ .../hardware/command/handlers/ColdTrapHandler.java | 79 +++ .../sgs/hardware/command/handlers/DoorHandler.java | 72 +++ .../command/handlers/DualRobotHandler.java | 90 +++ .../sgs/hardware/command/handlers/FanHandler.java | 59 ++ .../command/handlers/FillLightHandler.java | 60 ++ .../sgs/hardware/command/handlers/HBotHandler.java | 135 ++++ .../hardware/command/handlers/HeatRodHandler.java | 77 +++ .../command/handlers/HeaterMotorHandler.java | 73 +++ .../command/handlers/ShakeMotorHandler.java | 69 ++ .../command/handlers/TrayMotorHandler.java | 77 +++ .../command/handlers/TricolorLightHandler.java | 83 +++ .../command/handlers/VentilatorHandler.java | 52 ++ .../command/handlers/WaterPumpHandler.java | 52 ++ .../hardware/config/A8kSubModuleInitRegConfig.java | 112 ++++ .../sgs/hardware/config/StepMotorConfig.java | 261 ++++++++ .../hardware/constants/ActionOvertimeConstant.java | 61 ++ .../sgs/hardware/constants/FilePathConstant.java | 5 + .../sgs/hardware/constants/MiniServoConstant.java | 51 ++ .../hardware/controller/AcidPumpController.java | 84 +++ .../hardware/controller/DualRobotController.java | 91 +++ .../hardware/controller/HeaterMotorController.java | 70 +++ .../hardware/controller/HeaterRodController.java | 61 ++ .../sgs/hardware/controller/IOController.java | 32 + .../sgs/hardware/controller/ServoController.java | 161 +++++ .../hardware/controller/StepMotorController.java | 312 ++++++++++ .../hardware/dao/SubModuleRegInitialValueDao.java | 38 ++ .../iflytop/sgs/hardware/drivers/CameraDriver.java | 13 + .../sgs/hardware/drivers/ColdTrapDriver.java | 52 ++ .../drivers/DIDriver/InputDetectDriver.java | 37 ++ .../sgs/hardware/drivers/DODriver/FanDriver.java | 24 + .../drivers/DODriver/OutputIOCtrlDriver.java | 30 + .../drivers/DODriver/VentilatorDriver.java | 22 + .../hardware/drivers/DODriver/WaterPumpDriver.java | 22 + .../sgs/hardware/drivers/FillLightDriver.java | 23 + .../sgs/hardware/drivers/HeaterRodDriver.java | 122 ++++ .../sgs/hardware/drivers/LeisaiServoDriver.java | 98 +++ .../drivers/LiquidDistributionArmDriver.java | 98 +++ .../drivers/MiniServoDriver/ClawDriver.java | 108 ++++ .../drivers/MiniServoDriver/DualRobotDriver.java | 178 ++++++ .../drivers/MiniServoDriver/MiniServoDriver.java | 162 +++++ .../hardware/drivers/ModuleEnableCtrlDriver.java | 78 +++ .../drivers/StepMotorDriver/AcidPumpDriver.java | 100 +++ .../drivers/StepMotorDriver/DoorDriver.java | 78 +++ .../drivers/StepMotorDriver/HBotDriver.java | 99 +++ .../drivers/StepMotorDriver/HeaterMotorDriver.java | 78 +++ .../drivers/StepMotorDriver/ShakeMotorDriver.java | 89 +++ .../StepMotorDriver/StepMotorCtrlDriver.java | 181 ++++++ .../drivers/StepMotorDriver/TrayMotorDriver.java | 97 +++ .../sgs/hardware/drivers/TricolorLightDriver.java | 28 + .../sgs/hardware/exception/HardwareException.java | 62 ++ .../sgs/hardware/factory/A8kPacketFactory.java | 53 ++ .../sgs/hardware/service/AppEventBusService.java | 93 +++ .../hardware/service/GDDeviceStatusService.java | 91 +++ .../iflytop/sgs/hardware/service/IOService.java | 4 + .../iflytop/sgs/hardware/service/ServoService.java | 129 ++++ .../sgs/hardware/service/StepMotorService.java | 262 ++++++++ .../service/setup/A8kSubModuleRegInitService.java | 136 ++++ .../setup/SubModuleRegInitialValueMgrService.java | 85 +++ .../com/iflytop/sgs/hardware/type/A8kPacket.java | 227 +++++++ .../java/com/iflytop/sgs/hardware/type/CmdId.java | 177 ++++++ .../iflytop/sgs/hardware/type/IO/InputIOMId.java | 34 + .../iflytop/sgs/hardware/type/IO/OutputIOMId.java | 34 + .../java/com/iflytop/sgs/hardware/type/MId.java | 109 ++++ .../iflytop/sgs/hardware/type/ModuleStatus.java | 25 + .../com/iflytop/sgs/hardware/type/ModuleType.java | 33 + .../com/iflytop/sgs/hardware/type/RegIndex.java | 192 ++++++ .../sgs/hardware/type/Servo/DeviceServoId.java | 33 + .../sgs/hardware/type/Servo/LeisaiRegIndex.java | 19 + .../sgs/hardware/type/Servo/LeisaiServoMId.java | 17 + .../hardware/type/Servo/LeisaiServoSpeedLevel.java | 9 + .../sgs/hardware/type/Servo/LiquidArmMId.java | 16 + .../sgs/hardware/type/Servo/LiquidArmRegIndex.java | 47 ++ .../sgs/hardware/type/Servo/MiniServoMId.java | 19 + .../sgs/hardware/type/Servo/MiniServoRegIndex.java | 71 +++ .../hardware/type/StepMotor/DeviceStepMotorId.java | 51 ++ .../hardware/type/StepMotor/StepMotorDirect.java | 17 + .../sgs/hardware/type/StepMotor/StepMotorMId.java | 32 + .../hardware/type/StepMotor/StepMotorRegIndex.java | 56 ++ .../type/StepMotor/StepMotorSpeedLevel.java | 9 + .../type/appevent/A8kCanBusOnConnectEvent.java | 7 + .../sgs/hardware/type/appevent/AppEvent.java | 13 + .../hardware/type/db/SubModuleRegInitialValue.java | 23 + .../hardware/type/driver/HeaterRodSlavedId.java | 51 ++ .../iflytop/sgs/hardware/type/error/A8kEcode.java | 255 ++++++++ .../sgs/hardware/type/error/AECodeError.java | 37 ++ .../sgs/hardware/type/error/AEHardwareError.java | 29 + .../iflytop/sgs/hardware/type/error/AppError.java | 38 ++ .../sgs/hardware/type/error/AppErrorCode.java | 21 + .../com/iflytop/sgs/hardware/utils/CommonPage.java | 25 + .../utils/Math/ServoPositionConverter.java | 84 +++ .../hardware/utils/Math/StepMotorConverter.java | 81 +++ .../java/com/iflytop/sgs/hardware/utils/OS.java | 24 + .../com/iflytop/sgs/hardware/utils/ZCSVUtils.java | 78 +++ .../java/com/iflytop/sgs/hardware/utils/ZList.java | 11 + .../com/iflytop/sgs/hardware/utils/ZSqlite.java | 209 +++++++ .../sgs/hardware/utils/ZSqliteJdbcHelper.java | 284 +++++++++ .../java/com/iflytop/sgs/monitor/collect/d.txt | 1 + .../controller/CraftsMonitorController.java | 46 ++ src/main/resources/application-dev.yml | 51 ++ src/main/resources/application-test.yml | 41 ++ src/main/resources/application.properties | 1 - src/main/resources/application.yml | 3 + .../init/zapp_sub_module_reg_initial_value.csv | 691 +++++++++++++++++++++ src/main/resources/logback.xml | 58 ++ src/main/resources/sql/init.sql | 164 +++++ src/main/resources/static/favicon.ico | Bin 0 -> 5648 bytes 334 files changed, 20115 insertions(+), 29 deletions(-) create mode 100644 build.gradle delete mode 100644 build.gradle.kts create mode 100644 lib/modbus4j-3.1.0.jar create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/AnnealStartCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/AnnealStopCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/CleanStartCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/CleanStopCommand.java create 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src/main/java/com/iflytop/sgs/app/cmd/MoveToSolutionAreaCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/SolutionAddCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/SolutionReduceCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java create mode 100644 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src/main/java/com/iflytop/sgs/hardware/drivers/LiquidDistributionArmDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/ClawDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/DualRobotDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/MiniServoDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/ModuleEnableCtrlDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/AcidPumpDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/DoorDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HBotDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/TrayMotorDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/drivers/TricolorLightDriver.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/exception/HardwareException.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/factory/A8kPacketFactory.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/AppEventBusService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/IOService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/ServoService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/StepMotorService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/service/setup/SubModuleRegInitialValueMgrService.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/A8kPacket.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/CmdId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/IO/InputIOMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/IO/OutputIOMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/MId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/ModuleStatus.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/ModuleType.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/RegIndex.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/DeviceServoId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiRegIndex.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoSpeedLevel.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmRegIndex.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoRegIndex.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/StepMotor/DeviceStepMotorId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorDirect.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorMId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorRegIndex.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorSpeedLevel.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/appevent/A8kCanBusOnConnectEvent.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/appevent/AppEvent.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/db/SubModuleRegInitialValue.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/driver/HeaterRodSlavedId.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/error/AECodeError.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/error/AEHardwareError.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/error/AppError.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/type/error/AppErrorCode.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/CommonPage.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/Math/ServoPositionConverter.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/Math/StepMotorConverter.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/OS.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/ZCSVUtils.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/ZList.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/ZSqlite.java create mode 100644 src/main/java/com/iflytop/sgs/hardware/utils/ZSqliteJdbcHelper.java create mode 100644 src/main/java/com/iflytop/sgs/monitor/collect/d.txt create mode 100644 src/main/java/com/iflytop/sgs/monitor/controller/CraftsMonitorController.java create mode 100644 src/main/resources/application-dev.yml create mode 100644 src/main/resources/application-test.yml delete mode 100644 src/main/resources/application.properties create mode 100644 src/main/resources/application.yml create mode 100644 src/main/resources/init/zapp_sub_module_reg_initial_value.csv create mode 100644 src/main/resources/logback.xml create mode 100644 src/main/resources/sql/init.sql create mode 100644 src/main/resources/static/favicon.ico diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..5b60c4d --- /dev/null +++ b/build.gradle @@ -0,0 +1,56 @@ +// build.gradle +plugins { + id 'java' + id 'org.springframework.boot' version '3.4.5' + id 'io.spring.dependency-management' version '1.1.7' +} + +group = 'com.iflytop' +version = '0.0.1-SNAPSHOT' + +java { + toolchain { + languageVersion = JavaLanguageVersion.of(21) + } +} + +repositories { + maven { url 'https://maven.aliyun.com/repository/public' } + maven { url 'https://maven.aliyun.com/repository/central' } + maven { url 'https://maven.aliyun.com/repository/spring' } +} + +dependencies { + implementation files('lib/modbus4j-3.1.0.jar') + + implementation 'ch.qos.logback:logback-core:1.5.16' + implementation 'cn.hutool:hutool-all:5.8.35' + implementation 'com.baomidou:mybatis-plus-boot-starter:3.5.10.1' + implementation 'com.baomidou:mybatis-plus-generator:3.5.10.1' + implementation 'com.baomidou:mybatis-plus-jsqlparser:3.5.10.1' + implementation 'com.github.xiaoymin:knife4j-openapi3-jakarta-spring-boot-starter:4.5.0' + implementation 'jakarta.annotation:jakarta.annotation-api:3.0.0' + implementation 'org.springdoc:springdoc-openapi-starter-webmvc-ui:2.8.6' + implementation 'org.freemarker:freemarker:2.3.34' + implementation 'org.mybatis.spring.boot:mybatis-spring-boot-starter:3.0.4' + implementation 'org.springframework.boot:spring-boot-starter' + implementation 'org.springframework.boot:spring-boot-starter-web' + implementation 'org.springframework.boot:spring-boot-starter-websocket:3.4.2' + implementation 'org.springframework.statemachine:spring-statemachine-core:4.0.0' + implementation 'org.xerial:sqlite-jdbc:3.48.0.0' + implementation 'org.springframework.boot:spring-boot-starter-validation:3.4.5' + implementation 'org.java-websocket:Java-WebSocket:1.6.0' + implementation 'com.fazecast:jSerialComm:2.11.0' + implementation 'com.opencsv:opencsv:5.11' + + compileOnly 'org.projectlombok:lombok' + annotationProcessor 'org.projectlombok:lombok' + + testImplementation 'org.springframework.boot:spring-boot-starter-test' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +tasks.named('test') { + enabled = false + useJUnitPlatform() +} diff --git a/build.gradle.kts b/build.gradle.kts deleted file mode 100644 index 099398a..0000000 --- a/build.gradle.kts +++ /dev/null @@ -1,28 +0,0 @@ -plugins { - java - id("org.springframework.boot") version "3.4.6" - id("io.spring.dependency-management") version "1.1.7" -} - -group = "com.iflytop" -version = "0.0.1-SNAPSHOT" - -java { - toolchain { - languageVersion = JavaLanguageVersion.of(21) - } -} - -repositories { - mavenCentral() -} - -dependencies { - 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zJ_78v6RZpE9`cK*8pH!;|04ei+ZTD;#(Osv@qoy`fRWMr0`7BMBw}L`k7E0a4FxOk z`>5fc8~gVg!T)_&4yXnFdGJtv|8@a82zF1s**O92?-4YJC+*Ph{1zN$@cVc6zkdvx zy7!4_`(yr1vtgK@4~=R4_k^?^@V(DS+i7z)lq>OH((cpXUGP6Arv1}kFr^?KrSzA> hA@zUau-iRYNktyEIR(7c3jXs|227{Yz+437{{RV-UsM19 literal 0 HcmV?d00001 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/AnnealStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/AnnealStartCommand.java new file mode 100644 index 0000000..3a805c8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/AnnealStartCommand.java @@ -0,0 +1,50 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.core.device.HeatModuleState; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 开始退火 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class AnnealStartCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + //获取当前加热区 + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + HeatModuleState heatModuleState = deviceStateService.getHeatModuleState(heatModuleId); + //设置加热区目标温度 + deviceStateService.setHeatModuleStateTargetTemperature(heatModuleId,heatModuleState.getAnnealTemperature()); + //从系统状态中获取指定加热区设定的退火温度数值 + double temperature = deviceStateService.getHeatModuleState(heatModuleId).getAnnealTemperature(); + //开启退火 + deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + //设置加热区状态 正在退火 + deviceStateService.setHeatModuleStateAnnealing(heatModuleId,true); + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/AnnealStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/AnnealStopCommand.java new file mode 100644 index 0000000..fe28904 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/AnnealStopCommand.java @@ -0,0 +1,42 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 结束退火 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class AnnealStopCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //关闭加热 + deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + //设置加热区状态 退火结束 + deviceStateService.setHeatModuleStateAnnealing(heatModuleId,false); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/CleanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/CleanStartCommand.java new file mode 100644 index 0000000..26f4afe --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/CleanStartCommand.java @@ -0,0 +1,44 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 开始清洗 todo wmy 需要改 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class CleanStartCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //从系统状态中获取指定加热区设定的温度数值 + double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature(); + //开启加热 + deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + deviceStateService.setHeatModuleStateHeating(heatModuleId, true);//设置状态加热中 + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/CleanStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/CleanStopCommand.java new file mode 100644 index 0000000..f23a8bf --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/CleanStopCommand.java @@ -0,0 +1,44 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 结束清洗 todo wmy 需要改 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class CleanStopCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //从系统状态中获取指定加热区设定的温度数值 + double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature(); + //开启加热 + deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + deviceStateService.setHeatModuleStateHeating(heatModuleId, true);//设置状态加热中 + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/DoorCloseCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/DoorCloseCommand.java new file mode 100644 index 0000000..13c09a8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/DoorCloseCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 关门 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_close")//业务指令注解 +public class DoorCloseCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + //门电机回原点 + deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + //将门状态设置为false + deviceStateService.setDoorStatus(false); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/DoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/DoorOpenCommand.java new file mode 100644 index 0000000..92cfc1d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/DoorOpenCommand.java @@ -0,0 +1,40 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DevicePositionService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 开门 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_open")//业务指令注解 +public class DoorOpenCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DevicePositionService devicePositionService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + //从数据库获取开门距离 + Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance(); + //门电机移动开门距离 + deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance); + //将门状态设置为true + deviceStateService.setDoorStatus(true); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/DoorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/DoorOriginCommand.java new file mode 100644 index 0000000..a2e613d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/DoorOriginCommand.java @@ -0,0 +1,38 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.SelfTestService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 门回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_origin")//业务指令注解 +public class DoorOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + //门电机回原点 + deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setDoorOrigin(true);//设置是否在原点状态 + //将门状态设置为false + deviceStateService.setDoorStatus(false); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/DryStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/DryStartCommand.java new file mode 100644 index 0000000..7ee171d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/DryStartCommand.java @@ -0,0 +1,50 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.core.device.HeatModuleState; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 开始烘干 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class DryStartCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + //获取当前加热区 + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + HeatModuleState heatModuleState = deviceStateService.getHeatModuleState(heatModuleId); + //设置加热区目标温度 + deviceStateService.setHeatModuleStateTargetTemperature(heatModuleId,heatModuleState.getDryTemperature()); + //从系统状态中获取指定加热区设定的烘干温度数值 + double temperature = deviceStateService.getHeatModuleState(heatModuleId).getDryTemperature(); + //开启退火 + deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + //设置加热区状态 正在烘干 + deviceStateService.setHeatModuleStateAnnealing(heatModuleId,true); + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/DryStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/DryStopCommand.java new file mode 100644 index 0000000..ad4dd54 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/DryStopCommand.java @@ -0,0 +1,43 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 结束烘干 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class DryStopCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //关闭加热 + deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + //设置加热区状态 退火结束 + deviceStateService.setHeatModuleStateDrying(heatModuleId,false); + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/FanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/FanStartCommand.java new file mode 100644 index 0000000..1587168 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/FanStartCommand.java @@ -0,0 +1,40 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 散热开 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("fan_start") +public class FanStartCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + deviceCommandUtilService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + deviceStateService.setHeatModuleStateFanOpen(heatModuleId, true); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/FanStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/FanStopCommand.java new file mode 100644 index 0000000..02c8161 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/FanStopCommand.java @@ -0,0 +1,40 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 散热关 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("fan_stop") +public class FanStopCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + deviceCommandUtilService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + deviceStateService.setHeatModuleStateFanOpen(heatModuleId, false); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/GantryXOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/GantryXOriginCommand.java new file mode 100644 index 0000000..8b7e4be --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/GantryXOriginCommand.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.SelfTestService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 龙门架机械臂x轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_origin")//业务指令注解 +public class GantryXOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/GantryZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/GantryZOriginCommand.java new file mode 100644 index 0000000..32bf276 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/GantryZOriginCommand.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.SelfTestService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 龙门架机械臂z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_origin")//业务指令注解 +public class GantryZOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/HeatStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/HeatStartCommand.java new file mode 100644 index 0000000..a411053 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/HeatStartCommand.java @@ -0,0 +1,50 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.core.device.HeatModuleState; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 开始加热 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_start")//业务指令注解 +public class HeatStartCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + //获取当前加热区 + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + HeatModuleState heatModuleState = deviceStateService.getHeatModuleState(heatModuleId); + //设置加热区目标温度 + deviceStateService.setHeatModuleStateTargetTemperature(heatModuleId,heatModuleState.getHeatTemperature()); + //从系统状态中获取指定加热区设定的烘干温度数值 + double temperature = deviceStateService.getHeatModuleState(heatModuleId).getHeatTemperature(); + //开启加热 + deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + //设置加热区状态 正在加热 + deviceStateService.setHeatModuleStateHeating(heatModuleId,true); + + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/HeatStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/HeatStopCommand.java new file mode 100644 index 0000000..2509cfe --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/HeatStopCommand.java @@ -0,0 +1,41 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 停止加热 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heat_stop")//业务指令注解 +public class HeatStopCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + return runAsync(() -> { + for (int i = 0; i < heatIdJsonArray.size(); i++) { + String heatId = heatIdJsonArray.getStr(i); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //关闭加热 + deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + deviceStateService.setHeatModuleStateHeating(heatModuleId, false);//设置状态停止加热 + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/MoveToHeatAreaCommand.java new file mode 100644 index 0000000..5ec4a82 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/MoveToHeatAreaCommand.java @@ -0,0 +1,77 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DevicePositionService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.GantryArmService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 移至加热 todo wmy 需要改 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("move_to_heat_area")//业务指令注解 +public class MoveToHeatAreaCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DevicePositionService devicePositionService; + private final GantryArmService gantryArmService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()) { + throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING); + } + if (deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) { + throw new AppException(ResultCode.CMD_BUSY); + } + try { + deviceStateService.getCommandState().get().setMoveToHeatAreaCommandExecuting(true); + } catch (Exception e) { + deviceStateService.getCommandState().get().setMoveToHeatAreaCommandExecuting(false); + throw e; + } + String heatId = cmdDTO.getStringParam("heatId"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //加液电机升起的安全高度 + double liquidMotorSafeDistance = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance(); + //获取机械臂夹取托盘的横向距离 + double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance(); + //获取机械臂夹取托盘的纵向高度 + double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance(); + //获取指定加热模块上方点位 + Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId); + return runAsync(() -> { + try { + //升高加液电机高度 + deviceCommandUtilService.motorLiquidMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),liquidMotorSafeDistance); + //移动机械臂到加热区上方 此时机械臂夹着托盘 + deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D); //将机械臂移动至加热模块上方 + //下降z轴,夹爪脱离机械臂 + deviceCommandUtilService.gantryZMove(clawTrayHeight); + //移动x轴向右脱离托盘 + deviceCommandUtilService.gantryXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip); + //z轴返回原点 + deviceCommandUtilService.motorLiquidMove(0); + } finally { + deviceStateService.setGantryArmStateIdle(true); + deviceStateService.getCommandState().get().setMoveToHeatAreaCommandExecuting(false); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/MoveToSolutionAreaCommand.java new file mode 100644 index 0000000..2e3d9a0 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/MoveToSolutionAreaCommand.java @@ -0,0 +1,81 @@ +package com.iflytop.sgs.app.cmd; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DevicePositionService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 移至加液 todo wmy 需要改 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("move_to_solution_area")//业务指令注解 +public class MoveToSolutionAreaCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DevicePositionService devicePositionService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + if (deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) { + throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING); + } + if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()) { + throw new AppException(ResultCode.CMD_BUSY); + } + String heatId = cmdDTO.getStringParam("heatId"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //加液电机升起的安全高度 + double liquidMotorSafeDistance = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance(); + //获取机械臂夹取托盘的横向距离 + double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance(); + //获取机械臂夹取托盘的纵向高度 + double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance();//获取z轴夹取托盘的下降高度 + //获取加液模块上方点位 + Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); + //获取指定加热模块上方点位 + Point3D heatAreaTrayPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId); + + //校验目标加热位是否有托盘 + try { + deviceStateService.getCommandState().get().setMoveToSolutionAreaCommandExecuting(true); + } catch (Exception e) { + deviceStateService.getCommandState().get().setMoveToSolutionAreaCommandExecuting(false); + throw e; + } + return runAsync(() -> { + try { + //升高加液电机高度 + deviceCommandUtilService.motorLiquidMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),liquidMotorSafeDistance); + //机械臂移动到加热位上方或者上料位上方 + deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D); + //下降z轴 + deviceCommandUtilService.gantryZMove(clawTrayHeight); + //移动x轴向左夹紧托盘 + deviceCommandUtilService.gantryXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip); + //z轴上升到0点 + deviceCommandUtilService.gantryZMove(0); + //机械臂移动到加液区 + deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); + } finally { + deviceStateService.setGantryArmStateIdle(true); + deviceStateService.getCommandState().get().setMoveToSolutionAreaCommandExecuting(false); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/SolutionAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/SolutionAddCommand.java new file mode 100644 index 0000000..9371c90 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/SolutionAddCommand.java @@ -0,0 +1,66 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.ContainerService; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Arrays; +import java.util.concurrent.CompletableFuture; + +/** + * 添加溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机加液 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("solution_add")//业务指令注解 +public class SolutionAddCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final ContainerService containerService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + deviceStateService.setSolutionModuleStatePumping(true); + return runAsync(() -> { + JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList")); + for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置 + JSONObject tubeSol = dataList.getJSONObject(i); + String tubeNum = tubeSol.getStr("tubeNum");//获取试管编号 + int[] tubeNums = Arrays.stream(tubeNum.split(",")) + .mapToInt(s -> Integer.parseInt(s.trim())) + .toArray(); + JSONArray solutionList = tubeSol.getJSONArray("solutionList"); + for (int num : tubeNums) { + for (int k = 0; k < solutionList.size(); k++) { + JSONObject addSolution = solutionList.getJSONObject(k); + Long solId = addSolution.getLong("solutionId"); + Double volume = addSolution.getDouble("volume"); + AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵 + if (acidPumpDevice == null) { + throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器 + } + deviceCommandUtilService.dualRobotMovePoint(num);//移动加液机械臂到指定试管点位 + Thread.sleep(3000); + deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液 + } + } + } + deviceCommandUtilService.dualRobotOrigin(); + deviceStateService.setSolutionModuleStatePumping(false); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/SolutionReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/SolutionReduceCommand.java new file mode 100644 index 0000000..8e3d386 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/SolutionReduceCommand.java @@ -0,0 +1,67 @@ +package com.iflytop.sgs.app.cmd; + +import cn.hutool.json.JSONArray; +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.ContainerService; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Arrays; +import java.util.concurrent.CompletableFuture; + +/** + * 抽取溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机抽液体 + * + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("solution_add")//业务指令注解 +public class SolutionReduceCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final ContainerService containerService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + deviceStateService.setSolutionModuleStatePumping(true); + return runAsync(() -> { + JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList")); + for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置 + JSONObject tubeSol = dataList.getJSONObject(i); + String tubeNum = tubeSol.getStr("tubeNum");//获取试管编号 + int[] tubeNums = Arrays.stream(tubeNum.split(",")) + .mapToInt(s -> Integer.parseInt(s.trim())) + .toArray(); + JSONArray solutionList = tubeSol.getJSONArray("solutionList"); + for (int num : tubeNums) { + for (int k = 0; k < solutionList.size(); k++) { + JSONObject addSolution = solutionList.getJSONObject(k); + Long solId = addSolution.getLong("solutionId"); + Double volume = addSolution.getDouble("volume"); + AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵 + if (acidPumpDevice == null) { + throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器 + } + deviceCommandUtilService.dualRobotMovePoint(num);//移动加液机械臂到指定试管点位 + Thread.sleep(3000); + deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液 + } + } + } + deviceCommandUtilService.dualRobotOrigin(); + deviceStateService.setSolutionModuleStatePumping(false); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java new file mode 100644 index 0000000..26228fa --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理关门指令 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_close") +public class DebugDoorCloseCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java new file mode 100644 index 0000000..b180635 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java @@ -0,0 +1,40 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.model.entity.DevicePosition; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.app.service.DevicePositionService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理开门指令 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_open") +public class DebugDoorOpenCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private final DevicePositionService devicePositionService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance()); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java new file mode 100644 index 0000000..5b4df1e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理停止门运动指令处理器 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_stop") +public class DebugDoorStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java new file mode 100644 index 0000000..60779d1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java @@ -0,0 +1,45 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("fan_start") +public class DebugFanStartCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + String index = cmdDTO.getStringParam("index"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index); + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Open(); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Open(); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Open(); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Open(); + default -> throw new RuntimeException("index 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java new file mode 100644 index 0000000..e1d464d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java @@ -0,0 +1,45 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 关闭冷却风扇 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("fan_stop") +public class DebugFanStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + String index = cmdDTO.getStringParam("index"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index); + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Close(); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Close(); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Close(); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Close(); + default -> throw new RuntimeException("index 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java new file mode 100644 index 0000000..7f95773 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java @@ -0,0 +1,46 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理启动加热器指令 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heater_start") +public class DebugHeaterStartCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + String index = cmdDTO.getStringParam("index"); + Double temperature = cmdDTO.getDoubleParam("temperature"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index); + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature); + default -> throw new RuntimeException("index 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java new file mode 100644 index 0000000..2e7b50d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java @@ -0,0 +1,45 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理停止加热器指令 todo 小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("heater_stop") +public class DebugHeaterStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + String index = cmdDTO.getStringParam("index"); + HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index); + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Close(); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Close(); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Close(); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Close(); + default -> throw new RuntimeException("index 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java new file mode 100644 index 0000000..7a2668b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java @@ -0,0 +1,46 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理加液泵启动指令 todo 需要加正向反向 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_pump_start") +public class DebugLiquidPumpStartCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + Double velocity = cmdDTO.getDoubleParam("velocity"); + String direction=cmdDTO.getStringParam("direction");//front back 正转倒转 + AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.liquid_pump; + DeviceCommandBundle deviceCommand; + if (velocity != null) { + deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 1); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java new file mode 100644 index 0000000..684e2e4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java @@ -0,0 +1,41 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理加液泵停止指令 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_pump_stop") +public class DebugLiquidPumpStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.liquid_pump; + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 0); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveByCommand.java new file mode 100644 index 0000000..4b3178f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveByCommand.java @@ -0,0 +1,75 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 加液位电机相对移动 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("motor_liquid_move_by") +public class DebugMotorLiquidMoveByCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private boolean stop = false; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + this.stop = false; + return runAsync(() -> { + Double dimDistance = cmdDTO.getDoubleParam("distance"); + + Double dimVelocity = cmdDTO.getDoubleParam("velocity"); + Integer times = cmdDTO.getIntegerParam("times"); + + + if (dimVelocity != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(dimVelocity); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + if (times != null) { + for (int i = 0; i < times; i++) { + if (stop) { + return; + } + if (dimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(dimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + if (dimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(-dimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + } + } else { + if (dimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(dimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + + } + + + }); + } + + public synchronized void stop() { + this.stop = true; + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveToCommand.java new file mode 100644 index 0000000..28f2f3e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidMoveToCommand.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 加液位电机绝对移动 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("motor_liquid_position") +public class DebugMotorLiquidMoveToCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + double position = cmdDTO.getDoubleParam("position"); + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidResetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidResetCommand.java new file mode 100644 index 0000000..f36c8a8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidResetCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 加液位电机复位 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("motor_liquid_origin") +public class DebugMotorLiquidResetCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidStopCommand.java new file mode 100644 index 0000000..c060ec7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorLiquidStopCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 加液位电机停止 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("motor_liquid_stop") +public class DebugMotorLiquidStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java new file mode 100644 index 0000000..a984edd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java @@ -0,0 +1,78 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * x轴电机相对移动 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_move_by") +public class DebugMotorXMoveByCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private boolean stop = false; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + this.stop = false; + return runAsync(() -> { + Double xDimDistance = cmdDTO.getDoubleParam("distance"); + + + Double xDimVelocity = cmdDTO.getDoubleParam("velocity"); + + Integer times = cmdDTO.getIntegerParam("times"); + + if (xDimVelocity != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimVelocity); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + if (times != null) { + for (int i = 0; i < times; i++) { + if (stop) { + return; + } + if (xDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + + if (xDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(-xDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + + } + } else { + if (xDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + + } + + + }); + } + + public synchronized void stop() { + this.stop = true; + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java new file mode 100644 index 0000000..a4bd7be --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java @@ -0,0 +1,41 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * x轴电机绝对移动 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_move_to") +public class DebugMotorXMoveToCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private boolean stop = false; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + double position = cmdDTO.getDoubleParam("position"); + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } + + public synchronized void stop() { + this.stop = true; + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java new file mode 100644 index 0000000..aa0dc4a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java @@ -0,0 +1,39 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.ArrayList; +import java.util.List; +import java.util.concurrent.CompletableFuture; + +/** + * 处理复位x轴电机复位 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_origin") +public class DebugMotorXOriginCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + List futuresList = new ArrayList<>(); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + futuresList.add(deviceCommandFuture); + commandWait(futuresList.toArray(new CommandFuture[0])); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java new file mode 100644 index 0000000..25a92b7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * x轴电机停止 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_stop") +public class DebugMotorXStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java new file mode 100644 index 0000000..314e4f5 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java @@ -0,0 +1,76 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * z轴电机相对移动 + * + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_move_by") +public class DebugMotorZMoveByCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + private boolean stop = false; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + this.stop = false; + return runAsync(() -> { + Double zDimDistance = cmdDTO.getDoubleParam("distance"); + + Double zDimVelocity = cmdDTO.getDoubleParam("velocity"); + Integer times = cmdDTO.getIntegerParam("times"); + + + if (zDimVelocity != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimVelocity); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + if (times != null) { + for (int i = 0; i < times; i++) { + if (stop) { + return; + } + if (zDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + if (zDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(-zDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + } + } else { + if (zDimDistance != null) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + } + + } + + + }); + } + + public synchronized void stop() { + this.stop = true; + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java new file mode 100644 index 0000000..3a7620d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * z轴电机绝对移动 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_position") +public class DebugMotorZMoveToCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + double position = cmdDTO.getDoubleParam("position"); + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java new file mode 100644 index 0000000..6f7af97 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * z轴电机复位 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_origin") +public class DebugMotorZOriginCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java new file mode 100644 index 0000000..126a600 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * z轴电机停止 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_stop") +public class DebugMotorZStopCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java new file mode 100644 index 0000000..735c8fd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 todo 需要与小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_valve_open_thick_way") +public class DebugValveOpenThickWayCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java new file mode 100644 index 0000000..cf2a57b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 todo 需要与小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_valve_open_thin_way") +public class DebugValveOpenThinWayCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java new file mode 100644 index 0000000..7d1ff4e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 todo 需要与小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_valve_open_vacant_way") +public class DebugValveOpenVacantWayCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java new file mode 100644 index 0000000..c3cf973 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 todo 需要与小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_valve_open_waste_way") +public class DebugValveOpenWasteWayCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWaterWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWaterWayCommand.java new file mode 100644 index 0000000..acf89b8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWaterWayCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.debug; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 打开冷却风扇 todo 需要与小何确定次序 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_valve_open_water_way") +public class DebugValveOpenWaterWayCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + commandWait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugDisabledAllMotorCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugDisabledAllMotorCommand.java new file mode 100644 index 0000000..93aef24 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugDisabledAllMotorCommand.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.app.cmd.debug.step; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.StepCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 失能所有电机 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("debug_disabled_all_motor") +public class DebugDisabledAllMotorCommand extends BaseCommandHandler { + private final StepCommandService stepCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + + return runAsync(() -> { + stepCommandService.disabilityAll(); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugEnableAllMotorCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugEnableAllMotorCommand.java new file mode 100644 index 0000000..08795e2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugEnableAllMotorCommand.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.app.cmd.debug.step; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.StepCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 使能所有电机 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("debug_enable_all_motor") +public class DebugEnableAllMotorCommand extends BaseCommandHandler { + private final StepCommandService stepCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + + return runAsync(() -> { + stepCommandService.enableAll(); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugStopAllMotorCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugStopAllMotorCommand.java new file mode 100644 index 0000000..7a152a9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugStopAllMotorCommand.java @@ -0,0 +1,30 @@ +package com.iflytop.sgs.app.cmd.debug.step; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.StepCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 停止所有电机 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("debug_stop_all_motor") +public class DebugStopAllMotorCommand extends BaseCommandHandler { + private final StepCommandService stepCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + return runAsync(() -> { + stepCommandService.stopAll(); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/config/A8kCanBusConnectionConfig.java b/src/main/java/com/iflytop/sgs/app/config/A8kCanBusConnectionConfig.java new file mode 100644 index 0000000..0fb84af --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/A8kCanBusConnectionConfig.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.app.config; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusConnection; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; + +@Configuration +public class A8kCanBusConnectionConfig { + //协议参考 https://iflytop1.feishu.cn/wiki/QFwVwGnI8iYp0fk20W9cnpYAnkg + @Value("${iflytophald.ip}") + String ip; + + @Value("${iflytophald.cmdch.port}") + Integer cmdchPort; + + @Value("${iflytophald.datach.port}") + Integer datachPort; + + public String getDatachUrl(String datachannel) { + return String.format("ws://%s:%d/%s", ip, datachPort, datachannel); + } + + public String getCmdChBaseUrl(String cmdchannel) { + return String.format("http://%s:%d/%s", ip, cmdchPort, cmdchannel); + } + + @Bean + A8kCanBusConnection a8kCanBusBaseService() { + return new A8kCanBusConnection(getCmdChBaseUrl("zexcan"), getDatachUrl("zexcan")); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/config/AsyncConfig.java b/src/main/java/com/iflytop/sgs/app/config/AsyncConfig.java new file mode 100644 index 0000000..4c1ce4c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/AsyncConfig.java @@ -0,0 +1,21 @@ +package com.iflytop.sgs.app.config; + +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; +import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor; + +@Configuration +public class AsyncConfig { + @Bean("commandTaskExecutor") + public ThreadPoolTaskExecutor taskExecutor() { + ThreadPoolTaskExecutor exec = new ThreadPoolTaskExecutor(); + exec.setCorePoolSize(10); + exec.setMaxPoolSize(20); + exec.setQueueCapacity(50); + exec.setThreadNamePrefix("cmd-exec-"); + exec.setWaitForTasksToCompleteOnShutdown(true); + exec.setAwaitTerminationSeconds(30); + exec.initialize(); + return exec; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/config/CraftsStateMachineConfig.java b/src/main/java/com/iflytop/sgs/app/config/CraftsStateMachineConfig.java new file mode 100644 index 0000000..e3ac425 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/CraftsStateMachineConfig.java @@ -0,0 +1,76 @@ +package com.iflytop.sgs.app.config; + +import com.iflytop.sgs.common.enums.automaton.CraftEvents; +import com.iflytop.sgs.common.enums.automaton.CraftStates; +import org.springframework.context.annotation.Configuration; +import org.springframework.statemachine.config.EnableStateMachineFactory; +import org.springframework.statemachine.config.StateMachineConfigurerAdapter; +import org.springframework.statemachine.config.builders.StateMachineStateConfigurer; +import org.springframework.statemachine.config.builders.StateMachineTransitionConfigurer; + +import java.util.EnumSet; + +@Configuration +@EnableStateMachineFactory +public class CraftsStateMachineConfig + extends StateMachineConfigurerAdapter { + + @Override + public void configure(StateMachineStateConfigurer states) throws Exception { + states + .withStates() + .initial(CraftStates.READY) + .states(EnumSet.allOf(CraftStates.class)); + } + + @Override + public void configure(StateMachineTransitionConfigurer trans) throws Exception { + trans + // 启动 + .withExternal() + .source(CraftStates.READY) + .target(CraftStates.RUNNING) + .event(CraftEvents.START) + .and() + // 单步完成（保持 RUNNING） + .withInternal() + .source(CraftStates.RUNNING) + .event(CraftEvents.STEP_COMPLETE) + .and() + // 暂停 + .withExternal() + .source(CraftStates.RUNNING) + .target(CraftStates.PAUSED) + .event(CraftEvents.PAUSE) + .and() + // 恢复 + .withExternal() + .source(CraftStates.PAUSED) + .target(CraftStates.RUNNING) + .event(CraftEvents.RESUME) + .and() + // 用户手动停止：RUNNING → STOPPED + .withExternal() + .source(CraftStates.RUNNING) + .target(CraftStates.STOPPED) + .event(CraftEvents.STOP) + .and() + // 用户手动停止：PAUSED → STOPPED + .withExternal() + .source(CraftStates.PAUSED) + .target(CraftStates.STOPPED) + .event(CraftEvents.STOP) + .and() + // 出错 + .withExternal() + .source(CraftStates.RUNNING) + .target(CraftStates.ERROR) + .event(CraftEvents.ERROR_OCCUR) + .and() + // 正常完成 + .withExternal() + .source(CraftStates.RUNNING) + .target(CraftStates.FINISHED) + .event(CraftEvents.FINISH); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/config/MybatisPlusConfig.java b/src/main/java/com/iflytop/sgs/app/config/MybatisPlusConfig.java new file mode 100644 index 0000000..fd4fbd8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/MybatisPlusConfig.java @@ -0,0 +1,61 @@ +package com.iflytop.sgs.app.config; + +import com.baomidou.mybatisplus.annotation.DbType; +import com.baomidou.mybatisplus.core.config.GlobalConfig; +import com.baomidou.mybatisplus.extension.plugins.MybatisPlusInterceptor; +import com.baomidou.mybatisplus.extension.plugins.inner.OptimisticLockerInnerInterceptor; +import com.baomidou.mybatisplus.extension.plugins.inner.PaginationInnerInterceptor; +import com.iflytop.sgs.common.handler.MyMetaObjectHandler; +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; +import org.springframework.transaction.annotation.EnableTransactionManagement; + +/** + * + */ +@EnableTransactionManagement +@Configuration +public class MybatisPlusConfig { + + @Bean + public MybatisPlusInterceptor mybatisPlusInterceptor() { + MybatisPlusInterceptor interceptor = new MybatisPlusInterceptor(); + // 乐观锁插件 + interceptor.addInnerInterceptor(optimisticLockerInnerInterceptor()); + // 分页插件 + interceptor.addInnerInterceptor(paginationInnerInterceptor()); + + return interceptor; + } + + /** + * 分页插件，自动识别数据库类型 + * ... + */ + public PaginationInnerInterceptor paginationInnerInterceptor() { + PaginationInnerInterceptor paginationInnerInterceptor = new PaginationInnerInterceptor(); + // 设置数据库类型 + paginationInnerInterceptor.setDbType(DbType.SQLITE); + // 设置最大单页限制数量，默认 500 条，-1 不受限制 + paginationInnerInterceptor.setMaxLimit(-1L); + return paginationInnerInterceptor; + } + + /** + * 乐观锁插件 + * ... + */ + public OptimisticLockerInnerInterceptor optimisticLockerInnerInterceptor() { + return new OptimisticLockerInnerInterceptor(); + } + + /** + * 自动填充数据库创建人、创建时间、更新人、更新时间 + */ + @Bean + public GlobalConfig globalConfig() { + GlobalConfig globalConfig = new GlobalConfig(); + globalConfig.setMetaObjectHandler(new MyMetaObjectHandler()); + return globalConfig; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/config/SwaggerConfig.java b/src/main/java/com/iflytop/sgs/app/config/SwaggerConfig.java new file mode 100644 index 0000000..ba59d46 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/SwaggerConfig.java @@ -0,0 +1,68 @@ +package com.iflytop.sgs.app.config; + +import cn.hutool.core.util.ArrayUtil; +import io.swagger.v3.oas.models.Components; +import io.swagger.v3.oas.models.OpenAPI; +import io.swagger.v3.oas.models.info.Info; +import io.swagger.v3.oas.models.security.SecurityScheme; +import org.springdoc.core.customizers.GlobalOpenApiCustomizer; +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; +import org.springframework.http.HttpHeaders; +import org.springframework.util.AntPathMatcher; + +import java.util.stream.Stream; + +/*** + * 创建Swagger配置 + */ +@Configuration +public class SwaggerConfig { + + @Bean + public GlobalOpenApiCustomizer orderGlobalOpenApiCustomizer() { + return openApi -> { + // 全局添加Authorization + if (openApi.getPaths() != null) { + openApi.getPaths().forEach((path, pathItem) -> { + + // 忽略认证的请求无需携带 Authorization + String[] ignoreUrls = {"/api/auth/login"}; + if (ArrayUtil.isNotEmpty(ignoreUrls)) { + // Ant 匹配忽略的路径，不添加Authorization + AntPathMatcher antPathMatcher = new AntPathMatcher(); + if (Stream.of(ignoreUrls).anyMatch(ignoreUrl -> antPathMatcher.match(ignoreUrl, path))) { + return; + } + } + + // 其他接口统一添加Authorization +// pathItem.readOperations() +// .forEach(operation -> +// operation.addSecurityItem(new SecurityRequirement().addList(HttpHeaders.AUTHORIZATION)) +// ); + }); + } + }; + } + + @Bean + public OpenAPI customOpenAPI() { + return new OpenAPI() + .info(new Info() + .title("系统API") + .version("1.0")) // 配置全局鉴权参数-Authorize + .components(new Components() + .addSecuritySchemes(HttpHeaders.AUTHORIZATION, + new SecurityScheme() + .name(HttpHeaders.AUTHORIZATION) + .type(SecurityScheme.Type.APIKEY) + .in(SecurityScheme.In.HEADER) + .scheme("Bearer") + .bearerFormat("JWT") + ) + ); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/config/WebConfig.java b/src/main/java/com/iflytop/sgs/app/config/WebConfig.java new file mode 100644 index 0000000..5e2550c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/config/WebConfig.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.config; + +import org.springframework.context.annotation.Configuration; +import org.springframework.web.servlet.config.annotation.CorsRegistry; +import org.springframework.web.servlet.config.annotation.WebMvcConfigurer; + +@Configuration +public class WebConfig implements WebMvcConfigurer { + @Override + public void addCorsMappings(CorsRegistry registry) { + registry.addMapping("/api/**") + .allowedOrigins("*") + .allowedMethods("GET", "POST", "PUT", "DELETE") + .allowedHeaders("*"); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/controller/AuthController.java b/src/main/java/com/iflytop/sgs/app/controller/AuthController.java new file mode 100644 index 0000000..e3d407f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/AuthController.java @@ -0,0 +1,57 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.iflytop.sgs.app.model.dto.LoginDTO; +import com.iflytop.sgs.app.model.entity.User; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.UserService; +import com.iflytop.sgs.common.enums.data.Deleted; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +import java.util.Objects; + +/** + * 认证控制 + */ +@Tag(name = "认证") +@RestController +@RequestMapping("/api/auth") +@RequiredArgsConstructor +@Slf4j +public class AuthController { + + private final UserService userService; + private final DeviceStateService deviceStateService; + + @Operation(summary = "账号密码登录") + @PostMapping("/login") + public Result login(@Valid @RequestBody LoginDTO loginDTO) { + User user = userService.getOne(new LambdaQueryWrapper<>(User.class).eq(User::getUsername, loginDTO.getUsername())); + if (user != null && !Objects.equals(user.getDeleted(), Deleted.ENABLE) && user.getPassword().equals(loginDTO.getPassword())) { + deviceStateService.setCurrentUser(user); + user.setPassword(null); + return Result.success(user); + } + return Result.failed(ResultCode.INVALID_CREDENTIALS); + } + + @Operation(summary = "用户登出") + @PostMapping("/logout") + public Result logout() { + deviceStateService.setCurrentUser(null); + return Result.success(); + } + + @Operation(summary = "获取当前登录用户") + @GetMapping("/current") + public Result current() { + return Result.success(deviceStateService.getDeviceState().getCurrentUser()); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/CmdController.java b/src/main/java/com/iflytop/sgs/app/controller/CmdController.java new file mode 100644 index 0000000..4bf4bfd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/CmdController.java @@ -0,0 +1,74 @@ +package com.iflytop.sgs.app.controller; + +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.core.CommandHandlerRegistry; +import com.iflytop.sgs.app.core.DebugGenerator; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.WebSocketService; +import com.iflytop.sgs.common.cmd.CommandHandler; +import com.iflytop.sgs.common.constant.CommandStatus; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import java.util.concurrent.CompletableFuture; + +@Tag(name = "前端业务指令") +@RestController +@RequestMapping("/api/cmd") +@RequiredArgsConstructor +@Slf4j +public class CmdController { + private final CommandHandlerRegistry registry; + private final WebSocketService webSocketService; + private final DeviceStateService deviceStateService; + + @Operation(summary = "前端统一调用一个接口") + @PostMapping + public Result controlMethod(@Valid @RequestBody CmdDTO cmdDTO) throws Exception { + String commandId = cmdDTO.getCommandId(); + String command = cmdDTO.getCommand(); + try { + webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.RECEIVE, "已收到业务指令请求，开始处理")); + if (deviceStateService.getDeviceState().isEmergencyStop()) { + throw new AppException(ResultCode.EMERGENCY_STOP); + } + CommandHandler commandHandler = registry.getCommandHandler(command); + if (commandHandler == null) { + webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.DEVICE_ERROR, "未找到对应的业务指令")); + log.error("未找到对应的业务指令"); + return Result.failed(); + } + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.START, "业务指令开始执行")); + log.info("业务指令开始执行"); + CompletableFuture future = commandHandler.handle(cmdDTO); + future.whenComplete((v, ex) -> { + if (ex != null) { + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FAIL, "执行业务指令发生异常", ex.getMessage())); + log.error("执行业务指令发生异常: {}", JSONUtil.toJsonStr(cmdDTO), ex); + } else { + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.SUCCESS, "业务指令执行成功")); + log.info("业务指令执行成功"); + } + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FINISH, "业务指令执行结束")); + log.info("业务指令执行结束"); + }); + } catch (Exception e) { + log.error("执行业务指令发生异常: {}", JSONUtil.toJsonStr(cmdDTO), e); + return Result.failed(e.getMessage()); + } + return Result.success(); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/CmdDebugController.java b/src/main/java/com/iflytop/sgs/app/controller/CmdDebugController.java new file mode 100644 index 0000000..9c08574 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/CmdDebugController.java @@ -0,0 +1,67 @@ +package com.iflytop.sgs.app.controller; + +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.core.CommandHandlerRegistry; +import com.iflytop.sgs.app.core.DebugGenerator; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.WebSocketService; +import com.iflytop.sgs.common.cmd.CommandHandler; +import com.iflytop.sgs.common.constant.CommandStatus; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import java.util.concurrent.CompletableFuture; + +@Tag(name = "前端调试指令") +@RestController +@RequestMapping("/api/debug/cmd") +@RequiredArgsConstructor +@Slf4j +public class CmdDebugController { + private final CommandHandlerRegistry registry; + private final WebSocketService webSocketService; + + @Operation(summary = "前端调试指令") + @PostMapping + public Result controlMethod(@Valid @RequestBody CmdDTO cmdDTO) { + String commandId = cmdDTO.getCommandId(); + String command = cmdDTO.getCommand(); + try { + webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.RECEIVE, "已收到调试指令请求，开始处理")); + CommandHandler commandHandler = registry.getCommandHandler(command); + if (commandHandler == null) { + webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.DEVICE_ERROR, "未找到对应的调试指令")); + log.error("未找到对应的调试指令"); + return Result.failed(); + } + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.START, "调试指令开始执行")); + log.info("调试指令开始执行"); + CompletableFuture future = commandHandler.handle(cmdDTO); + future.whenComplete((v, ex) -> { + if (ex != null) { + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FAIL, "执行调试指令发生异常", ex.getMessage())); + log.error("执行调试指令发生异常: {}", JSONUtil.toJsonStr(cmdDTO), ex); + } else { + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.SUCCESS, "调试指令执行成功")); + log.info("调试指令执行成功"); + } + webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FINISH, "调试指令执行结束")); + log.info("调试指令执行结束"); + }); + } catch (Exception e) { + log.error("执行调试指令发生异常: {}", JSONUtil.toJsonStr(cmdDTO), e); + return Result.failed(e.getMessage()); + } + return Result.success(); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/ContainerController.java b/src/main/java/com/iflytop/sgs/app/controller/ContainerController.java new file mode 100644 index 0000000..64c6887 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/ContainerController.java @@ -0,0 +1,34 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.entity.Container; +import com.iflytop.sgs.app.service.ContainerService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +import java.util.List; + +@Tag(name = "容器") +@RestController +@RequestMapping("/api/container") +@RequiredArgsConstructor +@Slf4j +public class ContainerController { + private final ContainerService containerService; + + @Operation(summary = "容器列表") + @GetMapping("/list") + public Result> getList() { + return Result.success(containerService.getList()); + } + + @Operation(summary = "更新容器配置") + @PutMapping("") + public Result update(@Valid @RequestBody Container container) { + return Result.success(containerService.updateById(container)); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/CraftsController.java b/src/main/java/com/iflytop/sgs/app/controller/CraftsController.java new file mode 100644 index 0000000..ed1bef2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/CraftsController.java @@ -0,0 +1,112 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.dto.*; +import com.iflytop.sgs.app.model.entity.Crafts; +import com.iflytop.sgs.app.model.vo.SetCraftsVO; +import com.iflytop.sgs.app.service.CraftsService; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import jakarta.validation.constraints.Min; +import jakarta.validation.constraints.NotNull; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.*; + +import java.util.List; + +@Tag(name = "工艺管理") +@RestController +@RequestMapping("/api/crafts") +@RequiredArgsConstructor +@Slf4j +@Validated +public class CraftsController { + private final CraftsService craftsService; + + @Operation(summary = "根据矿石id获取工艺列表") + @GetMapping("/list/{oresId}") + public Result> getList( + @NotNull(message = "矿石ID 不能为空") + @Min(value = 1, message = "矿石ID 必须大于等于 1") + @Parameter(description = "矿石ID") @PathVariable Long oresId) { + List craftList = craftsService.selectAllByOresId(oresId); + return Result.success(craftList); + } + + @Operation(summary = "添加新工艺") + @PostMapping("") + public Result add(@Valid @RequestBody Crafts crafts) { + Crafts existingCrafts = craftsService.findByName(crafts.getName()); + if (existingCrafts == null) { + boolean isSuccess = craftsService.save(crafts); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.DATA_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "更新工艺") + @PutMapping("") + public Result updateCrafts(@Valid @RequestBody Crafts crafts) { + boolean isSuccess = craftsService.updateById(crafts); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + + @Operation(summary = "删除工艺") + @DeleteMapping("/{ids}") + public Result delete( + @Parameter(description = "工艺ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = craftsService.deleteCrafts(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + + @Operation(summary = "配置加热区工艺") + @PostMapping("/set") + public Result setCrafts(@Valid @RequestBody SetCraftsDTO setCraftsDTO) { + return Result.success(craftsService.setCraft(setCraftsDTO.getCraftId(), setCraftsDTO.getHeatId())); + } + + + @Operation(summary = "开始执行工艺") + @PostMapping("/start") + public Result startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) { + craftsService.startCrafts(startCraftsDTO.getHeatId()); + return Result.success(); + } + + @Operation(summary = "暂停执行工艺") + @PostMapping("/pause") + public Result pauseCrafts(@Valid @RequestBody PauseCraftsDto pauseCraftsDto) { + craftsService.pauseCrafts(pauseCraftsDto.getHeatId()); + return Result.success(); + } + + @Operation(summary = "恢复执行工艺") + @PostMapping("/resume") + public Result resumeCrafts(@Valid @RequestBody ResumeCraftsDTO resumeCraftsDto) { + craftsService.resumeCrafts(resumeCraftsDto.getHeatId()); + return Result.success(); + } + + @Operation(summary = "停止执行工艺") + @PostMapping("/stop") + public Result stopCrafts(@Valid @RequestBody StopCraftsDTO stopCraftsDto) { + craftsService.stopCrafts(stopCraftsDto.getHeatId()); + return Result.success(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/DeviceParamController.java b/src/main/java/com/iflytop/sgs/app/controller/DeviceParamController.java new file mode 100644 index 0000000..a2be298 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/DeviceParamController.java @@ -0,0 +1,121 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.entity.DeviceParamConfig; +import com.iflytop.sgs.app.model.vo.DeviceParamGroupVO; +import com.iflytop.sgs.app.model.vo.ModuleIdVO; +import com.iflytop.sgs.app.model.vo.RegIndexVO; +import com.iflytop.sgs.app.service.DeviceParamConfigService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.http.MediaType; +import org.springframework.web.bind.annotation.*; +import org.springframework.web.multipart.MultipartFile; + +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.nio.charset.StandardCharsets; +import java.util.ArrayList; +import java.util.List; + +/** + * 设备参数配置 + */ +@Tag(name = "设备参数配置") +@RestController +@RequestMapping("/api/device-param") +@RequiredArgsConstructor +@Slf4j +public class DeviceParamController { + + private final DeviceParamConfigService deviceParamConfigService; + + @Operation(summary = "获取所有设备配置") + @GetMapping("/list") + public Result> getList() { + List vos = deviceParamConfigService.listGroupedByModule(); + return Result.success(vos); + } + + @Operation(summary = "获取所有设备模块") + @GetMapping("/modules") + public Result> listAllModules() { + List vos = deviceParamConfigService.listAllModuleIds(); + return Result.success(vos); + } + + @Operation(summary = "获取所有设备模块配置项") + @GetMapping("/reg-indices") + public Result> listAllRegIndices() { + List vos = deviceParamConfigService.listAllRegIndices(); + return Result.success(vos); + } + + + @Operation(summary = "添加新配置") + @PostMapping("") + public Result add(@Valid @RequestBody DeviceParamConfig deviceParamConfig) { + deviceParamConfigService.save(deviceParamConfig); + return Result.success(); + } + + @Operation(summary = "修改配置") + @PutMapping("") + public Result update(@Valid @RequestBody DeviceParamConfig deviceParamConfig) { + deviceParamConfigService.updateById(deviceParamConfig); + return Result.success(); + } + + @Operation(summary = "删除配置") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "矿石ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = deviceParamConfigService.deleteDeviceParam(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + + @Operation(summary = "上传csv文件覆盖数据库配置") + @PostMapping(value = "/uploadFile", consumes = MediaType.MULTIPART_FORM_DATA_VALUE) + public Result uploadFile(@RequestPart("file") MultipartFile file) { + //文件后缀检查 + if (!file.getOriginalFilename().endsWith(".csv")) { + return Result.failed(".csv"); + } + try (BufferedReader reader = new BufferedReader( + new InputStreamReader(file.getInputStream(), StandardCharsets.UTF_8))) { + String line; + //是否含有表头 + boolean isHeader = true; + List deviceParamConfigList = new ArrayList<>(); + while ((line = reader.readLine()) != null) { + if (isHeader) { + isHeader = false; + continue; // 跳过CSV文件的标题行 + } + String[] data = line.split(","); + if (data.length >= 4) { // 假设CSV文件至少包含4列 + DeviceParamConfig deviceParamConfig = new DeviceParamConfig(); + deviceParamConfig.setId(Long.valueOf(data[0])); + deviceParamConfig.setMid(String.valueOf(data[1])); + deviceParamConfig.setRegIndex(String.valueOf(data[2])); + deviceParamConfig.setRegVal(Integer.valueOf(data[3])); + deviceParamConfigService.save(deviceParamConfig); + deviceParamConfigList.add(deviceParamConfig); + } + } + deviceParamConfigService.saveOrUpdateBatch(deviceParamConfigList); + } catch (IOException e) { + log.error("csv文件导入数据库失败:{}", e.getMessage()); + throw new RuntimeException(e); + } + return Result.success(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/DevicePointController.java b/src/main/java/com/iflytop/sgs/app/controller/DevicePointController.java new file mode 100644 index 0000000..34f27b8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/DevicePointController.java @@ -0,0 +1,59 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.dto.AddDevicePositionDTO; +import com.iflytop.sgs.app.model.entity.DevicePosition; +import com.iflytop.sgs.app.model.vo.DevicePositionVO; +import com.iflytop.sgs.app.service.DevicePositionService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +import java.util.List; + +/** + * 设备点位接口 + */ +@Tag(name = "设备位置配置") +@RestController +@RequestMapping("/api/device-point") +@RequiredArgsConstructor +@Slf4j +public class DevicePointController { + + private final DevicePositionService devicePointService; + + @Operation(summary = "列表") + @GetMapping("/list") + public Result> listGroupedParams() { + List devicePointVOList = devicePointService.getList(); + return Result.success(devicePointVOList); + } + + @Operation(summary = "添加") + @PostMapping("") + public Result add(@Valid @RequestBody DevicePosition devicePoint) { + devicePointService.save(devicePoint); + return Result.success(); + } + + @Operation(summary = "修改") + @PutMapping("") + public Result update(@Valid @RequestBody AddDevicePositionDTO addDevicePositionDTO) { + return Result.success(devicePointService.updatePosition(addDevicePositionDTO)); + } + + @Operation(summary = "删除") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "位置ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = devicePointService.deletePositon(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/HeatModuleController.java b/src/main/java/com/iflytop/sgs/app/controller/HeatModuleController.java new file mode 100644 index 0000000..b7560b8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/HeatModuleController.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.vo.SetTargetTemperatureVO; +import com.iflytop.sgs.app.service.HeatModuleService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +/** + * 加热模块控制 todo wmy 需要和前端同步参数 加热 烘干 退火 + */ +@Tag(name = "加热模块控制") +@RestController +@RequestMapping("/api/heat") +@RequiredArgsConstructor +@Slf4j +public class HeatModuleController { + private final HeatModuleService heatModuleService; + + @Operation(summary = "加热模块设定目标温度") + @PostMapping("/target-temperature") + public Result setTargetTemperature(@Valid @RequestBody SetTargetTemperatureVO setTargetTemperatureVO) { + heatModuleService.setTargetTemperature(setTargetTemperatureVO); + return Result.success(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/OresController.java b/src/main/java/com/iflytop/sgs/app/controller/OresController.java new file mode 100644 index 0000000..17b1081 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/OresController.java @@ -0,0 +1,74 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.iflytop.sgs.app.model.entity.Ores; +import com.iflytop.sgs.app.model.vo.OresCraftsListVO; +import com.iflytop.sgs.app.service.OresService; +import com.iflytop.sgs.common.base.BasePageQuery; +import com.iflytop.sgs.common.result.PageResult; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "矿石管理") +@RestController +@RequestMapping("/api/ores") +@RequiredArgsConstructor +@Slf4j +public class OresController { + private final OresService oresService; + + @Operation(summary = "矿石工艺列表") + @GetMapping("/list") + public PageResult getList(BasePageQuery pageQuery) { + IPage result = oresService.getPage(pageQuery); + return PageResult.success(result); + } + + @Operation(summary = "添加新矿石") + @PostMapping("") + public Result add(@Valid @RequestBody Ores ores) { + Ores existingOres = oresService.findByName(ores.getName()); + if (existingOres == null) { + boolean isSuccess = oresService.addOres(ores); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.DATA_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "更新矿石") + @PutMapping("") + public Result update(@Valid @RequestBody Ores ores) { + Ores existingOres = oresService.findByName(ores.getName()); + if (existingOres == null) { + boolean isSuccess = oresService.updateOres(ores); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.DATA_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "删除矿石") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "矿石ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = oresService.deleteOres(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java b/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java new file mode 100644 index 0000000..cf03dca --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java @@ -0,0 +1,59 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.core.device.SelfTestState; +import com.iflytop.sgs.app.service.DeviceCommandUtilService; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.SelfTestService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "自检") +@RestController +@RequestMapping("/api/self-test") +@RequiredArgsConstructor +@Slf4j +public class SelfTestController { + private final SelfTestService selfTestService; + private final DeviceStateService deviceStateService; + private final DeviceCommandUtilService deviceCommandUtilService; + + @Operation(summary = "获取自检状态") + @GetMapping("/status") + public Result getSelfTestStatus() { + return Result.success(selfTestService.getSelfTestState()); + } + + @Operation(summary = "自检完毕") + @PostMapping("/finish") + public Result selfTestFinish() throws Exception { + deviceStateService.setSelfTest(true); + new Thread(() -> { + try { + //deviceCommandUtilService.capMotorMove(21); + } catch (Exception e) { + log.error("拍子存放区初始化上升失败", e); + } + }).start(); + return Result.success(); + } + @Operation(summary = "改变自检状态") + @PostMapping("/isFinish") + public Result selfTestFinish(boolean isFinish) throws Exception { + deviceStateService.setSelfTest(isFinish); + new Thread(() -> { + try { + //deviceCommandUtilService.capMotorMove(21); + } catch (Exception e) { + log.error("拍子存放区初始化上升失败", e); + } + }).start(); + return Result.success(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/SolutionsController.java b/src/main/java/com/iflytop/sgs/app/controller/SolutionsController.java new file mode 100644 index 0000000..66f28fc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/SolutionsController.java @@ -0,0 +1,74 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.baomidou.mybatisplus.extension.plugins.pagination.Page; +import com.iflytop.sgs.app.model.entity.Solutions; +import com.iflytop.sgs.app.service.SolutionsService; +import com.iflytop.sgs.common.base.BasePageQuery; +import com.iflytop.sgs.common.result.PageResult; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "溶液管理") +@RestController +@RequestMapping("/api/sols") +@RequiredArgsConstructor +@Slf4j +public class SolutionsController { + private final SolutionsService solutionsService; + + @Operation(summary = "溶液列表") + @GetMapping("/list") + public PageResult getAllSols(BasePageQuery pageQuery) { + IPage result = solutionsService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()), null); + return PageResult.success(result); + } + + @Operation(summary = "添加新溶液") + @PostMapping("") + public Result addSolutions(@Valid @RequestBody Solutions solutions) { + Solutions existingSolutions = solutionsService.findByName(solutions.getName()); + if (existingSolutions == null) { + boolean isSuccess = solutionsService.addSolutions(solutions); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.DATA_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "更新溶液") + @PutMapping("") + public Result updateSolutions(@Valid @RequestBody Solutions solutions) { + Solutions existingSolutions = solutionsService.findByName(solutions.getName()); + if (existingSolutions == null) { + boolean isSuccess = solutionsService.updateSolutions(solutions); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.DATA_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "删除溶液") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "溶液ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = solutionsService.deleteSolutions(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/StepCommandController.java b/src/main/java/com/iflytop/sgs/app/controller/StepCommandController.java new file mode 100644 index 0000000..71f5115 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/StepCommandController.java @@ -0,0 +1,72 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.service.StepCommandService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "单步调试") +@RestController +@RequestMapping("/api/cmd/step") +@RequiredArgsConstructor +@Slf4j +public class StepCommandController { + private final StepCommandService stepCommandService; + + @Operation(summary = "获取当前龙门架机械臂坐标") + @GetMapping("/gantry-point") + public Result getGantryPoint() throws Exception { + Point3D point3D = stepCommandService.getGantryPoint(); + return Result.success(point3D.getX() + "," + point3D.getY() + "," + point3D.getZ()); + } + + @Operation(summary = "获取指定加热区升降当前位置") + @GetMapping("/heat-lifting-position/{heatId}") + public Result getHeatLiftingPosition(@PathVariable String heatId) throws Exception { + double capPosition = stepCommandService.getHeatMotorPostion(heatId); + return Result.success(String.valueOf(capPosition)); + } + + @Operation(summary = "获取拍子存放区升降当前位置") + @GetMapping("/cap-lifting-position") + public Result getHeatPosition() throws Exception { + double capPosition = stepCommandService.getCapMotorPostion(); + return Result.success(String.valueOf(capPosition)); + } + + @Operation(summary = "使能所有电机") + @PostMapping("/enable-all") + public Result enableAll() throws Exception { + stepCommandService.enableAll(); + return Result.success(); + } + + @Operation(summary = "失能所有电机") + @PostMapping("/disability-all") + public Result disabilityAll() throws Exception { + stepCommandService.disabilityAll(); + return Result.success(); + } + + @Operation(summary = "停止所有电机") + @PostMapping("/stop-all") + public Result stopAll() throws Exception { + stepCommandService.stopAll(); + return Result.success(); + } + + @Operation(summary = "龙门架移至指定坐标") + @PostMapping("/gantry-to-point3d") + public Result gantryToTray(Point3D point3D) throws Exception { + stepCommandService.gantryToPoint3D(point3D); + return Result.success(); + } + + //移动到指定拍子上方（加热模块、拍子存放） + //移动至指定托盘上方（加热模块、加液模块） + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/SystemController.java b/src/main/java/com/iflytop/sgs/app/controller/SystemController.java new file mode 100644 index 0000000..d0c5975 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/SystemController.java @@ -0,0 +1,51 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.core.device.DeviceState; +import com.iflytop.sgs.app.model.dto.SetSystemDatetimeDTO; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.SystemConfigService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "系统") +@RestController +@RequestMapping("/api/sys") +@RequiredArgsConstructor +@Slf4j +public class SystemController { + private final SystemConfigService systemConfigService; + private final DeviceStateService deviceStateService; + + @Operation(summary = "是否启动虚拟模式") + @PostMapping("/virtual") + public Result changeVirtualMode(Boolean mode) { + deviceStateService.setVirtual(mode); + return Result.success(); + } + + @Operation(summary = "模拟向硬件写入完毕") + @PostMapping("/initComplete") + public Result setInitComplete(Boolean initComplete) { + deviceStateService.setInitComplete(initComplete); + return Result.success(); + } + + @Operation(summary = "系统状态") + @GetMapping("/device-status") + public Result getDeviceStatus() { + return Result.success(deviceStateService.getDeviceState()); + } + + @Operation(summary = "设置系统时间") + @PostMapping("/datetime") + public Result setDatetime(@Valid @RequestBody SetSystemDatetimeDTO setSystemDatetimeDTO) { + systemConfigService.setDatetime(setSystemDatetimeDTO.getDatetime()); + return Result.success(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/SystemLogController.java b/src/main/java/com/iflytop/sgs/app/controller/SystemLogController.java new file mode 100644 index 0000000..f958ed5 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/SystemLogController.java @@ -0,0 +1,48 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.baomidou.mybatisplus.extension.plugins.pagination.Page; +import com.iflytop.sgs.app.model.entity.SystemLog; +import com.iflytop.sgs.app.service.SystemLogService; +import com.iflytop.sgs.common.base.BasePageQuery; +import com.iflytop.sgs.common.result.PageResult; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "系统日志") +@RestController +@RequestMapping("/api/log") +@RequiredArgsConstructor +@Slf4j +public class SystemLogController { + private final SystemLogService systemLogService; + + @Operation(summary = "日志列表") + @GetMapping("/list") + public PageResult list(BasePageQuery pageQuery) { + IPage result = systemLogService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()), null); + return PageResult.success(result); + } + + @Operation(summary = "日志详情") + @GetMapping("/{id}") + public Result get(@PathVariable String id) { + SystemLog systemLog = systemLogService.getById(id); + return Result.success(systemLog); + } + + @Operation(summary = "删除日志") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = systemLogService.deleteLog(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/TasksController.java b/src/main/java/com/iflytop/sgs/app/controller/TasksController.java new file mode 100644 index 0000000..3c8b385 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/TasksController.java @@ -0,0 +1,83 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.baomidou.mybatisplus.extension.plugins.pagination.Page; +import com.iflytop.sgs.app.model.dto.GetAllTasksDTO; +import com.iflytop.sgs.app.model.dto.TaskDTO; +import com.iflytop.sgs.app.model.entity.Tasks; +import com.iflytop.sgs.app.model.vo.TaskStepsVO; +import com.iflytop.sgs.app.service.TasksService; +import com.iflytop.sgs.common.result.PageResult; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.util.StringUtils; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "实验") +@RestController +@RequestMapping("/api/tasks") +@RequiredArgsConstructor +@Slf4j +public class TasksController { + private final TasksService tasksService; + + @Operation(summary = "实验列表") + @GetMapping("/list") + public PageResult list(GetAllTasksDTO getAllTasksDTO) { + LambdaQueryWrapper queryWrapper = new LambdaQueryWrapper<>(); + queryWrapper + .like(StringUtils.hasText(getAllTasksDTO.getName()), Tasks::getName, getAllTasksDTO.getName()) + .orderByDesc(Tasks::getCreateTime); + + IPage result = tasksService.page( + new Page<>(getAllTasksDTO.getPageNum(), getAllTasksDTO.getPageSize()), + queryWrapper + ); + return PageResult.success(result); + } + + @Operation(summary = "实验详情") + @GetMapping("/{id}") + public Result detail(@PathVariable Long id) { + return Result.success(tasksService.detail(id)); + } + + @Operation(summary = "获取正在进行的实验") + @GetMapping("/current") + public Result getCurrent() { + return Result.success(tasksService.getCurrent()); + } + + @Operation(summary = "开始新实验") + @PostMapping("/") + public Result start(@RequestBody TaskDTO dto) { + if (tasksService.getCurrent() != null) { + return Result.failed("存在正在运行的实验，请先终止"); + } + return Result.success(tasksService.start(dto.getName())); + } + + @Operation(summary = "更新实验") + @PutMapping("/") + public Result updateTask(@RequestBody Tasks task) { + return Result.success(tasksService.updateById(task)); + } + + @Operation(summary = "删除实验") + @DeleteMapping("/{ids}") + public Result deleteTask(@Parameter(description = "ID，多个以英文逗号(,)分割") @PathVariable String ids) { + return Result.success(tasksService.deleteTasks(ids)); + } + + @Operation(summary = "停止当前实验") + @PostMapping("/stop") + public Result stop() { + tasksService.stop(); + return Result.success(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/TrayController.java b/src/main/java/com/iflytop/sgs/app/controller/TrayController.java new file mode 100644 index 0000000..1e29f15 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/TrayController.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.app.controller; + +import com.iflytop.sgs.app.core.device.TrayState; +import com.iflytop.sgs.app.model.vo.SetTrayTubeVO; +import com.iflytop.sgs.app.service.TrayService; +import com.iflytop.sgs.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +/** + * 托盘控制 + */ +@Tag(name = "托盘控制") +@RestController +@RequestMapping("/api/tray") +@RequiredArgsConstructor +@Slf4j +public class TrayController { + private final TrayService trayService; + + @Operation(summary = "放入新托盘") + @PostMapping("/in") + public Result trayIn() { + return Result.success(trayService.trayIn()); + } + + @Operation(summary = "拿走托盘") + @PostMapping("/out") + public Result trayOut() { + trayService.trayOut(); + return Result.success(); + } + + @Operation(summary = "设置托盘试管") + @PostMapping("/tube") + public Result setTrayTube(@RequestBody SetTrayTubeVO setTrayTubeVO) { + trayService.setTrayTube(setTrayTubeVO); + return Result.success(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/controller/UserController.java b/src/main/java/com/iflytop/sgs/app/controller/UserController.java new file mode 100644 index 0000000..fecb321 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/controller/UserController.java @@ -0,0 +1,72 @@ +package com.iflytop.sgs.app.controller; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.baomidou.mybatisplus.extension.plugins.pagination.Page; +import com.iflytop.sgs.app.model.entity.User; +import com.iflytop.sgs.app.service.UserService; +import com.iflytop.sgs.common.base.BasePageQuery; +import com.iflytop.sgs.common.enums.data.Deleted; +import com.iflytop.sgs.common.result.PageResult; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.Valid; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +@Tag(name = "用户接口") +@RestController +@RequestMapping("/api/user") +@RequiredArgsConstructor +@Slf4j +public class UserController { + private final UserService userService; + + @Operation(summary = "用户列表") + @GetMapping("/list") + public PageResult getList(BasePageQuery pageQuery) { + IPage result = userService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()), new LambdaQueryWrapper().eq(User::getDeleted, Deleted.DISABLE)); + result.getRecords().forEach(user -> user.setPassword(null)); + return PageResult.success(result); + } + + @Operation(summary = "添加新用户") + @PostMapping("") + public Result add(@Valid @RequestBody User user) { + User existingUser = userService.getOne(new LambdaQueryWrapper().eq(User::getUsername, user.getUsername())); + if (existingUser == null) { + user.setFixedUser(null); + boolean isSuccess = userService.save(user); + if (isSuccess) { + return Result.success(); + } + } else { + return Result.failed(ResultCode.USER_ALREADY_EXISTS); + } + return Result.failed(); + } + + @Operation(summary = "更新用户信息") + @PutMapping("") + public Result update(@Valid @RequestBody User user) { + boolean isSuccess = userService.updateById(user); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } + + @Operation(summary = "删除用户") + @DeleteMapping("/{ids}") + public Result delete(@Parameter(description = "用户ID，多个以英文逗号(,)分割") @PathVariable String ids) { + boolean isSuccess = userService.deleteUser(ids); + if (isSuccess) { + return Result.success(); + } + return Result.failed(); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/BaseCommandHandler.java b/src/main/java/com/iflytop/sgs/app/core/BaseCommandHandler.java new file mode 100644 index 0000000..57693ef --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/BaseCommandHandler.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.app.core; + + +import com.iflytop.sgs.common.annotation.CheckedRunnable; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.CommandHandler; +import com.iflytop.sgs.common.utils.LambdaUtil; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.beans.factory.annotation.Qualifier; + +import java.util.Arrays; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.Executor; +import java.util.concurrent.TimeUnit; + +public abstract class BaseCommandHandler implements CommandHandler { + + @Autowired + @Qualifier("commandTaskExecutor") + private Executor commandExecutor; + + protected CompletableFuture runAsync(CheckedRunnable task) { + return CompletableFuture.runAsync(LambdaUtil.unchecked(task), commandExecutor); + } + + protected void commandWait(CommandFuture... futures) throws Exception { + CompletableFuture[] responseFutures = Arrays.stream(futures) + .map(CommandFuture::getResponseFuture) + .toArray(CompletableFuture[]::new); + CompletableFuture.allOf(responseFutures) + .get(120, TimeUnit.SECONDS); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/core/CommandHandlerRegistry.java b/src/main/java/com/iflytop/sgs/app/core/CommandHandlerRegistry.java new file mode 100644 index 0000000..e36935e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/CommandHandlerRegistry.java @@ -0,0 +1,58 @@ +package com.iflytop.sgs.app.core; + +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandHandler; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.exception.UnSupportCommandException; +import com.iflytop.sgs.common.result.ResultCode; +import io.micrometer.common.lang.NonNull; +import jakarta.annotation.PostConstruct; +import jakarta.validation.constraints.NotNull; +import org.springframework.aop.support.AopUtils; +import org.springframework.beans.BeansException; +import org.springframework.context.ApplicationContext; +import org.springframework.context.ApplicationContextAware; +import org.springframework.stereotype.Component; + +import java.util.HashMap; +import java.util.Map; + +@Component +public class CommandHandlerRegistry implements ApplicationContextAware { + + private final Map handlerMap = new HashMap<>(); + private ApplicationContext applicationContext; + + @Override + public void setApplicationContext(@NonNull ApplicationContext applicationContext) throws BeansException { + this.applicationContext = applicationContext; + } + + @PostConstruct + public void init() { + Map beans = applicationContext.getBeansWithAnnotation(CommandMapping.class); + for (Object bean : beans.values()) { + // 获取实际目标类，而不是代理类 + Class targetClass = AopUtils.getTargetClass(bean); + CommandMapping mapping = targetClass.getAnnotation(CommandMapping.class); + if (mapping != null && bean instanceof CommandHandler) { + String mappingKey = mapping.value(); + handlerMap.put(mappingKey, (CommandHandler) bean); + } + } + } + + /** + * 通过模块名称和命令名称获取命令处理器 + * + * @param commandName 命令名称 + * @return 命令处理器 + * @throws UnSupportCommandException + */ + public CommandHandler getCommandHandler(@NotNull String commandName) throws UnSupportCommandException { + if (!handlerMap.containsKey(commandName)) { + throw new AppException(ResultCode.COMMAND_NOT_FOUND); + } + return handlerMap.get(commandName); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/core/CommandPoolManager.java b/src/main/java/com/iflytop/sgs/app/core/CommandPoolManager.java new file mode 100644 index 0000000..11ef8e2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/CommandPoolManager.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.app.core; + +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Qualifier; +import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor; +import org.springframework.stereotype.Component; + +import java.util.concurrent.ThreadPoolExecutor; + +@Slf4j +@Component +public class CommandPoolManager { + private final ThreadPoolTaskExecutor executor; + + public CommandPoolManager(@Qualifier("commandTaskExecutor") ThreadPoolTaskExecutor executor) { + this.executor = executor; + } + + /** + * 强制中断所有正在执行的任务 + */ + public void forceShutdownAll() { + try { + ThreadPoolExecutor nativeExecutor = executor.getThreadPoolExecutor(); + nativeExecutor.shutdownNow(); + } catch (Exception e) { + log.error("强制关闭所有cmd线程失败"); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/core/CraftsContext.java b/src/main/java/com/iflytop/sgs/app/core/CraftsContext.java new file mode 100644 index 0000000..1830c4d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/CraftsContext.java @@ -0,0 +1,151 @@ +package com.iflytop.sgs.app.core; + +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.model.bo.CraftsStep; +import com.iflytop.sgs.app.model.entity.Crafts; +import com.iflytop.sgs.app.model.entity.Ores; +import com.iflytop.sgs.app.service.CraftsStepService; +import com.iflytop.sgs.app.service.WebSocketService; +import com.iflytop.sgs.common.constant.WebSocketMessageType; +import com.iflytop.sgs.common.enums.automaton.CraftEvents; +import com.iflytop.sgs.common.enums.automaton.CraftStates; +import lombok.Getter; +import lombok.extern.slf4j.Slf4j; +import org.springframework.messaging.Message; +import org.springframework.messaging.support.MessageBuilder; +import org.springframework.statemachine.StateMachine; +import org.springframework.statemachine.config.StateMachineFactory; +import org.springframework.statemachine.listener.StateMachineListenerAdapter; +import org.springframework.statemachine.state.State; +import reactor.core.publisher.Mono; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +@Slf4j +@Getter +public class CraftsContext implements Runnable { + private final String heatId; + private final Ores ores; + private final Crafts craft; + private final List craftsStepList; + private final StateMachine sm; + private final WebSocketService webSocketService; + private final CraftsStepService craftsStepService; + private int currentIndex = 0; + + /** + * 构造方法，初始化上下文并启动状态机至 READY + */ + public CraftsContext(String heatId, Ores ores, + Crafts craft, + StateMachineFactory factory, + WebSocketService webSocketService, + CraftsStepService craftsStepService) { + this.heatId = heatId; + this.ores = ores; + this.craft = craft; + this.craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class); + this.webSocketService = webSocketService; + this.craftsStepService = craftsStepService; + + this.sm = factory.getStateMachine(heatId); + sm.addStateListener(new StateMachineListenerAdapter<>() { + @Override + public void stateEntered(State state) { + Map dataMap = new HashMap<>(); + dataMap.put("heatId", heatId); + dataMap.put("state", state.getId()); + dataMap.put("index", currentIndex); + webSocketService.push(WebSocketMessageType.CRAFTS_STATE, dataMap); + } + }); + Mono.from(sm.startReactively()).block(); + } + + /** + * 执行工艺脚本，遍历所有步骤并根据状态机控制流程 + */ + @Override + public void run() { + try { + Message startMsg = MessageBuilder.withPayload(CraftEvents.START).build(); + Mono.from(sm.sendEvent(Mono.just(startMsg))).block(); + + for (; currentIndex < craftsStepList.size(); currentIndex++) { + if (sm.getState().getId() == CraftStates.STOPPED) break; + CraftsStep step = craftsStepList.get(currentIndex); + boolean ok = executeStep(step); + + if (!ok) { + Message errMsg = MessageBuilder.withPayload(CraftEvents.ERROR_OCCUR).build(); + Mono.from(sm.sendEvent(Mono.just(errMsg))).block(); + break; + } + Message compMsg = MessageBuilder.withPayload(CraftEvents.STEP_COMPLETE).build(); + Mono.from(sm.sendEvent(Mono.just(compMsg))).block(); + + synchronized (this) { + while (sm.getState().getId() == CraftStates.PAUSED) { + this.wait(); + } + } + } + if (sm.getState().getId() == CraftStates.RUNNING) { + Message finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build(); + Mono.from(sm.sendEvent(Mono.just(finishMsg))).block(); + } + } catch (Exception e) { + log.error("工艺执行失败", e); + webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "工艺执行失败", e.getMessage())); + Message stopMsg = MessageBuilder.withPayload(CraftEvents.ERROR_OCCUR).build(); + Mono.from(sm.sendEvent(Mono.just(stopMsg))).block(); + } + } + + /** + * 执行单个步骤，并推送开始及结果 + * + * @param step 当前工艺步骤 + * @return 是否执行成功 + * @throws InterruptedException 执行中被中断 + */ + private boolean executeStep(CraftsStep step) throws Exception { + Map startData = new HashMap<>(); + startData.put("heatId", heatId); + startData.put("currentStep", step.getMethod()); + webSocketService.push(WebSocketMessageType.CRAFTS_STEP, startData); + return craftsStepService.executeStep(heatId, step); + } + + /** + * 暂停执行，触发 PAUSE 事件 + */ + public void pause() { + Message msg = MessageBuilder.withPayload(CraftEvents.PAUSE).build(); + Mono.from(sm.sendEvent(Mono.just(msg))).block(); + } + + /** + * 恢复执行，触发 RESUME 事件并唤醒线程 + */ + public void resume() { + Message msg = MessageBuilder.withPayload(CraftEvents.RESUME).build(); + Mono.from(sm.sendEvent(Mono.just(msg))).block(); + synchronized (this) { + this.notify(); + } + } + + /** + * 停止执行，触发 STOP 事件并唤醒线程 + */ + public void stop() { + Message msg = MessageBuilder.withPayload(CraftEvents.STOP).build(); + Mono.from(sm.sendEvent(Mono.just(msg))).block(); + synchronized (this) { + this.notify(); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/CraftsDebugGenerator.java b/src/main/java/com/iflytop/sgs/app/core/CraftsDebugGenerator.java new file mode 100644 index 0000000..985c6bb --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/CraftsDebugGenerator.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.app.core; + +import cn.hutool.json.JSONObject; + +public class CraftsDebugGenerator { + + public static JSONObject generateJson(String heatId, String title, Object content) { + JSONObject jsonObject = new JSONObject(); + jsonObject.set("heatId", heatId); + jsonObject.set("title", title); + jsonObject.set("content", content); + return jsonObject; + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/core/DebugGenerator.java b/src/main/java/com/iflytop/sgs/app/core/DebugGenerator.java new file mode 100644 index 0000000..9e29266 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/DebugGenerator.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.core; + +import cn.hutool.json.JSONObject; + +public class DebugGenerator { + + public static JSONObject generateJson(String commandId, String command, String status, String title, Object content) { + JSONObject jsonObject = new JSONObject(); + jsonObject.set("commandId", commandId); + jsonObject.set("command", command); + jsonObject.set("status", status); + jsonObject.set("title", title); + jsonObject.set("content", content); + return jsonObject; + } + + public static JSONObject generateJson(String commandId, String command, String status, String title) { + return generateJson(commandId, command, status, title, null); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/CommandState.java b/src/main/java/com/iflytop/sgs/app/core/device/CommandState.java new file mode 100644 index 0000000..6454561 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/CommandState.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.core.device; + +import lombok.Data; + +/** + * 指令互斥关系状态 + */ +@Data +public class CommandState { + private boolean capFreeCommandExecuting = false; + private boolean capLiftingOriginCommandExecuting = false; + private boolean capUsedCommandExecuting = false; + private boolean doorCloseCommandExecuting = false; + private boolean doorOpenCommandExecuting = false; + private boolean doorOriginCommandExecuting = false; + private boolean dualRobotJointOriginCommandExecuting = false; + private boolean fanStartCommandExecuting = false; + private boolean fanStopCommandExecuting = false; + private boolean filledSolutionStartCommandExecuting = false; + private boolean filledSolutionStopCommandExecuting = false; + private boolean gantryXOriginCommandExecuting = false; + private boolean gantryYOriginCommandExecuting = false; + private boolean gantryZOriginCommandExecuting = false; + private boolean heatStartCommandExecuting = false; + private boolean heatStopCommandExecuting = false; + private boolean moveToHeatAreaCommandExecuting = false; + private boolean moveToSolutionAreaCommandExecuting = false; + private boolean shakeStartCommandExecuting = false; + private boolean shakeStopCommandExecuting = false; + private boolean solutionAddCommandExecuting = false; + private boolean takePhotoCommandExecuting = false; + private boolean trayDownCommandExecuting = false; + private boolean trayLiftingOriginCommandExecuting = false; + private boolean trayUpCommandExecuting = false; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/CraftsState.java b/src/main/java/com/iflytop/sgs/app/core/device/CraftsState.java new file mode 100644 index 0000000..a007e79 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/CraftsState.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.app.core.device; + +import com.iflytop.sgs.app.model.entity.Crafts; +import com.iflytop.sgs.app.model.entity.Ores; +import com.iflytop.sgs.common.enums.automaton.CraftStates; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "工艺") +@Data +public class CraftsState { + @Schema(description = "工艺状态") + private CraftStates state; + + @Schema(description = "工艺所属矿石") + private Ores ores; + + @Schema(description = "工艺") + private Crafts craft; + + @Schema(description = "工艺当前步骤下标") + private int currentIndex = 0; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/DeviceState.java b/src/main/java/com/iflytop/sgs/app/core/device/DeviceState.java new file mode 100644 index 0000000..58eb13d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/DeviceState.java @@ -0,0 +1,36 @@ +package com.iflytop.sgs.app.core.device; + +import com.iflytop.sgs.app.model.entity.Tasks; +import com.iflytop.sgs.app.model.entity.User; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.util.ArrayList; +import java.util.List; + +@Schema(description = "当前设备") +@Data +public class DeviceState { + @Schema(description = "门状态") + private final DoorState door = new DoorState(); + @Schema(description = "龙门架机械臂状态") + private final GantryArmState gantryArm = new GantryArmState(); + @Schema(description = "加液模块属性") + private final SolutionModuleState solutionModule = new SolutionModuleState(); + @Schema(description = "加热模块属性") + private final List heatModule = new ArrayList<>(); + @Schema(description = "托盘") + private final List tray = new ArrayList<>(); + @Schema(description = "虚拟模式，true为虚拟") + private boolean virtual = false; + @Schema(description = "初始化状态，true初始化完毕") + private boolean initComplete = false; + @Schema(description = "自检状态，true自检完毕") + private boolean selfTest = false; + @Schema(description = "是否是急停状态，true为急停") + private boolean emergencyStop = false; + @Schema(description = "当前登录用户") + private User currentUser; + @Schema(description = "当前实验") + private Tasks currentTasks; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/DoorState.java b/src/main/java/com/iflytop/sgs/app/core/device/DoorState.java new file mode 100644 index 0000000..3299f73 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/DoorState.java @@ -0,0 +1,11 @@ +package com.iflytop.sgs.app.core.device; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "门") +@Data +public class DoorState { + @Schema(description = "是否开门，true为开启状态，false为关闭状态") + private boolean open = false; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/GantryArmState.java b/src/main/java/com/iflytop/sgs/app/core/device/GantryArmState.java new file mode 100644 index 0000000..a26450e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/GantryArmState.java @@ -0,0 +1,11 @@ +package com.iflytop.sgs.app.core.device; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "龙门架机械臂") +@Data +public class GantryArmState { + @Schema(description = "是否空闲，true为空闲，false为占用") + private boolean idle = true; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/HeatModuleState.java b/src/main/java/com/iflytop/sgs/app/core/device/HeatModuleState.java new file mode 100644 index 0000000..8056e12 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/HeatModuleState.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.app.core.device; + +import com.iflytop.sgs.common.enums.HeatModuleCode; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "加热模块") +@Data +public class HeatModuleState { + @Schema(description = "加热模块code") + private HeatModuleCode moduleCode; + + @Schema(description = "托盘升降状态，0为降下，1为抬起") + private int trayUp = 0; + + @Schema(description = "托盘状态，0为无托盘，1为有托盘") + private int trayStatus = 0; + + @Schema(description = "是否正在加热，true为正在加热，false为未加热") + private boolean heating = false; + + @Schema(description = "是否正在烘干，true为正在烘干，false为未烘干") + private boolean drying = false; + + @Schema(description = "是否正在退火，true为正在退火，false为未退火") + private boolean annealing = false; + + @Schema(description = "是否启动散热，true为正在散热，false为未在散热") + private boolean fanOpen = false; + + @Schema(description = "加热器目标温度") + private Double targetTemperature = null; + + @Schema(description = "加热器烘干温度") + private Double dryTemperature; + @Schema(description = "加热器退火温度") + private Double annealTemperature; + @Schema(description = "加热器加热温度") + private Double heatTemperature; + + @Schema(description = "加热器当前温度") + private Double temperature = null; + + public HeatModuleState(HeatModuleCode moduleCode) { + this.moduleCode = moduleCode; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/SelfTestState.java b/src/main/java/com/iflytop/sgs/app/core/device/SelfTestState.java new file mode 100644 index 0000000..bba2021 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/SelfTestState.java @@ -0,0 +1,49 @@ +package com.iflytop.sgs.app.core.device; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "自检状态") +@Data +public class SelfTestState { + @Schema(description = "门是否在原点") + private boolean doorOrigin = false; + + @Schema(description = "摇匀是否在原点") + private boolean shakeOrigin = false; + + @Schema(description = "龙门架机械臂x轴是否在原点") + private boolean gantryXOrigin = false; + + @Schema(description = "龙门架机械臂y轴是否在原点") + private boolean gantryYOrigin = false; + + @Schema(description = "龙门架机械臂z轴是否在原点") + private boolean gantryZOrigin = false; + + @Schema(description = "加液机械臂是否在原点") + private boolean dualRobotOrigin = false; + + @Schema(description = "拍子升降是否在原点") + private boolean capLiftingOrigin = false; + + @Schema(description = "加热模块01托盘升降是否在原点") + private boolean trayLifting01Origin = false; + + @Schema(description = "加热模块02托盘升降是否在原点") + private boolean trayLifting02Origin = false; + + @Schema(description = "加热模块03托盘升降是否在原点") + private boolean trayLifting03Origin = false; + + @Schema(description = "加热模块04托盘升降是否在原点") + private boolean trayLifting04Origin = false; + + @Schema(description = "加热模块05托盘升降是否在原点") + private boolean trayLifting05Origin = false; + + @Schema(description = "加热模块06托盘升降是否在原点") + private boolean trayLifting06Origin = false; + + +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/SolutionContainerState.java b/src/main/java/com/iflytop/sgs/app/core/device/SolutionContainerState.java new file mode 100644 index 0000000..77c1eac --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/SolutionContainerState.java @@ -0,0 +1,34 @@ +package com.iflytop.sgs.app.core.device; + +import com.iflytop.sgs.common.enums.ContainerCode; +import com.iflytop.sgs.common.enums.ContainerType; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "溶液容器") +@Data +public class SolutionContainerState { + @Schema(description = "容器数据id") + private Long id; + + @Schema(description = "容器code") + private ContainerCode containerCode; + + @Schema(description = "容器类型 solution溶液容器 neutralization中和容器") + private ContainerType type; + + @Schema(description = "容器是否为空，true为空，false不为空") + private boolean empty = false; + + @Schema(description = "容器是否为满，true为满，false不满") + private boolean full = false; + + @Schema(description = "是否完成预充，true为预充，false为排空") + private boolean filledSolution = false; + + public SolutionContainerState(Long id, ContainerCode containerCode, ContainerType type) { + this.id = id; + this.containerCode = containerCode; + this.type = type; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/SolutionModuleState.java b/src/main/java/com/iflytop/sgs/app/core/device/SolutionModuleState.java new file mode 100644 index 0000000..9938bf3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/SolutionModuleState.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.app.core.device; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.util.ArrayList; +import java.util.List; + +@Schema(description = "加液模块") +@Data +public class SolutionModuleState { + @Schema(description = "是否空闲，true为空闲，false为占用") + private boolean idle = true; + + @Schema(description = "托盘状态，0为无托盘，1为有托盘") + private int trayStatus = 0; + + @Schema(description = "溶液容器状态") + private List solutionContainer = new ArrayList<>(); + + @Schema(description = "是否正在加液，true正在加液，false未运行") + private boolean pumping = false; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/TrayState.java b/src/main/java/com/iflytop/sgs/app/core/device/TrayState.java new file mode 100644 index 0000000..b879a8f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/TrayState.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.app.core.device; + +import com.iflytop.sgs.common.enums.HeatModuleCode; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.util.UUID; + +@Schema(description = "托盘") +@Data +public class TrayState { + @Schema(description = "托盘唯一id") + private String uuid = UUID.randomUUID().toString(); + + @Schema(description = "所属加热模块id") + private HeatModuleCode heatModuleId; + + @Schema(description = "是否在加液模块中") + private boolean inSolutionModule = false; + + @Schema(description = "是否在加热模块中") + private boolean inHeatModule = false; + + @Schema(description = "试管") + private TubeState[] tubes = new TubeState[40]; + + @Schema(description = "当前托盘的工艺") + private CraftsState crafts = null; + + public TrayState() { + for (int i = 0; i < tubes.length; i++) { + TubeState tubeState = new TubeState(); + tubeState.setTubeNum(i + 1); + tubes[i] = tubeState; + } + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/device/TubeState.java b/src/main/java/com/iflytop/sgs/app/core/device/TubeState.java new file mode 100644 index 0000000..d540570 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/device/TubeState.java @@ -0,0 +1,17 @@ +package com.iflytop.sgs.app.core.device; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "试管位") +@Data +public class TubeState { + @Schema(description = "试管编号") + private int tubeNum; + + @Schema(description = "是否添加过溶液 true添加过") + private boolean addSolution = false; + + @Schema(description = "是否存在试管 true存在") + private boolean exists = true; +} diff --git a/src/main/java/com/iflytop/sgs/app/core/event/CommandFeedbackEvent.java b/src/main/java/com/iflytop/sgs/app/core/event/CommandFeedbackEvent.java new file mode 100644 index 0000000..09f74cd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/event/CommandFeedbackEvent.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.core.event; + +import cn.hutool.json.JSONObject; +import lombok.Getter; +import org.springframework.context.ApplicationEvent; + +@Getter +public class CommandFeedbackEvent extends ApplicationEvent { + private final JSONObject jsonResponse; + + public CommandFeedbackEvent(Object source, JSONObject jsonResponse) { + super(source); + this.jsonResponse = jsonResponse; + } + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/core/listener/CommandFeedbackListener.java b/src/main/java/com/iflytop/sgs/app/core/listener/CommandFeedbackListener.java new file mode 100644 index 0000000..fde664c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/listener/CommandFeedbackListener.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.app.core.listener; + +import com.iflytop.sgs.app.core.event.CommandFeedbackEvent; +import com.iflytop.sgs.app.service.DeviceCommandService; +import lombok.RequiredArgsConstructor; +import org.springframework.context.event.EventListener; +import org.springframework.stereotype.Component; + +@Component +@RequiredArgsConstructor +public class CommandFeedbackListener { + private final DeviceCommandService deviceCommandService; + + @EventListener + public void handleCommandFeedbackEvent(CommandFeedbackEvent event) { + deviceCommandService.completeCommandResponse(event.getJsonResponse()); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/core/listener/DeviceStateListener.java b/src/main/java/com/iflytop/sgs/app/core/listener/DeviceStateListener.java new file mode 100644 index 0000000..fd5f22a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/listener/DeviceStateListener.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.app.core.listener; + +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.WebSocketService; +import com.iflytop.sgs.common.constant.WebSocketMessageType; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.beans.PropertyChangeEvent; +import java.beans.PropertyChangeListener; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DeviceStateListener implements PropertyChangeListener { + private final WebSocketService webSocketService; + private final DeviceStateService deviceStateService; + + @PostConstruct + private void init() { + deviceStateService.addListener(this); + } + + // 在此处理DeviceState的变化事件 + @Override + public void propertyChange(PropertyChangeEvent event) { + log.info("设备状态发生改变，类型{} ，from {} to {}", event.getPropertyName(), event.getOldValue(), event.getNewValue()); + webSocketService.push(WebSocketMessageType.STATUS, deviceStateService.getDeviceState()); + } + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/mapper/ContainerMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/ContainerMapper.java new file mode 100644 index 0000000..76262ac --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/ContainerMapper.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.Container; +import org.apache.ibatis.annotations.Mapper; + + +/** + * 容器持久层接口 + */ +@Mapper +public interface ContainerMapper extends BaseMapper { + +} + diff --git a/src/main/java/com/iflytop/sgs/app/mapper/CraftsMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/CraftsMapper.java new file mode 100644 index 0000000..894a9d1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/CraftsMapper.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.Crafts; +import org.apache.ibatis.annotations.Mapper; +import org.apache.ibatis.annotations.Select; + +import java.util.List; + +/** + * 工艺持久层接口 + */ +@Mapper +public interface CraftsMapper extends BaseMapper { + + @Select("SELECT * FROM crafts WHERE ores_id = #{oresId}") + List selectAllByOresId(Long oresId); + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/DeviceParamConfigMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/DeviceParamConfigMapper.java new file mode 100644 index 0000000..0e58ff7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/DeviceParamConfigMapper.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.DeviceParamConfig; +import org.apache.ibatis.annotations.Mapper; + +/** + * 设备参数配置持久层接口 + */ +@Mapper +public interface DeviceParamConfigMapper extends BaseMapper { +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/DevicePositionMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/DevicePositionMapper.java new file mode 100644 index 0000000..416a265 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/DevicePositionMapper.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.DevicePosition; +import org.apache.ibatis.annotations.Mapper; + +/** + * 设备位置持久层接口 + */ +@Mapper +public interface DevicePositionMapper extends BaseMapper { +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/OresMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/OresMapper.java new file mode 100644 index 0000000..c538853 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/OresMapper.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.Ores; +import org.apache.ibatis.annotations.Mapper; + +/** + * 矿石持久层接口 + */ +@Mapper +public interface OresMapper extends BaseMapper { + + Ores findByName(String name); + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/SolutionsMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/SolutionsMapper.java new file mode 100644 index 0000000..d16b3a3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/SolutionsMapper.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.Solutions; +import org.apache.ibatis.annotations.Mapper; + +/** + * 溶液持久层接口 + */ +@Mapper +public interface SolutionsMapper extends BaseMapper { + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/SystemConfigMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/SystemConfigMapper.java new file mode 100644 index 0000000..a890e7c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/SystemConfigMapper.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.SystemConfig; +import org.apache.ibatis.annotations.Mapper; + +/** + * 系统配置持久层接口 + */ +@Mapper +public interface SystemConfigMapper extends BaseMapper { + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/SystemLogMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/SystemLogMapper.java new file mode 100644 index 0000000..d15c8c5 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/SystemLogMapper.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.SystemLog; +import org.apache.ibatis.annotations.Mapper; + +/** + * 系统日志持久层接口 + */ +@Mapper +public interface SystemLogMapper extends BaseMapper { + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/TaskStepsMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/TaskStepsMapper.java new file mode 100644 index 0000000..15d5ab2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/TaskStepsMapper.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.TaskSteps; +import org.apache.ibatis.annotations.Mapper; + +/** + * 实验持久层接口 + */ +@Mapper +public interface TaskStepsMapper extends BaseMapper { +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/TasksMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/TasksMapper.java new file mode 100644 index 0000000..c24d2b2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/TasksMapper.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.Tasks; +import org.apache.ibatis.annotations.Mapper; + +/** + * 实验持久层接口 + */ +@Mapper +public interface TasksMapper extends BaseMapper { + +} diff --git a/src/main/java/com/iflytop/sgs/app/mapper/UserMapper.java b/src/main/java/com/iflytop/sgs/app/mapper/UserMapper.java new file mode 100644 index 0000000..9b5c944 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/mapper/UserMapper.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.iflytop.sgs.app.model.entity.User; +import org.apache.ibatis.annotations.Mapper; + +/** + * 用户持久层接口 + */ +@Mapper +public interface UserMapper extends BaseMapper { + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/CraftsStep.java b/src/main/java/com/iflytop/sgs/app/model/bo/CraftsStep.java new file mode 100644 index 0000000..d34d5d3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/CraftsStep.java @@ -0,0 +1,10 @@ +package com.iflytop.sgs.app.model.bo; + +import cn.hutool.json.JSONObject; +import lombok.Data; + +@Data +public class CraftsStep { + private String method; + private JSONObject params; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/DeviceInitializationData.java b/src/main/java/com/iflytop/sgs/app/model/bo/DeviceInitializationData.java new file mode 100644 index 0000000..4162ec4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/DeviceInitializationData.java @@ -0,0 +1,11 @@ +package com.iflytop.sgs.app.model.bo; + +import lombok.Data; + +@Data +public class DeviceInitializationData { + private int id; + private String mid; + private String regIndex; + private int regInitVal; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/Notification.java b/src/main/java/com/iflytop/sgs/app/model/bo/Notification.java new file mode 100644 index 0000000..5f3f897 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/Notification.java @@ -0,0 +1,102 @@ +package com.iflytop.sgs.app.model.bo; + +import cn.hutool.core.date.DateTime; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import lombok.Getter; + + +/** + * 向前台推送的消息类 + */ + +@Getter +public class Notification { + private final String commandId; + private final String command; + private final String level; + private final String title; + private final String dateTime = DateTime.now().toString("yyyy/MM/dd HH:mm:ss"); + private String content = null; + + private Notification(String commandId, String command, String level, String title, String content) { + this.commandId = commandId; + this.level = level; + this.title = title; + this.content = content; + this.command = command; + } + + private Notification(String commandId, String command, String level, String title) { + this.commandId = commandId; + this.level = level; + this.title = title; + this.command = command; + } + + /** + * 创建Info级别通知 + * + * @param content 通知内容 + * @return 通知实例 + */ + public static Notification infoNotification(String commandId, String command, String title, String content) { + return new Notification(commandId, command, "info", title, content); + } + + public static Notification infoNotification(String commandId, String command, String title) { + return new Notification(commandId, command, "info", title, ""); + } + + public static Notification infoNotification(CmdDTO cmdDTO, String title) { + return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, ""); + } + + public static Notification infoHandleStartNotification(CmdDTO cmdDTO) { + String title = String.format("开始执行{}指令", cmdDTO.getCommand()); + return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, ""); + } + + public static Notification infoHandleEndNotification(CmdDTO cmdDTO) { + String title = String.format("{}指令执行完成", cmdDTO.getCommand()); + return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, ""); + } + + + /** + * 创建Warn级别通知 + * + * @param content 通知内容 + * @return 通知实例 + */ + public static Notification warnNotification(String commandId, String command, String title, String content) { + return new Notification(commandId, command, "warn", title, content); + } + + /** + * 创建Error级别通知 + * + * @param content 通知内容 + * @return 通知实例 + */ + public static Notification errorNotification(String commandId, String command, String title, String content) { + return new Notification(commandId, command, "error", title, content); + } + + public static Notification errorNotification(CmdDTO cmdDTO, Exception e) { + String title = String.format("执行{}出错", cmdDTO.getCommand()); + return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "error", title, e.getMessage()); + } + + + /** + * 创建Fatal级别通知 + * + * @param content 通知内容 + * @return 通知实例 + */ + public static Notification fatalNotification(String commandId, String command, String title, String content) { + return new Notification(commandId, command, "fatal", title, content); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/Point2D.java b/src/main/java/com/iflytop/sgs/app/model/bo/Point2D.java new file mode 100644 index 0000000..9e66c2d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/Point2D.java @@ -0,0 +1,20 @@ +package com.iflytop.sgs.app.model.bo; + + +import lombok.Data; + +@Data +public class Point2D { + private Double x; + private Double y; + + public Point2D() { + } + + public Point2D(Double x, Double y) { + this.x = x; + this.y = y; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/Point3D.java b/src/main/java/com/iflytop/sgs/app/model/bo/Point3D.java new file mode 100644 index 0000000..b808316 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/Point3D.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.model.bo; + + +import lombok.Data; + +@Data +public class Point3D { + private Double x; + private Double y; + private Double z; + + public Point3D() { + } + + public Point3D(Double x, Double y, Double z) { + this.x = x; + this.y = y; + this.z = z; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/TubeSol.java b/src/main/java/com/iflytop/sgs/app/model/bo/TubeSol.java new file mode 100644 index 0000000..db5f314 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/TubeSol.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.app.model.bo; + +import lombok.Data; + +/** + * 试管添加溶液 + */ +@Data +public class TubeSol { + /** + * 需要添加溶液的试管编号 + */ + private Integer tubeNum; + /** + * 溶液id + */ + private Long solId; + /** + * 加液量 + */ + private Integer volume; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/AddDevicePositionDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/AddDevicePositionDTO.java new file mode 100644 index 0000000..40523f3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/AddDevicePositionDTO.java @@ -0,0 +1,20 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + + +@Data +public class AddDevicePositionDTO { + + private Long id; + + @NotNull + @NotBlank + @Schema(description = "位置数据") + private String position; + + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/CmdDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/CmdDTO.java new file mode 100644 index 0000000..fde932d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/CmdDTO.java @@ -0,0 +1,67 @@ +package com.iflytop.sgs.app.model.dto; + +import cn.hutool.json.JSONArray; +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +import java.util.Map; + +@Schema(description = "指令") +@Data +public class CmdDTO { + + @NotNull + @Schema(description = "指令id，前端生成唯一ID") + private String commandId; + + @NotNull + @Schema(description = "命令名称") + private String command; + + @Schema(description = "参数") + private Map params; + + // 获取 Double 类型的参数，null 或空字符串时返回 null + public Double getDoubleParam(String key) { + String value = getStringParam(key); + return (value != null && !value.isEmpty()) ? Double.parseDouble(value) : null; + } + + // 获取 String 类型的参数，null 或空字符串时返回 null + public String getStringParam(String key) { + Object value = params.get(key); + // 确保值不是 null 或空字符串，转换成 String 后返回 + return (value != null && !value.toString().isEmpty()) ? value.toString() : null; + } + + // 获取 Integer 类型的参数，null 或空字符串时返回 null + public Integer getIntegerParam(String key) { + String value = getStringParam(key); + return (value != null && !value.isEmpty()) ? Integer.parseInt(value) : null; + } + + // 获取 Boolean 类型的参数，null 或空字符串时返回 null + public Boolean getBooleanParam(String key) { + String value = getStringParam(key); + return (value != null && !value.isEmpty()) ? Boolean.parseBoolean(value) : null; + } + + public JSONObject getJsonObjectParam(String key) { + Object value = params.get(key); + return new JSONObject(value); + + } + + public JSONArray getJSONArrayParam(String key) { + Object value = params.get(key); + return new JSONArray(value); + } + + @Override + public String toString() { + return JSONUtil.toJsonStr(this); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/GetAllTasksDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/GetAllTasksDTO.java new file mode 100644 index 0000000..d98b410 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/GetAllTasksDTO.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.model.dto; + +import com.iflytop.sgs.common.base.BasePageQuery; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Data +public class GetAllTasksDTO extends BasePageQuery { + @Schema(description = "实验名称") + private String name; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/LoginDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/LoginDTO.java new file mode 100644 index 0000000..6855f7a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/LoginDTO.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +/** + * 用户登录表单 + */ +@Schema(description = "用户登录") +@Data +public class LoginDTO { + + @NotNull + @Schema(description = "用户名", example = "admin") + private String username; + + @NotNull + @Schema(description = "用户密码", example = "12345") + private String password; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDto.java b/src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDto.java new file mode 100644 index 0000000..ccd0d37 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDto.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +@Schema(description = "暂停执行工艺") +@Data +public class PauseCraftsDto { + @NotNull + @Schema(description = "加热区id") + private String heatId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/ResumeCraftsDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/ResumeCraftsDTO.java new file mode 100644 index 0000000..b8c57f3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/ResumeCraftsDTO.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +@Schema(description = "恢复执行工艺") +@Data +public class ResumeCraftsDTO { + @NotNull + @Schema(description = "加热区id") + private String heatId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/SetCraftsDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/SetCraftsDTO.java new file mode 100644 index 0000000..0fc5f5d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/SetCraftsDTO.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import jakarta.validation.constraints.Positive; +import lombok.Data; + +@Schema(description = "配置工艺") +@Data +public class SetCraftsDTO { + @Positive(message = "工艺ID 必须是正数") + @NotNull + @Schema(description = "工艺id") + private Long craftId; + + @NotNull + @Schema(description = "加热区id") + private String heatId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/SetSystemDatetimeDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/SetSystemDatetimeDTO.java new file mode 100644 index 0000000..cdf3024 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/SetSystemDatetimeDTO.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +@Schema(description = "设置系统时间") +@Data +public class SetSystemDatetimeDTO { + @NotNull + @NotBlank + @Schema(description = "系统时间") + private String datetime; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/StartCraftsDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/StartCraftsDTO.java new file mode 100644 index 0000000..e400677 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/StartCraftsDTO.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +@Schema(description = "开始工艺") +@Data +public class StartCraftsDTO { + @NotNull + @Schema(description = "加热区id") + private String heatId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/StopCraftsDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/StopCraftsDTO.java new file mode 100644 index 0000000..46de21c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/StopCraftsDTO.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; + +@Schema(description = "恢复执行工艺") +@Data +public class StopCraftsDTO { + @NotNull + @Schema(description = "加热区id") + private String heatId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/StopTaskDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/StopTaskDTO.java new file mode 100644 index 0000000..24be7c7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/StopTaskDTO.java @@ -0,0 +1,10 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Data +public class StopTaskDTO { + @Schema(description = "实验id") + private Long taskId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/TaskDTO.java b/src/main/java/com/iflytop/sgs/app/model/dto/TaskDTO.java new file mode 100644 index 0000000..d611e87 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/TaskDTO.java @@ -0,0 +1,10 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Data +public class TaskDTO { + @Schema(description = "实验名称") + private String name; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/dto/WebsocketResult.java b/src/main/java/com/iflytop/sgs/app/model/dto/WebsocketResult.java new file mode 100644 index 0000000..a8f61dd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/dto/WebsocketResult.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.app.model.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Data +public class WebsocketResult { + /** + * 推送类型(指令 cmd,报警 warn ,状态 status) + */ + @Schema(description = "推送类型(指令 cmd,报警 warn ,状态 status)") + private String type; + /** + * 执行结果 + */ + @Schema(description = "推送数据") + private Object data; +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/Container.java b/src/main/java/com/iflytop/sgs/app/model/entity/Container.java new file mode 100644 index 0000000..a5c84e6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/Container.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.Max; +import jakarta.validation.constraints.Min; +import jakarta.validation.constraints.NotNull; +import jakarta.validation.constraints.Positive; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = false) +@Schema(description = "容器表") +@TableName("container") +@Data +public class Container extends BaseEntity { + + @Min(value = 0, message = "类型只能为 0 或 1") + @Max(value = 1, message = "类型只能为 0 或 1") + @NotNull + @Schema(description = "类型 0 溶液 1 废液") + private Long type; + + @Schema(description = "容器代码") + private String code; + + @Positive(message = "溶液id 必须是正数") + @NotNull + @Schema(description = "溶液id") + private Long solutionId; + + @NotNull + @Schema(description = "泵id") + private String pumpId; + + @Positive(message = "总容量 必须是正数") + @NotNull + @Schema(description = "总容量") + private Integer capacityTotal; + + @Positive(message = "当前容量 必须是正数") + @NotNull + @Schema(description = "当前容量") + private Integer capacityUsed; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/Crafts.java b/src/main/java/com/iflytop/sgs/app/model/entity/Crafts.java new file mode 100644 index 0000000..5ad04c2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/Crafts.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import jakarta.validation.constraints.NotNull; +import jakarta.validation.constraints.Positive; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "工艺") +@TableName("crafts") +@Data +public class Crafts extends BaseEntity { + + @NotNull + @NotBlank + @Schema(description = "工艺名称") + private String name; + + @NotNull + @NotBlank + @Schema(description = "工艺步骤") + private String steps; + + @Positive(message = "矿石ID 必须是正数") + @NotNull + @Schema(description = "矿石ID") + private Long oresId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/DeviceParamConfig.java b/src/main/java/com/iflytop/sgs/app/model/entity/DeviceParamConfig.java new file mode 100644 index 0000000..1b5ccca --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/DeviceParamConfig.java @@ -0,0 +1,30 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import jakarta.validation.constraints.NotNull; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "设备参数配置") +@TableName("device_param_config") +@Data +public class DeviceParamConfig extends BaseEntity { + + @NotNull + @NotBlank + @Schema(description = "模块标识") + private String mid; + + @NotNull + @NotBlank + @Schema(description = "寄存器索引") + private String regIndex; + + @Schema(description = "寄存器值") + private Integer regVal; + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/DevicePosition.java b/src/main/java/com/iflytop/sgs/app/model/entity/DevicePosition.java new file mode 100644 index 0000000..2efcd4b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/DevicePosition.java @@ -0,0 +1,57 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.app.model.bo.Point2D; +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.common.base.BaseEntity; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import com.iflytop.sgs.common.enums.data.DevicePositionType; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import jakarta.validation.constraints.NotNull; +import lombok.Data; +import lombok.EqualsAndHashCode; + +import java.util.Arrays; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "设备位置记录") +@TableName("device_position") +@Data +public class DevicePosition extends BaseEntity { + + @Schema(description = "位置名称") + private String name; + + @Schema(description = "位置代码") + private DevicePositionCode code; + + @Schema(description = "位置类型") + private DevicePositionType type; + + @NotNull + @NotBlank + @Schema(description = "位置数据") + private String position; + + public Point3D getPoint3D() { + String[] positions = position.split(","); + Double[] doublePositions = Arrays.stream(positions) + .map(Double::parseDouble) + .toArray(Double[]::new); + return new Point3D(doublePositions[0], doublePositions[1], doublePositions[2]); + } + + public Point2D getPoint2D() { + String[] positions = position.split(","); + Double[] doublePositions = Arrays.stream(positions) + .map(Double::parseDouble) + .toArray(Double[]::new); + return new Point2D(doublePositions[0], doublePositions[1]); + } + + public Double getDistance() { + return Double.valueOf(position); + } + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/Ores.java b/src/main/java/com/iflytop/sgs/app/model/entity/Ores.java new file mode 100644 index 0000000..306d03a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/Ores.java @@ -0,0 +1,20 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "矿石") +@TableName("ores") +@Data +public class Ores extends BaseEntity { + + @NotNull + @Schema(description = "矿石名称") + private String name; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/Solutions.java b/src/main/java/com/iflytop/sgs/app/model/entity/Solutions.java new file mode 100644 index 0000000..4f85106 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/Solutions.java @@ -0,0 +1,20 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "溶液") +@TableName("solutions") +@Data +public class Solutions extends BaseEntity { + + @NotNull + @Schema(description = "溶液名称") + private String name; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/SystemConfig.java b/src/main/java/com/iflytop/sgs/app/model/entity/SystemConfig.java new file mode 100644 index 0000000..7a6ec0c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/SystemConfig.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "系统配置") +@TableName("system_config") +@Data +public class SystemConfig extends BaseEntity { + + @NotBlank + @Schema(description = "配置键") + private String key; + + @Schema(description = "配置值") + private String value; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/SystemLog.java b/src/main/java/com/iflytop/sgs/app/model/entity/SystemLog.java new file mode 100644 index 0000000..56cda96 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/SystemLog.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "系统日志") +@TableName("system_log") +@Data +public class SystemLog extends BaseEntity { + + @NotBlank + @Schema(description = "日志标题") + private String title; + + @Schema(description = "日志内容") + private String content; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/TaskSteps.java b/src/main/java/com/iflytop/sgs/app/model/entity/TaskSteps.java new file mode 100644 index 0000000..b385bd9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/TaskSteps.java @@ -0,0 +1,30 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = false) +@Schema(description = "实验步骤") +@TableName("task_steps") +@Data +public class TaskSteps { + + @NotBlank + @Schema(description = "id") + private Long id; + + @NotBlank + @Schema(description = "实验id") + private Long taskId; + + @NotBlank + @Schema(description = "步骤描述") + private String stepDescription; + + @NotBlank + @Schema(description = "创建时间") + private String createTime; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/Tasks.java b/src/main/java/com/iflytop/sgs/app/model/entity/Tasks.java new file mode 100644 index 0000000..3b01532 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/Tasks.java @@ -0,0 +1,40 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.fasterxml.jackson.annotation.JsonFormat; +import com.iflytop.sgs.common.base.BaseEntity; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotBlank; +import lombok.Data; +import lombok.EqualsAndHashCode; + +import java.time.LocalDateTime; + +@EqualsAndHashCode(callSuper = true) +@Schema(description = "实验") +@TableName("tasks") +@Data +public class Tasks extends BaseEntity { + + @NotBlank + @Schema(description = "实验名称") + private String name; + + @NotBlank + @Schema(description = "开始时间") + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime startTime; + + @Schema(description = "结束时间") + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime endTime; + + @Schema(description = "创建人") + private Long createUser; + + @Schema(description = "状态 1 执行中 2 执行完毕") + private Integer status; + + @Schema(description = "是否删除 0 未删除 1 已删除") + private Integer isDeleted; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/entity/User.java b/src/main/java/com/iflytop/sgs/app/model/entity/User.java new file mode 100644 index 0000000..919ef86 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/entity/User.java @@ -0,0 +1,45 @@ +package com.iflytop.sgs.app.model.entity; + +import com.baomidou.mybatisplus.annotation.TableName; +import com.iflytop.sgs.common.base.BaseEntity; +import com.iflytop.sgs.common.enums.data.Deleted; +import com.iflytop.sgs.common.enums.data.FixedUser; +import com.iflytop.sgs.common.enums.data.UsrRole; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.NotNull; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 用户实体 + */ +@EqualsAndHashCode(callSuper = true) +@Schema(description = "用户") +@TableName("user") +@Data +public class User extends BaseEntity { + + @NotNull + @Schema(description = "用户名") + private String username; + + @NotNull + @Schema(description = "昵称") + private String nickname; + + @NotNull + @Schema(description = "密码") + private String password; + + @NotNull + @Schema(description = "人员角色") + private UsrRole role; + + @NotNull + @Schema(description = "是否删除") + private Deleted deleted; + + @Schema(description = "是否是系统固定用户") + private FixedUser fixedUser; + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/ContainerVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/ContainerVO.java new file mode 100644 index 0000000..4b258d6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/ContainerVO.java @@ -0,0 +1,41 @@ +package com.iflytop.sgs.app.model.vo; + +import com.fasterxml.jackson.annotation.JsonFormat; +import com.iflytop.sgs.app.model.entity.Solutions; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.time.LocalDateTime; + +@Schema(description = "容器") +@Data +public class ContainerVO { + private Long id; + + @Schema(description = "类型 0 溶液 1 废液") + private Long type; + + @Schema(description = "容器代码") + private String code; + + @Schema(description = "当前配置的溶液") + private Solutions solutions; + + @Schema(description = "泵id") + private String pumpId; + + @Schema(description = "总容量") + private Integer capacityTotal; + + @Schema(description = "当前容量") + private Integer capacityUsed; + + @Schema(description = "预充量") + private Double filled; + + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime createTime; + + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime updateTime; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/CraftStatusVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/CraftStatusVO.java new file mode 100644 index 0000000..3fd5c5a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/CraftStatusVO.java @@ -0,0 +1,39 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.app.model.bo.CraftsStep; +import com.iflytop.sgs.common.enums.automaton.CraftStates; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.util.List; + +/** + * 工艺执行状态视图对象 + */ +@Data +public class CraftStatusVO { + + @Schema(description = "加热区 ID") + private String heatId; + + @Schema(description = "矿石 ID") + private Long oresId; + + @Schema(description = "矿石名称") + private String oresName; + + @Schema(description = "工艺 ID") + private Long craftsId; + + @Schema(description = "工艺名称") + private String craftsName; + + @Schema(description = "当前状态") + private CraftStates state; + + @Schema(description = "当前执行到的步骤索引") + private int currentIndex; + + @Schema(description = "工艺所有步骤") + private List steps; +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/DeviceParamGroupVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/DeviceParamGroupVO.java new file mode 100644 index 0000000..589e1b2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/DeviceParamGroupVO.java @@ -0,0 +1,36 @@ +package com.iflytop.sgs.app.model.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.AllArgsConstructor; +import lombok.Data; + +import java.util.List; + +/** + * 按模块分组的设备参数视图 + */ +@Data +@Schema(description = "按模块分组的设备参数") +public class DeviceParamGroupVO { + + @Schema(description = "模块标识（ModuleId.name），如 DoorM") + private String mid; + + @Schema(description = "该模块下的所有配置项") + private List reg; + + public DeviceParamGroupVO(String mid, List reg) { + this.mid = mid; + this.reg = reg; + } + + @AllArgsConstructor + @Data + @Schema(description = "配置项") + public static class ParamItem { + @Schema(description = "配置项名称，如 kreg_step_motor_pos") + private String name; + @Schema(description = "值") + private Integer value; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/DevicePositionVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/DevicePositionVO.java new file mode 100644 index 0000000..017230f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/DevicePositionVO.java @@ -0,0 +1,39 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.app.model.entity.DevicePosition; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.AllArgsConstructor; +import lombok.Data; + +/** + * 设备位置记录 的展示视图 + */ +@Data +@AllArgsConstructor +@Schema(description = "设备位置记录") +public class DevicePositionVO { + + private Long id; + + @Schema(description = "位置名称") + private String name; + + @Schema(description = "位置代码") + private DevicePositionCode code; + + @Schema(description = "位置类型") + private String type; + + @Schema(description = "位置数据") + private String position; + + public DevicePositionVO(DevicePosition devicePosition) { + this.id = devicePosition.getId(); + this.name = devicePosition.getName(); + this.code = devicePosition.getCode(); + this.type = devicePosition.getType().getName(); + this.position = devicePosition.getPosition(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/ModuleIdVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/ModuleIdVO.java new file mode 100644 index 0000000..5879729 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/ModuleIdVO.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.app.model.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.AllArgsConstructor; +import lombok.Data; + +/** + * ModuleId 的展示视图 + */ +@Data +@AllArgsConstructor +@Schema(description = "ModuleId 的展示视图") +public class ModuleIdVO { + @Schema(description = "模块名称，如 DoorM") + private String name; + + @Schema(description = "模块描述") + private String description; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/OresCraftsListVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/OresCraftsListVO.java new file mode 100644 index 0000000..12cfabc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/OresCraftsListVO.java @@ -0,0 +1,30 @@ +package com.iflytop.sgs.app.model.vo; + +import com.fasterxml.jackson.annotation.JsonFormat; +import com.iflytop.sgs.app.model.entity.Crafts; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.time.LocalDateTime; +import java.util.List; + +@Schema(description = "矿石工艺视图") +@Data +public class OresCraftsListVO { + + @Schema(description = "矿石id") + private Long id; + + @Schema(description = "矿石名称") + private String oresName; + + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime createTime; + + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime updateTime; + + @Schema(description = "该矿石下工艺列表") + private List craftsList; + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/RegIndexVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/RegIndexVO.java new file mode 100644 index 0000000..d0a7c70 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/RegIndexVO.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.model.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.AllArgsConstructor; +import lombok.Data; + +/** + * RegIndex 的展示视图 + */ +@Data +@AllArgsConstructor +@Schema(description = "RegIndex 的展示视图") +public class RegIndexVO { + @Schema(description = "配置项名称，如 kreg_step_motor_pos") + private String name; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/SetCraftsVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/SetCraftsVO.java new file mode 100644 index 0000000..f3578c0 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/SetCraftsVO.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.app.model.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Data +public class SetCraftsVO { + @Schema(description = "加热区id") + private String heatId; + + @Schema(description = "工艺名称") + private String craftsName; + + @Schema(description = "工艺名称") + private Long craftsId; + + @Schema(description = "矿石名称") + private String oresName; + + @Schema(description = "矿石ID") + private Long oresId; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java new file mode 100644 index 0000000..ea57e5b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.common.enums.HeatModuleCode; +import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.validation.constraints.Max; +import jakarta.validation.constraints.Min; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@EqualsAndHashCode(callSuper = false) +@Data +public class SetTargetTemperatureVO { + @Schema(description = "加热模块code") + private HeatModuleCode moduleCode; + + @Max(value = 150, message = "加热温度不能超过150度") + @Min(value = 0, message = "加热温度不能低于0度") + @Schema(description = "加热温度") + private Double heatTemperature; + + + @Max(value = 200, message = "烘干温度不能超过200度") + @Min(value = 100, message = "烘干温度不能低于100度") + @Schema(description = "烘干温度") + private Double dryTemperature; + + + @Max(value = 400, message = "退火温度不能超过400度") + @Min(value = 200, message = "退火温度不能低于200度") + @Schema(description = "退火温度") + private Double annealTemperature; +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/SetTrayTubeVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/SetTrayTubeVO.java new file mode 100644 index 0000000..eb4b144 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/SetTrayTubeVO.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.app.core.device.TubeState; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +/** + * 设置托盘试管 + */ +@Data +public class SetTrayTubeVO { + @Schema(description = "托盘UUID") + private String trayUuid; + + @Schema(description = "矿石 ID") + private TubeState[] tubes; + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/TaskStepsVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/TaskStepsVO.java new file mode 100644 index 0000000..78bfc5c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/TaskStepsVO.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.app.model.entity.TaskSteps; +import com.iflytop.sgs.app.model.entity.Tasks; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; +import lombok.EqualsAndHashCode; + +import java.util.List; + +@EqualsAndHashCode(callSuper = false) +@Data +public class TaskStepsVO extends Tasks { + @Schema(description = "实验步骤") + private List steps; +} diff --git a/src/main/java/com/iflytop/sgs/app/service/ContainerService.java b/src/main/java/com/iflytop/sgs/app/service/ContainerService.java new file mode 100644 index 0000000..1378bcd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/ContainerService.java @@ -0,0 +1,49 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.ContainerMapper; +import com.iflytop.sgs.app.model.entity.Container; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.List; + +/** + * 容器实现类 + */ +@Service +@RequiredArgsConstructor +public class ContainerService extends ServiceImpl { + private final ContainerMapper containerMapper; + + public List getList() { + return this.list(); + } + + /** + * 根据溶液id获取泵id + */ + public AcidPumpDeviceCode getPumpBySolutionId(Long solutionId) { + Container container = this.getOne(new LambdaQueryWrapper().eq(Container::getSolutionId, solutionId)); + if (container != null) { + String pumpId = container.getPumpId(); + return AcidPumpDeviceCode.valueOf(pumpId); + } + return null; + } + + /** + * 根据容器id获取泵id + */ + public AcidPumpDeviceCode getPumpByContainerId(Long containerId) { + Container container = this.getById(containerId); + if (container != null) { + String pumpId = container.getPumpId(); + return AcidPumpDeviceCode.valueOf(pumpId); + } + return null; + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/CraftsService.java b/src/main/java/com/iflytop/sgs/app/service/CraftsService.java new file mode 100644 index 0000000..8c2e194 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/CraftsService.java @@ -0,0 +1,191 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.core.CraftsContext; +import com.iflytop.sgs.app.mapper.CraftsMapper; +import com.iflytop.sgs.app.model.entity.Crafts; +import com.iflytop.sgs.app.model.entity.Ores; +import com.iflytop.sgs.app.model.vo.CraftStatusVO; +import com.iflytop.sgs.app.model.vo.SetCraftsVO; +import com.iflytop.sgs.common.enums.automaton.CraftEvents; +import com.iflytop.sgs.common.enums.automaton.CraftStates; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import org.springframework.statemachine.config.StateMachineFactory; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.util.concurrent.Future; +import java.util.stream.Collectors; + +/** + * 工艺执行管理服务 + */ +@Service +@RequiredArgsConstructor +public class CraftsService extends ServiceImpl { + private final StateMachineFactory stateMachineFactory; + private final WebSocketService webSocketService; + private final CraftsStepService craftsStepService; + private final OresService oresService; + private final ConcurrentHashMap contextMap = new ConcurrentHashMap<>(); + private final ConcurrentHashMap> futureMap = new ConcurrentHashMap<>(); + private ExecutorService executor; + + @PostConstruct + public void init() { + this.executor = Executors.newCachedThreadPool(); + } + + /** + * 配置工艺 + */ + public synchronized SetCraftsVO setCraft(Long craftId, String heatId) { + // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置 + CraftsContext existing = contextMap.get(heatId); + if (existing != null) { + CraftStates state = existing.getSm().getState().getId(); + if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) { + throw new AppException(ResultCode.CRAFT_RUNNING); + } + clearCraftContext(heatId); + } + Crafts craft = this.getById(craftId); + Ores ores = oresService.getById(craft.getOresId()); + CraftsContext ctx = new CraftsContext( + heatId, + ores, + craft, + stateMachineFactory, + webSocketService, + craftsStepService + ); + contextMap.put(heatId, ctx); + SetCraftsVO setCraftsVO = new SetCraftsVO(); + setCraftsVO.setHeatId(heatId); + setCraftsVO.setCraftsName(craft.getName()); + setCraftsVO.setCraftsId(craft.getId()); + setCraftsVO.setOresName(ores.getName()); + setCraftsVO.setOresId(ores.getId()); + return setCraftsVO; + } + + /** + * 启动执行工艺（需先调用 setCraft） + */ + public synchronized void startCrafts(String heatId) { + CraftsContext ctx = contextMap.get(heatId); + if (ctx == null) { + throw new AppException(ResultCode.CRAFT_CONTEXT_NULL); + } + if (futureMap.containsKey(heatId)) { + throw new AppException(ResultCode.CRAFT_RUNNING); + } + Future future = executor.submit(ctx); + futureMap.put(heatId, future); + } + + /** + * 暂停执行工艺 + */ + public synchronized void pauseCrafts(String heatId) { + CraftsContext ctx = contextMap.get(heatId); + if (ctx == null) { + throw new AppException(ResultCode.CRAFT_CONTEXT_NULL); + } + ctx.pause(); + } + + /** + * 恢复执行工艺 + */ + public synchronized void resumeCrafts(String heatId) { + CraftsContext ctx = contextMap.get(heatId); + if (ctx == null) { + throw new AppException(ResultCode.CRAFT_CONTEXT_NULL); + } + ctx.resume(); + } + + /** + * 停止执行工艺，不清除上下文 + */ + public synchronized void stopCrafts(String heatId) { + CraftsContext ctx = contextMap.get(heatId); + Future future = futureMap.remove(heatId); + if (ctx == null || future == null) { + throw new AppException(ResultCode.CRAFT_CONTEXT_NULL); + } + ctx.stop(); + future.cancel(true); + } + + /** + * 清理指定 heatId 的执行上下文和 Future + */ + public synchronized void clearCraftContext(String heatId) { + contextMap.remove(heatId); + Future future = futureMap.remove(heatId); + if (future != null) future.cancel(true); + } + + /** + * 查询指定 heatId 的执行状态 + */ + public CraftStatusVO getStatus(String heatId) { + CraftsContext ctx = contextMap.get(heatId); + if (ctx == null) { + return null; + } + CraftStatusVO vo = new CraftStatusVO(); + vo.setHeatId(heatId); + vo.setOresId(ctx.getOres().getId()); + vo.setOresName(ctx.getOres().getName()); + vo.setCraftsId(ctx.getCraft().getId()); + vo.setCraftsName(ctx.getCraft().getName()); + vo.setState(ctx.getSm().getState().getId()); + vo.setCurrentIndex(ctx.getCurrentIndex()); + vo.setSteps(ctx.getCraftsStepList()); + return vo; + } + + /** + * 查询所有正在执行的工艺状态 + */ + public List getAllStatuses() { + return contextMap.entrySet().stream().map(entry -> { + String heatIdKey = entry.getKey(); + CraftsContext ctx = entry.getValue(); + CraftStatusVO vo = new CraftStatusVO(); + vo.setHeatId(heatIdKey); + vo.setOresId(ctx.getOres().getId()); + vo.setOresName(ctx.getOres().getName()); + vo.setCraftsId(ctx.getCraft().getId()); + vo.setCraftsName(ctx.getCraft().getName()); + vo.setState(ctx.getSm().getState().getId()); + vo.setCurrentIndex(ctx.getCurrentIndex()); + vo.setSteps(ctx.getCraftsStepList()); + return vo; + }).collect(Collectors.toList()); + } + + public List selectAllByOresId(Long oresId) { + return this.baseMapper.selectAllByOresId(oresId); + } + + public Crafts findByName(String name) { + return this.getOne(new LambdaQueryWrapper<>(new Crafts()).eq(Crafts::getName, name)); + } + + public boolean deleteCrafts(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")).map(Long::parseLong).collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/CraftsStepService.java b/src/main/java/com/iflytop/sgs/app/service/CraftsStepService.java new file mode 100644 index 0000000..0e1fe3b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/CraftsStepService.java @@ -0,0 +1,86 @@ +package com.iflytop.sgs.app.service; + +import cn.hutool.json.JSONObject; +import com.iflytop.sgs.app.core.CraftsDebugGenerator; +import com.iflytop.sgs.app.model.bo.CraftsStep; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +/** + * 工艺步骤执行服务 + */ +@Service +@RequiredArgsConstructor +public class CraftsStepService { + private final DeviceCommandUtilService deviceCommandUtilService; + private final DevicePositionService devicePositionService; + private final ContainerService containerService; + private final WebSocketService webSocketService; + private final GantryArmService gantryArmService; + private final DeviceStateService deviceStateService; + + + /** + * 执行单个工艺步骤 + * + * @param heatId 加热区 ID + * @param step 工艺步骤，包括 method 和 params + * @return true 表示执行成功，false 表示失败 + */ + public boolean executeStep(String heatId, CraftsStep step) throws Exception { + String method = step.getMethod(); + JSONObject params = step.getParams(); + return switch (method) { + case "addLiquid" -> addLiquid(heatId, params); + case "shaking" -> shaking(heatId, params); + case "startHeating" -> heating(heatId, params); + case "takePhoto" -> takePhoto(heatId); + default -> true; + }; + } + + /** + * 将托盘从加热区移动至加液区并且添加溶液 + */ + private boolean addLiquid(String heatId, JSONObject params) throws Exception { + return true; + } + + /** + * 摇匀操作 + */ + private boolean shaking(String heatId, JSONObject params) throws Exception { + Integer second = params.getInt("second"); + webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开始摇匀", params)); + delay(second); + webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "停止摇匀", null)); + return true; + } + + /** + * 将托盘从加液区移动至加热区并开启加热 + */ + private boolean heating(String heatId, JSONObject params) throws Exception { + return true; + } + + /** + * 拍照操作· + */ + private boolean takePhoto(String heatId) throws Exception { + deviceCommandUtilService.fillLightClose();//关闭补光灯 + return true; + } + + /** + * 延时等待 + */ + private boolean delay(int seconds) { + try { + Thread.sleep(seconds * 1000L); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + return true; + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DeviceCommandService.java b/src/main/java/com/iflytop/sgs/app/service/DeviceCommandService.java new file mode 100644 index 0000000..b67cb0e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DeviceCommandService.java @@ -0,0 +1,180 @@ +package com.iflytop.sgs.app.service; + + +import cn.hutool.json.JSONObject; +import com.iflytop.sgs.app.core.DebugGenerator; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.CyclicNumberGenerator; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.constant.CommandStatus; +import com.iflytop.sgs.hardware.HardwareService; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.ArrayList; +import java.util.List; +import java.util.concurrent.BlockingQueue; +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ConcurrentMap; +import java.util.concurrent.LinkedBlockingQueue; + +@Slf4j +@Service +@RequiredArgsConstructor +public class DeviceCommandService { + private final HardwareService hardwareService; + private final WebSocketService webSocketService; + private final DeviceStateService deviceStateService; + /** + * 需要等待加液区空闲的龙门架机械臂指令 + */ + private final ConcurrentMap sendCommandFutureMap = new ConcurrentHashMap<>(); + private final BlockingQueue gantryCommandQueue = new LinkedBlockingQueue<>(); + + @PostConstruct + private void initExecutorThread() { + new Thread(this::executeCommands).start(); + } + + private void executeCommands() { + while (true) { + try { + deviceStateService.setGantryArmStateIdle(true); + CommandFuture[] commandFutureArray = gantryCommandQueue.take(); + for (CommandFuture commandFuture : commandFutureArray) { + executeCommand(commandFuture); + } + } catch (Exception e) { + Thread.currentThread().interrupt(); + } finally { + deviceStateService.setGantryArmStateIdle(false); + } + } + } + + public synchronized CommandFuture[] sendCommandGantryQueue(DeviceCommandBundle... deviceCommandBundles) { + return sendCommandGantryQueue(null, null, deviceCommandBundles); + } + + public synchronized CommandFuture[] sendCommandGantryQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) { + List commandFutureList = new ArrayList<>(); + for (DeviceCommandBundle deviceCommandBundle : deviceCommandBundles) { + commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle)); + } + CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); + try { + gantryCommandQueue.put(commandFutureArray); + } catch (Exception e) { + log.error("设备指令入队列失败", e); + throw new RuntimeException(e); + } + return commandFutureArray; + } + + /** + * 根据 DeviceCommand 创建 CommandFuture + */ + private CommandFuture createDeviceCommandFuture(String cmdId, String cmdCode, DeviceCommandBundle deviceCommandBundle) { + CommandFuture commandFuture = createDeviceCommandFuture(deviceCommandBundle); + commandFuture.setCmdId(cmdId); + commandFuture.setCmdCode(cmdCode); + return commandFuture; + } + + /** + * 根据 DeviceCommand 创建 CommandFuture + */ + private CommandFuture createDeviceCommandFuture(DeviceCommandBundle deviceCommandBundle) { + CommandFuture commandFuture = new CommandFuture(); + commandFuture.setDeviceCommandBundle(deviceCommandBundle); + commandFuture.getResponseFuture().whenComplete((result, ex) -> { + sendCommandFutureMap.remove(deviceCommandBundle.getDeviceCommand().getCmdId()); + }); + return commandFuture; + } + + public void executeCommand(CommandFuture commandFuture) { + int cmdId = CyclicNumberGenerator.getInstance().generateNumber(); + commandFuture.getDeviceCommandBundle().getDeviceCommand().setCmdId(cmdId); + sendCommandFutureMap.put(cmdId, commandFuture); + commandFuture.setStartSendTime(System.currentTimeMillis()); + if (!deviceStateService.getDeviceState().isVirtual()) { + if (!hardwareService.sendCommand(commandFuture.getDeviceCommandBundle().getDeviceCommand())) { + sendCommandFutureMap.remove(commandFuture.getDeviceCommandBundle().getDeviceCommand().getCmdId()); + throw new RuntimeException("向设备发送指令失败"); + } + } else { + //虚拟模式 + new Thread(() -> { + try { + String actionName = commandFuture.getDeviceCommandBundle().getDeviceCommand().getAction().name(); + if (actionName.contains("move") || actionName.contains("origin")) { + Thread.sleep(300); + } + JSONObject jsonObject = new JSONObject(); + jsonObject.putOnce("cmdId", cmdId); + jsonObject.putOnce("success", true); + completeCommandResponse(jsonObject); + } catch (InterruptedException e) { + // 处理中断异常 + Thread.currentThread().interrupt(); + } + }).start(); + } + if (commandFuture.getCmdId() != null) { + webSocketService.pushDebug(DebugGenerator.generateJson(commandFuture.getCmdId(), commandFuture.getCmdCode(), CommandStatus.DEVICE_SEND, commandFuture.getDeviceCommandBundle().getCmdName() + "指令，已发给设备", commandFuture.getDeviceCommandBundle())); + } + + } + + public CommandFuture sendCommand(DeviceCommandBundle deviceCommand) { + CommandFuture commandFuture = createDeviceCommandFuture(deviceCommand); + executeCommand(commandFuture); + return commandFuture; + } + + public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommandBundle deviceCommandBundle) { + CommandFuture commandFuture = createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle); + executeCommand(commandFuture); + return commandFuture; + } + + public void completeCommandResponse(JSONObject deviceResult) { + Integer cmdId = deviceResult.getInt("cmdId"); + if (cmdId != null) { + CommandFuture future = sendCommandFutureMap.get(cmdId); + if (future != null) { + future.setEndSendTime(System.currentTimeMillis()); + Boolean success = deviceResult.getBool("success"); //数据验证 + if (success == null || !success) { //response失败 + if (future.getCmdId() != null) { + webSocketService.pushDebug(DebugGenerator.generateJson(future.getCmdId(), future.getCmdCode(), CommandStatus.DEVICE_ERROR, + future.getDeviceCommandBundle().getCmdName() + "指令，设备response错误，耗时:" + (future.getEndSendTime() - future.getStartSendTime()), deviceResult)); + } + future.completeResponseExceptionally(new RuntimeException("response失败:" + deviceResult)); + } else { + if (future.getCmdId() != null) { + webSocketService.pushDebug(DebugGenerator.generateJson(future.getCmdId(), future.getCmdCode(), CommandStatus.DEVICE_RESULT, + future.getDeviceCommandBundle().getCmdName() + "指令，设备response正常，耗时:" + (future.getEndSendTime() - future.getStartSendTime()), deviceResult)); + } + future.completeResponse(deviceResult); + } + } + } + } + + /** + * 取消等待中的future并从map中移除 + */ + public synchronized void releaseAllCommandFutures() { + for (Integer key : sendCommandFutureMap.keySet()) { + CommandFuture future = sendCommandFutureMap.remove(key); + if (future != null) { + future.getResponseFuture().cancel(true); + } + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DeviceCommandUtilService.java b/src/main/java/com/iflytop/sgs/app/service/DeviceCommandUtilService.java new file mode 100644 index 0000000..d7f42eb --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DeviceCommandUtilService.java @@ -0,0 +1,567 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.model.bo.Point2D; +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.model.entity.DevicePosition; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.enums.AcidPumpDeviceCode; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import com.iflytop.sgs.hardware.drivers.LiquidDistributionArmDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.service.GDDeviceStatusService; +import com.iflytop.sgs.hardware.type.IO.InputIOMId; +import com.iflytop.sgs.hardware.type.Servo.LiquidArmMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Arrays; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.TimeUnit; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DeviceCommandUtilService { + private final DeviceCommandService deviceCommandService; + private final DevicePositionService devicePositionService; + private final LiquidDistributionArmDriver liquidDistributionArmDriver; + private final GDDeviceStatusService gdDeviceStatusService; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + + /** + * 门电机回原点 + */ + public void doorOrigin() throws Exception { + doorOrigin(null, null); + } + + /** + * 门电机回原点 + */ + public void doorOrigin(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 门电机移动 + */ + public void doorMove(double position) throws Exception { + doorMove(null, null, position); + } + + /** + * 门电机移动 + */ + public void doorMove(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂移动到0点 + */ + public void gantryMoveZero() throws Exception { + gantryMove(null, null, new Point3D(0.0, 0.0, 0.0)); + } + + /** + * 龙门架机械臂移动到指定点 + */ + public void gantryMove(Point3D point) throws Exception { + gantryMove(null, null, point); + } + + /** + * 龙门架机械臂移动到指定点 + */ + public void gantryMove(String cmdId, String cmdCode, Point3D point) throws Exception { + DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX()); + CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryXMoveDeviceCommand); + DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ()); + CommandFuture gantryZMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryZMoveDeviceCommand); + commandWait(gantryXMoveDeviceCommandFuture,gantryZMoveDeviceCommandFuture); + } + + /** + * 龙门架机械臂移动到指定点 + */ + public void gantryMoveQueue(Point3D point) throws Exception { + gantryMoveQueue(null, null, point); + } + + /** + * 龙门架机械臂移动到指定点 + */ + public void gantryMoveQueue(String cmdId, String cmdCode, Point3D point) throws Exception { + DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX()); + DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ()); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryZMoveDeviceCommand); + commandWait(deviceCommandFutureArr); + } + + + /** + * 龙门架机械臂X轴回原点 + */ + public void gantryXMoveOrigin() throws Exception { + gantryXMoveOrigin(null, null); + } + + /** + * 龙门架机械臂X轴回原点 + */ + public void gantryXMoveOrigin(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂X轴回原点 + */ + public void gantryXMoveOriginQueue() throws Exception { + gantryXMoveOriginQueue(null, null); + } + + /** + * 龙门架机械臂X轴回原点 + */ + public void gantryXMoveOriginQueue(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin(); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + + /** + * 龙门架机械臂Z轴回原点 + */ + public void gantryZMoveOrigin() throws Exception { + gantryZMoveOrigin(null, null); + } + + /** + * 龙门架机械臂Z轴回原点 + */ + public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + + /** + * 龙门架机械臂Z轴回原点 + */ + public void gantryZMoveOriginQueue() throws Exception { + gantryZMoveOriginQueue(null, null); + } + + /** + * 龙门架机械臂Z轴回原点 + */ + public void gantryZMoveOriginQueue(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin(); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + /** + * 龙门架机械臂X轴移动到指定点 + */ + public void gantryXMove(double position) throws Exception { + gantryXMove(null, null, position); + } + + /** + * 龙门架机械臂X轴移动到指定点 + */ + public void gantryXMove(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂X轴移动到指定点 + */ + public void gantryXMoveQueue(double position) throws Exception { + gantryXMoveQueue(null, null, position); + } + + /** + * 龙门架机械臂X轴移动到指定点 + */ + public void gantryXMoveQueue(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + /** + * 龙门架机械臂Z轴移动到指定点 + */ + public void gantryZMove(double position) throws Exception { + gantryZMove(null, null, position); + } + + /** + * 加液机械臂移动到指定点 + */ + public void motorLiquidMove(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + /** + * 加液机械臂移动到指定点 + */ + public void motorLiquidMove(double position) throws Exception { + motorLiquidMove(null, null, position); + } + + /** + * 龙门架机械臂Z轴移动到指定点 + */ + public void gantryZMove(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂Z轴移动到指定点 + */ + public void gantryZMoveQueue(double position) throws Exception { + gantryZMoveQueue(null, null, position); + } + + /** + * 龙门架机械臂Z轴移动到指定点 + */ + public void gantryZMoveQueue(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + /** + * 龙门架机械臂X轴相对移动到指定点 + */ + public void gantryXMoveBy(double position) throws Exception { + gantryXMoveBy(null, null, position); + } + + /** + * 龙门架机械臂X轴相对移动到指定点 + */ + public void gantryXMoveBy(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂X轴相对移动到指定点 + */ + public void gantryXMoveByQueue(double position) throws Exception { + gantryXMoveByQueue(null, null, position); + } + + /** + * 龙门架机械臂X轴相对移动到指定点 + */ + public void gantryXMoveByQueue(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + /** + * 龙门架机械臂Y轴相对移动到指定点 + */ + public void gantryYMoveBy(double position) throws Exception { + gantryYMoveBy(null, null, position); + } + + /** + * 龙门架机械臂Y轴相对移动到指定点 + */ + public void gantryYMoveBy(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂Y轴相对移动到指定点 + */ + public void gantryYMoveByQueue(double position) throws Exception { + gantryYMoveByQueue(null, null, position); + } + + /** + * 龙门架机械臂Y轴相对移动到指定点 + */ + public void gantryYMoveByQueue(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + /** + * 龙门架机械臂Z轴相对移动到指定点 + */ + public void gantryZMoveBy(double position) throws Exception { + gantryZMoveBy(null, null, position); + } + + /** + * 龙门架机械臂Z轴相对移动到指定点 + */ + public void gantryZMoveBy(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 龙门架机械臂Z轴相对移动到指定点 + */ + public void gantryZMoveByQueue(double position) throws Exception { + gantryZMoveByQueue(null, null, position); + } + + /** + * 龙门架机械臂Z轴相对移动到指定点 + */ + public void gantryZMoveByQueue(String cmdId, String cmdCode, double position) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFutureArr); + } + + + /** + * 双轴械臂 移动至指定试管 + */ + public void dualRobotMovePoint(int index) throws Exception { + liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, index); + } + + /** + * 加液机械臂回原点 + */ + public void dualRobotOrigin() throws Exception { + liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0); + } + + /** + * 停止泵旋转 + */ + public void acidPumpStop(String cmdId, String cmdCode, AcidPumpDeviceCode acidPumpDevice) throws Exception { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.liquidPumpStop(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 添加溶液 + */ + public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { + acidPumpMoveBy(null, null, acidPumpDevice, position); + } + + /** + * 添加溶液 + */ + public void acidPumpMoveBy(String cmdId, String cmdCode, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { + DeviceCommandBundle deviceCommand=DeviceCommandGenerator.liquidPumpMoveBy(position); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 指定加热模块开始加热 + */ + public void heatRodOpen(HeatModuleCode heatModuleId, double temperature) throws Exception { + heatRodOpen(null, null, heatModuleId, temperature); + } + + /** + * 指定加热模块开始加热 + */ + public void heatRodOpen(String cmdId, String cmdCode, HeatModuleCode heatModuleId, double temperature) throws Exception { + DeviceCommandBundle deviceCommand = switch (heatModuleId) { + case heat_module_01 -> DeviceCommandGenerator.heatRod1Open(temperature); + case heat_module_02 -> DeviceCommandGenerator.heatRod2Open(temperature); + case heat_module_03 -> DeviceCommandGenerator.heatRod3Open(temperature); + case heat_module_04 -> DeviceCommandGenerator.heatRod4Open(temperature); + }; + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 指定加热模块停止加热 + */ + public void heatRodClose(HeatModuleCode heatModuleId) throws Exception { + heatRodClose(null, null, heatModuleId); + } + + /** + * 指定加热模块停止加热 + */ + public void heatRodClose(String cmdId, String cmdCode, HeatModuleCode heatModuleId) throws Exception { + DeviceCommandBundle deviceCommand = switch (heatModuleId) { + case heat_module_01 -> DeviceCommandGenerator.heatRod1Close(); + case heat_module_02 -> DeviceCommandGenerator.heatRod2Close(); + case heat_module_03 -> DeviceCommandGenerator.heatRod3Close(); + case heat_module_04 -> DeviceCommandGenerator.heatRod4Close(); + }; + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 开启补光灯 + */ + public void fillLightOpen(Double brightness) throws Exception { + fillLightOpen(null, null, brightness); + } + + /** + * 开启补光灯 + */ + public void fillLightOpen(String cmdId, String cmdCode, Double brightness) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.fillLightOpen(brightness); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 关闭补光灯 + */ + public void fillLightClose() throws Exception { + fillLightClose(null, null); + } + + /** + * 关闭补光灯 + */ + public void fillLightClose(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.fillLightClose(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 拍照 + */ + public void takePhoto() throws Exception { + takePhoto(null, null); + } + + /** + * 拍照 + */ + public void takePhoto(String cmdId, String cmdCode) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.takePhoto(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } + + /** + * 获取指定加热模块托盘检测传感器数值 + */ + public Boolean heatModuleSensorState(HeatModuleCode heatModuleCode) throws HardwareException { + return switch (heatModuleCode) { + case heat_module_01 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE01_EXIST); + case heat_module_02 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE02_EXIST); + case heat_module_03 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE03_EXIST); + case heat_module_04 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE04_EXIST); + }; + + } + + + public void commandWait(CommandFuture... futures) throws Exception { + CompletableFuture[] responseFutures = Arrays.stream(futures) + .map(CommandFuture::getResponseFuture) + .toArray(CompletableFuture[]::new); + CompletableFuture.allOf(responseFutures) + .get(120, TimeUnit.SECONDS); + } + + /////////////////////////////////////////////////获取位置 + + /** + * 获取指定加热区托盘夹爪点位 + */ + public Point3D getHeatAreaTrayClawPoint3D(HeatModuleCode heatModuleId) { + DevicePosition devicePosition = switch (heatModuleId) { + case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint); + case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2TrayClawPoint); + case heat_module_03 -> devicePositionService.getPosition(DevicePositionCode.heatArea3TrayClawPoint); + case heat_module_04 -> devicePositionService.getPosition(DevicePositionCode.heatArea4TrayClawPoint); + }; + return devicePosition.getPoint3D(); + } + + + /** + * 获取指定加热区拍子夹爪点位 + */ + public Point3D getHeatAreaCapClawPointPoint3D(HeatModuleCode heatModuleId) { + DevicePosition devicePosition = switch (heatModuleId) { + case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1CapClawPoint); + case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2CapClawPoint); + case heat_module_03 -> devicePositionService.getPosition(DevicePositionCode.heatArea3CapClawPoint); + case heat_module_04 -> devicePositionService.getPosition(DevicePositionCode.heatArea4CapClawPoint); + }; + return devicePosition.getPoint3D(); + } + + /** + * 根据试管需要获取点位 + */ + public Point2D getPointByTubeNum(int tubeNum) { + return new Point2D(tubeNum * 60.0, tubeNum * 60.0);// + } + + + public void fanStart(String cmdId, String cmdCode, HeatModuleCode heatModuleId) throws Exception { + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Open(); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Open(); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Open(); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Open(); + default -> throw new RuntimeException("heatId 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + + } + + public void fanClose(String cmdId, String cmdCode, HeatModuleCode heatModuleId) throws Exception { + DeviceCommandBundle deviceCommand; + switch (heatModuleId) { + case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Close(); + case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Close(); + case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Close(); + case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Close(); + default -> throw new RuntimeException("heatId 未找到"); + } + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + commandWait(deviceCommandFuture); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DeviceInitService.java b/src/main/java/com/iflytop/sgs/app/service/DeviceInitService.java new file mode 100644 index 0000000..8715943 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DeviceInitService.java @@ -0,0 +1,171 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.core.device.DeviceState; +import com.iflytop.sgs.app.core.device.HeatModuleState; +import com.iflytop.sgs.app.core.device.SolutionContainerState; +import com.iflytop.sgs.app.model.bo.DeviceInitializationData; +import com.iflytop.sgs.app.model.entity.Container; +import com.iflytop.sgs.app.model.entity.DeviceParamConfig; +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.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.constants.ActionOvertimeConstant; +import com.iflytop.sgs.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver; +import com.iflytop.sgs.hardware.drivers.LiquidDistributionArmDriver; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.drivers.TricolorLightDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.RegIndex; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.Servo.LiquidArmMId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.List; +import java.util.concurrent.CompletableFuture; + +@Slf4j +@Service +@RequiredArgsConstructor +public class DeviceInitService { + private final ContainerService containerService; + private final DeviceStateService deviceStateService; + private final A8kCanBusService canBusService; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + private final MiniServoDriver miniServoDriver; + private final LiquidDistributionArmDriver liquidDistributionArmDriver; + private final TricolorLightDriver tricolorLightDriver; + private final LeisaiServoDriver leisaiServoDriver; + private final ActionOvertimeConstant actionOvertimeConstant; + private final OutputIOCtrlDriver outputIOCtrlDriver; + private final DeviceParamConfigService deviceParamConfigService; + + @PostConstruct + public void init() { + new Thread(() -> { + try { + Thread.sleep(2000); + CompletableFuture.runAsync(() -> { + try { + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE); + } catch (HardwareException e) { + log.error("设备初始化灯光失败，Color.BLUE"); + } + }); + initDeviceState(); + initDeviceSetData(); + initOvertime(); + initEnable(); + try { + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN); + } catch (HardwareException e) { + log.error("设备初始化灯光失败，Color.GREEN"); + } + deviceStateService.setInitComplete(true); + } catch (Exception e) { + try { + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED); + } catch (Exception ignored) { + } + log.error("设备初始化失败", e); + } + }).start(); + } + + /** + * 设置各动作超时时间 + */ + public void initOvertime() { + actionOvertimeConstant.pushNewConfig(StepMotorMId.DOOR_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 90 * 1000); + actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainXSV, CmdId.step_motor_easy_move_to_zero, 300 * 1000); + actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainYSV, CmdId.step_motor_easy_move_to_zero, 120 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HBOT_Z_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 30 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_1_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_2_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_3_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_4_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_5_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_6_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000); + actionOvertimeConstant.pushNewConfig(StepMotorMId.TRAY_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 300 * 1000); + actionOvertimeConstant.pushNewConfig(LiquidArmMId.LiquidDistributionArm, CmdId.liquid_distribution_arm_move_to, 6 * 1000); + } + + /** + * 初始化所有设备使能 + */ + public void initEnable() throws Exception { + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_1_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_2_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_3_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_4_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 1); + + liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1); + miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1); + leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1); + leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1); + + outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP); + outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP); + } + + 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 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 { + sendToDevice(data); + } 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(); + } + } + + } + + public void sendToDevice(DeviceInitializationData data) throws Exception { + canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal()); + } + + public void initDeviceState() { + DeviceState deviceState = deviceStateService.getDeviceState(); + List heatArea = deviceState.getHeatModule(); + for (HeatModuleCode code : HeatModuleCode.values()) { + heatArea.add(new HeatModuleState(code)); + } + + List containerList = containerService.getList(); + List 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.neutralization)); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DeviceParamConfigService.java b/src/main/java/com/iflytop/sgs/app/service/DeviceParamConfigService.java new file mode 100644 index 0000000..4a337bd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DeviceParamConfigService.java @@ -0,0 +1,119 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.DeviceParamConfigMapper; +import com.iflytop.sgs.app.model.entity.DeviceParamConfig; +import com.iflytop.sgs.app.model.vo.DeviceParamGroupVO; +import com.iflytop.sgs.app.model.vo.ModuleIdVO; +import com.iflytop.sgs.app.model.vo.RegIndexVO; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.RegIndex; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.Map; +import java.util.stream.Collectors; + +/** + * 设备参数配置服务 + */ +@Service +@RequiredArgsConstructor +public class DeviceParamConfigService extends ServiceImpl { + private final DeviceParamConfigMapper deviceParamConfigMapper; + + /** + * 按 ModuleId 分组，列出每个模块下的 regIndex + regVal + */ + public List listGroupedByModule() { + // 拉取所有配置记录 + List all = this.list(); + + // 按 mid 分组 + Map> grouped = all.stream() + .collect(Collectors.groupingBy(DeviceParamConfig::getMid)); + + // 构造 VO 列表 + return grouped.entrySet().stream() + .map(entry -> { + String moduleId = entry.getKey(); + List items = entry.getValue().stream() + .map(cfg -> new DeviceParamGroupVO.ParamItem( + cfg.getRegIndex(), + cfg.getRegVal() + )) + .collect(Collectors.toList()); + return new DeviceParamGroupVO(moduleId, items); + }) + .collect(Collectors.toList()); + } + + /** + * 根据模块标识和寄存器索引查询设备参数配置 + * + * @param moduleId 模块枚举 + * @param regIndex 寄存器索引 + * @return 唯一匹配的 DeviceParamConfig，找不到返回 null + */ + public DeviceParamConfig getByModuleAndReg(MId moduleId, RegIndex regIndex) { + return deviceParamConfigMapper.selectOne( + new LambdaQueryWrapper() + .eq(DeviceParamConfig::getMid, moduleId.name()) + .eq(DeviceParamConfig::getRegIndex, regIndex.name()) + ); + } + + /** + * 根据模块标识和寄存器索引设置设备参数配置 + * + * @param moduleId 模块枚举 + * @param regIndex 寄存器索引 + * @param regVal 寄存器值 + * @return 唯一匹配的 DeviceParamConfig，找不到返回 null + */ + public int setModuleAndReg(String moduleId, String regIndex, Integer regVal) { + return deviceParamConfigMapper.update(new LambdaUpdateWrapper() + .eq(DeviceParamConfig::getMid, moduleId) + .eq(DeviceParamConfig::getRegIndex, regIndex) + .set(DeviceParamConfig::getRegVal, regVal)); + + } + + /** + * 列出所有 ModuleId，返回 VO 列表 + * + * @return List + */ + public List listAllModuleIds() { + return Arrays.stream(MId.values()) + .map(e -> new ModuleIdVO( + e.name(), // 枚举常量名 + e.description // 描述字段 + )) + .collect(Collectors.toList()); + } + + /** + * 列出所有寄存器索引枚举，返回 VO 列表 + * + * @return List + */ + public List listAllRegIndices() { + return Arrays.stream(RegIndex.values()) + .map(e -> new RegIndexVO( + e.name() // 枚举常量名 + )) + .collect(Collectors.toList()); + } + + public boolean deleteDeviceParam(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DevicePositionService.java b/src/main/java/com/iflytop/sgs/app/service/DevicePositionService.java new file mode 100644 index 0000000..908e9fc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DevicePositionService.java @@ -0,0 +1,69 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.DevicePositionMapper; +import com.iflytop.sgs.app.model.dto.AddDevicePositionDTO; +import com.iflytop.sgs.app.model.entity.DevicePosition; +import com.iflytop.sgs.app.model.vo.DevicePositionVO; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; + +/** + * 设备位置服务 + */ +@Service +@RequiredArgsConstructor +public class DevicePositionService extends ServiceImpl { + + @PostConstruct + private void init() { + for (DevicePositionCode positionCode : DevicePositionCode.values()) { + System.out.println(positionCode.getName()); // 打印每个枚举常量的name属性 + DevicePosition devicePosition = this.getOne(new LambdaQueryWrapper().eq(DevicePosition::getCode, positionCode)); + if (devicePosition == null) { + devicePosition = new DevicePosition(); + devicePosition.setCode(positionCode); + devicePosition.setName(positionCode.getName()); + devicePosition.setType(positionCode.getType()); + this.save(devicePosition); + } + } + } + + public boolean updatePosition(AddDevicePositionDTO addDevicePositionDTO){ + DevicePosition devicePosition = this.getById(addDevicePositionDTO.getId()); + if(devicePosition != null){ + devicePosition.setPosition(addDevicePositionDTO.getPosition()); + return this.updateById(devicePosition); + } + return false; + } + + public List getList() { + List devicePositions = super.list(); + return devicePositions.stream() + .map(DevicePositionVO::new) + .collect(Collectors.toList()); + } + + /** + * 根据位置类型获取位置 + */ + public DevicePosition getPosition(DevicePositionCode code) { + return this.getOne(new LambdaQueryWrapper<>(DevicePosition.class).eq(DevicePosition::getCode, code)); + } + + public boolean deletePositon(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/DeviceStateService.java b/src/main/java/com/iflytop/sgs/app/service/DeviceStateService.java new file mode 100644 index 0000000..6f25587 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/DeviceStateService.java @@ -0,0 +1,381 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.core.device.*; +import com.iflytop.sgs.app.core.listener.DeviceStateListener; +import com.iflytop.sgs.app.model.entity.Tasks; +import com.iflytop.sgs.app.model.entity.User; +import com.iflytop.sgs.app.model.vo.SetTargetTemperatureVO; +import com.iflytop.sgs.common.enums.ContainerCode; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import lombok.Getter; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.beans.PropertyChangeSupport; +import java.util.List; +import java.util.concurrent.atomic.AtomicReference; + +/** + * 设备状态服务 + */ +@Service +@RequiredArgsConstructor +public class DeviceStateService { + private final transient PropertyChangeSupport support = new PropertyChangeSupport(this); + + private final DeviceState deviceState = new DeviceState(); + + @Getter + private final AtomicReference commandState = new AtomicReference<>(new CommandState()); + + + + public synchronized DeviceState getDeviceState() { + return deviceState; + } + + public void addListener(DeviceStateListener deviceStateListener) { + support.addPropertyChangeListener(deviceStateListener); + } + + + public synchronized HeatModuleState getHeatModuleState(HeatModuleCode moduleCode) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (moduleCode.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + return heatModuleState; + } + + public synchronized TrayState getTrayState(String trayUUID) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + return foundTrayState; + } + + public synchronized TrayState getTrayInSolutionModule() { + List trayList = deviceState.getTray(); + return trayList.stream() + .filter(TrayState::isInSolutionModule) + .findFirst() + .orElse(null); + } + + public synchronized void setVirtual(boolean virtual) { + boolean oldValue = deviceState.isVirtual(); + deviceState.setVirtual(virtual); + support.firePropertyChange("setVirtual", oldValue, virtual); + } + + public synchronized void setInitComplete(boolean initComplete) { + boolean oldValue = deviceState.isInitComplete(); + deviceState.setInitComplete(initComplete); + support.firePropertyChange("setInitComplete", oldValue, initComplete); + } + + public synchronized void setEmergencyStop(boolean emergencyStop) { + boolean oldValue = deviceState.isEmergencyStop(); + deviceState.setEmergencyStop(emergencyStop); + support.firePropertyChange("setEmergencyStop", oldValue, emergencyStop); + } + + public synchronized void setSelfTest(boolean selfTest) { + boolean oldValue = deviceState.isSelfTest(); + deviceState.setSelfTest(selfTest); + support.firePropertyChange("setSelfTest", oldValue, selfTest); + } + + public synchronized void setDoorStatus(boolean status) { + boolean oldValue = deviceState.getDoor().isOpen(); + deviceState.getDoor().setOpen(status); + support.firePropertyChange("setDoorStatus", oldValue, status); + } + + public synchronized void setGantryArmStateIdle(boolean idle) { + boolean oldValue = deviceState.getGantryArm().isIdle(); + deviceState.getGantryArm().setIdle(idle); + support.firePropertyChange("setGantryArmStateIdle", oldValue, idle); + } + + public synchronized void setHeatModuleStateTrayUp(HeatModuleCode heatModuleId, int trayStatusUp) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + int oldValue = heatModuleState.getTrayUp(); + heatModuleState.setTrayUp(trayStatusUp); + support.firePropertyChange("setHeatModuleStateTrayUp", oldValue, trayStatusUp); + } + + public synchronized void setHeatModuleStateTrayStatus(HeatModuleCode heatModuleId, int trayStatus) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + int oldValue = heatModuleState.getTrayStatus(); + heatModuleState.setTrayStatus(trayStatus); + support.firePropertyChange("setHeatModuleStateTrayStatus", oldValue, trayStatus); + } + + public synchronized void setHeatModuleStateHeating(HeatModuleCode heatModuleId, boolean heating) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + boolean oldValue = heatModuleState.isHeating(); + heatModuleState.setHeating(heating); + support.firePropertyChange("setHeatModuleStateHeating", oldValue, heating); + } + public synchronized void setHeatModuleStateDrying(HeatModuleCode heatModuleId, boolean drying) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + boolean oldValue = heatModuleState.isDrying(); + heatModuleState.setDrying(drying); + support.firePropertyChange("setHeatModuleStateDrying", oldValue, drying); + } + public synchronized void setHeatModuleStateAnnealing(HeatModuleCode heatModuleId, boolean annealing) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + boolean oldValue = heatModuleState.isAnnealing(); + heatModuleState.setAnnealing(annealing); + support.firePropertyChange("setHeatModuleStateHeating", oldValue, annealing); + } + + public synchronized void setHeatModuleStateFanOpen(HeatModuleCode heatModuleId, boolean fanOpen) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + boolean oldValue = heatModuleState.isFanOpen(); + heatModuleState.setFanOpen(fanOpen); + support.firePropertyChange("setHeatModuleStateFanOpen", oldValue, fanOpen); + } + + + public synchronized void setHeatModuleStatePreSetTemperature(HeatModuleCode heatModuleId, SetTargetTemperatureVO setTargetTemperatureVO) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + heatModuleState.setHeatTemperature(setTargetTemperatureVO.getHeatTemperature()); + heatModuleState.setAnnealTemperature(setTargetTemperatureVO.getAnnealTemperature()); + heatModuleState.setDryTemperature(setTargetTemperatureVO.getDryTemperature()); + //support.firePropertyChange("setHeatModuleStateTargetTemperature", oldValue, targetTemperature); + } + public synchronized void setHeatModuleStateTargetTemperature(HeatModuleCode heatModuleId, double targetTemperature) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + double oldValue = heatModuleState.getTargetTemperature(); + heatModuleState.setTargetTemperature(targetTemperature); + support.firePropertyChange("setHeatModuleStateTargetTemperature", oldValue, targetTemperature); + } + + public synchronized void setHeatModuleStateTemperature(HeatModuleCode heatModuleId, double temperature) { + HeatModuleState heatModuleState = null; + for (HeatModuleState t : deviceState.getHeatModule()) { + if (heatModuleId.equals(t.getModuleCode())) { + heatModuleState = t; + break; + } + } + assert heatModuleState != null; + Double oldValue = heatModuleState.getTemperature(); + heatModuleState.setTemperature(temperature); + support.firePropertyChange("setHeatModuleStateTemperature", oldValue, temperature); + } + + public synchronized void setSolutionModuleStateIdle(boolean idle) { + boolean oldValue = deviceState.getSolutionModule().isIdle(); + deviceState.getSolutionModule().setIdle(idle); + support.firePropertyChange("setSolutionModuleStateIdle", oldValue, idle); + } + + + public synchronized void setSolutionModuleStateTrayStatus(int trayStatus) { + int oldValue = deviceState.getSolutionModule().getTrayStatus(); + deviceState.getSolutionModule().setTrayStatus(trayStatus); + support.firePropertyChange("setSolutionModuleStateTrayStatus", oldValue, trayStatus); + } + + public synchronized void setSolutionModuleStatePumping(boolean pumping) { + boolean oldValue = deviceState.getSolutionModule().isPumping(); + deviceState.getSolutionModule().setPumping(pumping); + support.firePropertyChange("setSolutionModuleStatePumping", oldValue, pumping); + } + + public synchronized void setSolutionContainerStateEmpty(ContainerCode containerCode, boolean empty) { + SolutionContainerState solutionContainerState = null; + for (SolutionContainerState t : deviceState.getSolutionModule().getSolutionContainer()) { + if (containerCode.equals(t.getContainerCode())) { + solutionContainerState = t; + break; + } + } + assert solutionContainerState != null; + boolean oldValue = solutionContainerState.isEmpty(); + solutionContainerState.setEmpty(empty); + support.firePropertyChange("setSolutionContainerStateEmpty", oldValue, empty); + } + + public synchronized void setSolutionContainerStateFull(ContainerCode containerCode, boolean full) { + SolutionContainerState solutionContainerState = null; + for (SolutionContainerState t : deviceState.getSolutionModule().getSolutionContainer()) { + if (containerCode.equals(t.getContainerCode())) { + solutionContainerState = t; + break; + } + } + assert solutionContainerState != null; + boolean oldValue = solutionContainerState.isFull(); + solutionContainerState.setFull(full); + support.firePropertyChange("setSolutionContainerStateFull", oldValue, full); + } + + public synchronized void setTrayStateHeatModuleId(String trayUUID, HeatModuleCode heatModuleId) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + HeatModuleCode oldValue = foundTrayState.getHeatModuleId(); + foundTrayState.setHeatModuleId(heatModuleId); + support.firePropertyChange("setTrayStateHeatModuleId", oldValue, heatModuleId); + } + + public synchronized void setTrayStateInSolutionModule(String trayUUID, boolean inSolutionModule) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + boolean oldValue = foundTrayState.isInSolutionModule(); + foundTrayState.setInSolutionModule(inSolutionModule); + support.firePropertyChange("traySetInSolutionModule", oldValue, inSolutionModule); + } + + public synchronized void setTrayStateInHeatModule(String trayUUID, boolean inHeatModule) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + boolean oldValue = foundTrayState.isInHeatModule(); + foundTrayState.setInHeatModule(inHeatModule); + support.firePropertyChange("setTrayStateInHeatModule", oldValue, inHeatModule); + } + + + public synchronized void setTrayStateTubes(String trayUUID, TubeState[] tubes) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + TubeState[] oldValue = foundTrayState.getTubes(); + foundTrayState.setTubes(tubes); + support.firePropertyChange("setTrayStateTubes", oldValue, tubes); + } + + public synchronized void setTubeStateExists(String trayUUID, int tubeNum, boolean exists) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + TubeState tubeState = foundTrayState.getTubes()[tubeNum]; + boolean oldValue = tubeState.isExists(); + tubeState.setExists(exists); + support.firePropertyChange("setTubeStateExists", oldValue, exists); + } + + public synchronized void setTubeStateAddSolution(String trayUUID, int tubeNum, boolean addSolution) { + TrayState foundTrayState = null; + for (TrayState t : deviceState.getTray()) { + if (trayUUID.equals(t.getUuid())) { + foundTrayState = t; + break; + } + } + assert foundTrayState != null; + TubeState tubeState = foundTrayState.getTubes()[tubeNum]; + boolean oldValue = tubeState.isAddSolution(); + tubeState.setAddSolution(addSolution); + support.firePropertyChange("setTubeStateAddSolution", oldValue, addSolution); + } + + public synchronized void setCurrentUser(User currentUser) { + User oldValue = deviceState.getCurrentUser(); + deviceState.setCurrentUser(currentUser); + support.firePropertyChange("setCurrentUser", oldValue, currentUser); + } + + public synchronized void setCurrentTasks(Tasks currentTasks) { + User oldValue = deviceState.getCurrentUser(); + deviceState.setCurrentTasks(currentTasks); + support.firePropertyChange("setCurrentTasks", oldValue, currentTasks); + } + + + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/GantryArmService.java b/src/main/java/com/iflytop/sgs/app/service/GantryArmService.java new file mode 100644 index 0000000..d15dcc7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/GantryArmService.java @@ -0,0 +1,62 @@ +package com.iflytop.sgs.app.service; + + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.concurrent.locks.Condition; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; + +@Slf4j +@Service +@RequiredArgsConstructor +public class GantryArmService { + private final Lock liquidLock = new ReentrantLock(); + private final Condition liquidIdleCondition = liquidLock.newCondition(); + private final DeviceStateService deviceStateService; + + /** + * 等待加液区空闲 + */ + public void waitLiquidIdle() { + liquidLock.lock(); + try { + while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) { + liquidIdleCondition.await(); + } + } catch (InterruptedException e) { + throw new RuntimeException("等待加液区空闲错误", e); + } finally { + liquidLock.unlock(); + } + } + + /** + * 锁定加液区 + */ + public void setLiquidIdleFalse() { + liquidLock.lock(); + try { + deviceStateService.setSolutionModuleStateIdle(false); + liquidIdleCondition.signalAll(); // 唤醒所有等待的线程 + } finally { + liquidLock.unlock(); + } + } + + /** + * 释放加液区 + */ + public void setLiquidIdleTrue() { + liquidLock.lock(); + try { + deviceStateService.setSolutionModuleStateIdle(true); + liquidIdleCondition.signalAll(); // 唤醒所有等待的线程 + } finally { + liquidLock.unlock(); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/HeatModuleService.java b/src/main/java/com/iflytop/sgs/app/service/HeatModuleService.java new file mode 100644 index 0000000..a82c481 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/HeatModuleService.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.model.vo.SetTargetTemperatureVO; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +/** + * 加热模块服务 + */ +@Service +@RequiredArgsConstructor +public class HeatModuleService { + private final DeviceStateService deviceStateService; + + public void setTargetTemperature(SetTargetTemperatureVO setTargetTemperatureVO) { + deviceStateService.setHeatModuleStatePreSetTemperature(setTargetTemperatureVO.getModuleCode(), setTargetTemperatureVO); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/OresService.java b/src/main/java/com/iflytop/sgs/app/service/OresService.java new file mode 100644 index 0000000..60b8009 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/OresService.java @@ -0,0 +1,102 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; +import com.baomidou.mybatisplus.core.metadata.IPage; +import com.baomidou.mybatisplus.extension.plugins.pagination.Page; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.CraftsMapper; +import com.iflytop.sgs.app.mapper.OresMapper; +import com.iflytop.sgs.app.model.entity.Crafts; +import com.iflytop.sgs.app.model.entity.Ores; +import com.iflytop.sgs.app.model.vo.OresCraftsListVO; +import com.iflytop.sgs.common.base.BasePageQuery; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.Map; +import java.util.stream.Collectors; + +/** + * 矿石业务实现类 + */ +@Service +@RequiredArgsConstructor +public class OresService extends ServiceImpl { + + private final CraftsMapper craftsMapper; + + + public IPage getPage(BasePageQuery pageQuery) { + // 构建分页对象 + Page oresPage = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()); + + // 分页查询矿石数据 + IPage oresIPage = this.baseMapper.selectPage(oresPage, new QueryWrapper<>()); + + // 获取矿石ID列表 + List oresIds = oresIPage.getRecords().stream() + .map(Ores::getId) + .collect(Collectors.toList()); + + // 查询对应的工艺数据 + QueryWrapper craftsQueryWrapper = new QueryWrapper<>(); + craftsQueryWrapper.in("ores_id", oresIds); + List craftsList = craftsMapper.selectList(craftsQueryWrapper); + + // 将工艺数据按矿石ID分组 + Map> craftsMap = craftsList.stream() + .collect(Collectors.groupingBy(Crafts::getOresId)); + + // 转换成 OresCraftsListVO + List oresCraftsList = oresIPage.getRecords().stream().map(ores -> { + OresCraftsListVO oresCraftsListVO = new OresCraftsListVO(); + oresCraftsListVO.setId(ores.getId()); + oresCraftsListVO.setOresName(ores.getName()); + oresCraftsListVO.setCreateTime(ores.getCreateTime()); + oresCraftsListVO.setUpdateTime(ores.getUpdateTime()); + + // 设置该矿石的工艺列表 + List crafts = craftsMap.get(ores.getId()); + if (crafts != null) { + crafts.forEach(c -> c.setSteps(null)); + } + oresCraftsListVO.setCraftsList(crafts); + + return oresCraftsListVO; + }).collect(Collectors.toList()); + + // 将转换后的分页数据放入新的分页对象 + Page resultPage = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()); + resultPage.setTotal(oresIPage.getTotal()); + resultPage.setRecords(oresCraftsList); + + return resultPage; + + } + + + public Ores findByName(String name) { + return this.getOne(new LambdaQueryWrapper().eq(Ores::getName, name)); + } + + + public boolean addOres(Ores ores) { + return this.save(ores); + } + + + public boolean updateOres(Ores ores) { + return this.updateById(ores); + } + + + public boolean deleteOres(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/SelfTestService.java b/src/main/java/com/iflytop/sgs/app/service/SelfTestService.java new file mode 100644 index 0000000..697dd1a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/SelfTestService.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.core.device.SelfTestState; +import lombok.Getter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +@Slf4j +@Service +@RequiredArgsConstructor +public class SelfTestService { + @Getter + private final SelfTestState selfTestState = new SelfTestState(); + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/SolutionsService.java b/src/main/java/com/iflytop/sgs/app/service/SolutionsService.java new file mode 100644 index 0000000..f4596f0 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/SolutionsService.java @@ -0,0 +1,39 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.SolutionsMapper; +import com.iflytop.sgs.app.model.entity.Solutions; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; + +/** + * 溶液业务实现类 + */ +@Service +@RequiredArgsConstructor +public class SolutionsService extends ServiceImpl { + + public Solutions findByName(String name) { + return this.getOne(new LambdaQueryWrapper().eq(Solutions::getName, name)); + } + + public boolean addSolutions(Solutions solutions) { + return this.save(solutions); + } + + public boolean updateSolutions(Solutions solutions) { + return this.updateById(solutions); + } + + public boolean deleteSolutions(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/StepCommandService.java b/src/main/java/com/iflytop/sgs/app/service/StepCommandService.java new file mode 100644 index 0000000..52d7803 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/StepCommandService.java @@ -0,0 +1,84 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver; +import com.iflytop.sgs.hardware.drivers.LiquidDistributionArmDriver; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.service.GDDeviceStatusService; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +/** + * 单步运动调试服务 + */ +@Service +@RequiredArgsConstructor +public class StepCommandService { + private final DeviceCommandUtilService deviceCommandUtilService; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + private final MiniServoDriver miniServoDriver; + private final LiquidDistributionArmDriver liquidDistributionArmDriver; + private final LeisaiServoDriver leisaiServoDriver; + private final GDDeviceStatusService gdDeviceStatusService; + + public void gantryToPoint3D(Point3D point3D) throws Exception { + deviceCommandUtilService.gantryMove(point3D); + } + + /** + * 获取当前龙门架机械臂所在点位 + */ + public Point3D getGantryPoint() throws Exception { + double x = gdDeviceStatusService.getXYServoPosition(LeisaiServoMId.MainXSV); + double y = gdDeviceStatusService.getXYServoPosition(LeisaiServoMId.MainYSV); + double z = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.HBOT_Z_MOTOR_MID); + return new Point3D(x, y, z); + } + + public void enableAll() throws Exception { + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 1); + + leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1); + //todo 增加吸液区电机的失能 + + } + + + public void disabilityAll() throws Exception { + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 0); + stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 0); + leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 0); + //todo 增加吸液区电机的失能 + } + + public void stopAll() throws Exception { + leisaiServoDriver.moduleStop(LeisaiServoMId.MainXSV); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HBOT_Z_MOTOR_MID); + + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.DOOR_MOTOR_MID); + //todo 增加吸液区电机的失能 + + } + + public double getCapMotorPostion() throws Exception { + return gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID); + } + + public double getHeatMotorPostion(String heatId) throws Exception { + HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); + StepMotorMId heatMotorId; + switch (heatModuleCode) { + case HeatModuleCode.heat_module_01 -> heatMotorId = StepMotorMId.HEATER_1_MOTOR_MID; + case HeatModuleCode.heat_module_02 -> heatMotorId = StepMotorMId.HEATER_2_MOTOR_MID; + case HeatModuleCode.heat_module_03 -> heatMotorId = StepMotorMId.HEATER_3_MOTOR_MID; + case HeatModuleCode.heat_module_04 -> heatMotorId = StepMotorMId.HEATER_4_MOTOR_MID; + default -> throw new IllegalStateException("Unexpected value: " + heatModuleCode); + } + return gdDeviceStatusService.getStepMotorPostion(heatMotorId); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/SystemConfigService.java b/src/main/java/com/iflytop/sgs/app/service/SystemConfigService.java new file mode 100644 index 0000000..7296807 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/SystemConfigService.java @@ -0,0 +1,83 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.SystemConfigMapper; +import com.iflytop.sgs.app.model.entity.SystemConfig; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.io.BufferedReader; +import java.io.InputStreamReader; + +/** + * 系统配置业务实现类 + */ +@Slf4j +@Service +@RequiredArgsConstructor +public class SystemConfigService extends ServiceImpl { + + private final SystemConfigMapper systemConfigMapper; + private final DeviceStateService deviceStateService; + + + public void setInitComplete(boolean initComplete) { + deviceStateService.setInitComplete(initComplete); + } + + /** + * 设置系统日期和时间。 + * + * @param datetime 日期时间字符串，格式为 "yyyy-MM-dd HH:mm:ss" + */ + public void setDatetime(String datetime) { + String os = System.getProperty("os.name").toLowerCase(); + if (os.contains("windows")) { + log.info("检测到 Windows 操作系统，跳过系统时间更新。接收到的日期时间：{}", datetime); + return; + } + try { + // 禁用自动时间同步 + ProcessBuilder pbNtp = new ProcessBuilder("timedatectl", "set-ntp", "false").redirectErrorStream(true); + Process procNtp = pbNtp.start(); + StringBuilder ntpOut = new StringBuilder(); + try (BufferedReader reader = new BufferedReader(new InputStreamReader(procNtp.getInputStream()))) { + String line; + while ((line = reader.readLine()) != null) { + ntpOut.append(line).append("\n"); + } + } + int ntpExit = procNtp.waitFor(); + if (ntpExit != 0) { + log.error("禁用 NTP 失败（退出代码={}）：\n{}", ntpExit, ntpOut.toString().trim()); + } else { + log.info("自动时间同步已禁用"); + } + } catch (Exception e) { + log.error("禁用 NTP 时发生错误", e); + } + + // 设置系统时间 + ProcessBuilder pbTime = new ProcessBuilder("timedatectl", "set-time", datetime).redirectErrorStream(true); + try { + Process procTime = pbTime.start(); + StringBuilder timeOut = new StringBuilder(); + try (BufferedReader reader = new BufferedReader(new InputStreamReader(procTime.getInputStream()))) { + String line; + while ((line = reader.readLine()) != null) { + timeOut.append(line).append("\n"); + } + } + int timeExit = procTime.waitFor(); + if (timeExit != 0) { + log.error("更新系统时间失败（退出代码={}）：\n{}", timeExit, timeOut.toString().trim()); + return; + } + log.info("系统时间已成功更新为 {}", datetime); + } catch (Exception e) { + log.error("执行系统时间更新命令时发生错误", e); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/SystemLogService.java b/src/main/java/com/iflytop/sgs/app/service/SystemLogService.java new file mode 100644 index 0000000..a5d6d9e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/SystemLogService.java @@ -0,0 +1,28 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.SystemLogMapper; +import com.iflytop.sgs.app.model.entity.SystemLog; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; + +/** + * 系统日志业务实现类 + */ +@Slf4j +@Service +@RequiredArgsConstructor +public class SystemLogService extends ServiceImpl { + + public boolean deleteLog(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .collect(Collectors.toList()); + return this.removeByIds(ids); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/service/TaskStepsService.java b/src/main/java/com/iflytop/sgs/app/service/TaskStepsService.java new file mode 100644 index 0000000..3803582 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/TaskStepsService.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.TaskStepsMapper; +import com.iflytop.sgs.app.model.entity.TaskSteps; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +/** + * 实验业务实现类 + */ +@Service +@RequiredArgsConstructor +public class TaskStepsService extends ServiceImpl { + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/TasksService.java b/src/main/java/com/iflytop/sgs/app/service/TasksService.java new file mode 100644 index 0000000..cb789db --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/TasksService.java @@ -0,0 +1,98 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.TasksMapper; +import com.iflytop.sgs.app.model.entity.TaskSteps; +import com.iflytop.sgs.app.model.entity.Tasks; +import com.iflytop.sgs.app.model.vo.TaskStepsVO; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.time.LocalDateTime; +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; + +/** + * 实验业务实现类 + */ +@Service +@RequiredArgsConstructor +public class TasksService extends ServiceImpl { + private final TaskStepsService taskStepsService; + private final DeviceStateService deviceStateService; + + @PostConstruct + public void init() { + List tasksList = this.list(new LambdaQueryWrapper().eq(Tasks::getStatus, 1)); + if(!tasksList.isEmpty()){ + deviceStateService.getDeviceState().setCurrentTasks(tasksList.getFirst()); + } + } + + public TaskStepsVO detail(Long id) { + Tasks tasks = this.getById(id); + List taskSteps = taskStepsService.list(new LambdaQueryWrapper<>(TaskSteps.class).eq(TaskSteps::getTaskId, id)); + TaskStepsVO taskStepsVO = new TaskStepsVO(); + taskStepsVO.setId(tasks.getId()); + taskStepsVO.setName(tasks.getName()); + taskStepsVO.setStartTime(tasks.getStartTime()); + taskStepsVO.setEndTime(tasks.getEndTime()); + taskStepsVO.setCreateUser(tasks.getCreateUser()); + taskStepsVO.setStatus(tasks.getStatus()); + taskStepsVO.setIsDeleted(tasks.getIsDeleted()); + taskStepsVO.setSteps(taskSteps); + return taskStepsVO; + } + + public Tasks start(String taskName) { + Tasks tasks = this.getOne(new LambdaQueryWrapper().eq(Tasks::getName, taskName)); + if (tasks != null) { + throw new AppException(ResultCode.DATA_ALREADY_EXISTS); + } + tasks = new Tasks(); + tasks.setName(taskName); + tasks.setCreateUser(deviceStateService.getDeviceState().getCurrentUser().getId()); + tasks.setStatus(1); + tasks.setIsDeleted(0); + tasks.setStartTime(LocalDateTime.now()); + this.save(tasks); + TaskSteps taskSteps = new TaskSteps(); + taskSteps.setTaskId(tasks.getId()); + taskSteps.setStepDescription("开始实验"); + taskStepsService.save(taskSteps); + deviceStateService.setCurrentTasks(tasks); + return tasks; + } + + public Tasks getCurrent() { + return deviceStateService.getDeviceState().getCurrentTasks(); + } + + public boolean deleteTasks(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .toList(); + for (Long id : ids) { + List taskSteps = taskStepsService.list(new LambdaQueryWrapper<>(TaskSteps.class).eq(TaskSteps::getTaskId, id)); + taskStepsService.removeByIds(taskSteps.stream().map(TaskSteps::getId).collect(Collectors.toList())); + this.removeById(id); + } + return true; + } + + public void stop() { + Tasks tasks = deviceStateService.getDeviceState().getCurrentTasks(); + if (tasks != null) { + tasks.setStatus(2); + tasks.setEndTime(LocalDateTime.now()); + this.updateById(tasks); + deviceStateService.setCurrentTasks(null); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/TrayService.java b/src/main/java/com/iflytop/sgs/app/service/TrayService.java new file mode 100644 index 0000000..573104b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/TrayService.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.app.service; + +import com.iflytop.sgs.app.core.device.TrayState; +import com.iflytop.sgs.app.model.vo.SetTrayTubeVO; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.List; + +/** + * 托盘控制实现类 + */ +@Service +@RequiredArgsConstructor +public class TrayService { + private final DeviceStateService deviceStateService; + + /** + * 放入了新托盘 + */ + public synchronized TrayState trayIn() { + TrayState trayState = new TrayState(); + trayState.setInSolutionModule(true); + deviceStateService.getDeviceState().getTray().add(trayState); + deviceStateService.setSolutionModuleStateTrayStatus(1); + return trayState; + } + + /** + * 拿走了托盘 + */ + public synchronized void trayOut() { + List trayList = deviceStateService.getDeviceState().getTray(); + trayList.removeIf(TrayState::isInSolutionModule); + deviceStateService.setSolutionModuleStateTrayStatus(0); + } + + /** + * 设置托盘试管 + */ + public synchronized void setTrayTube(SetTrayTubeVO setTrayTubeVO) { + TrayState trayState = deviceStateService.getTrayState(setTrayTubeVO.getTrayUuid()); + trayState.setTubes(setTrayTubeVO.getTubes()); + } + + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/UserService.java b/src/main/java/com/iflytop/sgs/app/service/UserService.java new file mode 100644 index 0000000..e61e95e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/UserService.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.service; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.iflytop.sgs.app.mapper.UserMapper; +import com.iflytop.sgs.app.model.entity.User; +import com.iflytop.sgs.common.enums.data.Deleted; +import com.iflytop.sgs.common.enums.data.FixedUser; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.Arrays; +import java.util.List; + +/** + * 用户业务实现类 + */ +@Service +@RequiredArgsConstructor +public class UserService extends ServiceImpl { + + public boolean deleteUser(String idsStr) { + List ids = Arrays.stream(idsStr.split(",")) + .map(Long::parseLong) + .toList(); + for (Long id : ids) { + User user = this.getById(id); + if (user != null && user.getFixedUser() != FixedUser.ENABLE) { + user.setDeleted(Deleted.ENABLE); + return this.save(user); + } + } + return true; + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/WebSocketService.java b/src/main/java/com/iflytop/sgs/app/service/WebSocketService.java new file mode 100644 index 0000000..1907bf0 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/WebSocketService.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.app.service; + +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.model.bo.Notification; +import com.iflytop.sgs.app.model.dto.WebsocketResult; +import com.iflytop.sgs.app.ws.server.WebSocketServer; +import com.iflytop.sgs.common.constant.WebSocketMessageType; +import org.springframework.stereotype.Service; + +@Service +public class WebSocketService { + + public void push(String type, Object data) { + WebsocketResult websocketResult = new WebsocketResult(); + websocketResult.setType(type); + websocketResult.setData(data); + WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult)); + } + + public void pushCraftsDebug(Object data) { + push(WebSocketMessageType.CRAFTS_DEBUG, data); + } + + public void pushDebug(Object data) { + push(WebSocketMessageType.CMD_DEBUG, data); + } + + public void pushCMDResponse(Object data) { + push(WebSocketMessageType.CMD_RESPONSE, data); + } + + + public void pushNotification(Notification notification) { + push("notification", notification); + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/scheduled/FetchTemperatureScheduledTask.java b/src/main/java/com/iflytop/sgs/app/service/scheduled/FetchTemperatureScheduledTask.java new file mode 100644 index 0000000..46a19dd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/service/scheduled/FetchTemperatureScheduledTask.java @@ -0,0 +1,50 @@ +package com.iflytop.sgs.app.service.scheduled; + +import com.iflytop.sgs.app.core.device.HeatModuleState; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.hardware.service.GDDeviceStatusService; +import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Service; + +import java.util.List; + +@Slf4j +@Service +@RequiredArgsConstructor +public class FetchTemperatureScheduledTask { + private final GDDeviceStatusService gdDeviceStatusService; + private final DeviceStateService deviceStateService; + + @Scheduled(fixedRate = 30000) + public void fetchTemperature() { + try { + if (!deviceStateService.getDeviceState().isVirtual()) { + Double heatModule01Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD1_ID); + deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_01, heatModule01Temperature); + + Double heatModule02Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD2_ID); + deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_02, heatModule02Temperature); + + Double heatModule03Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD3_ID); + deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_03, heatModule03Temperature); + + Double heatModule04Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD4_ID); + deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_04, heatModule04Temperature); + } else { + List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); + for (HeatModuleState heatModuleState : heatModuleStateList) { + if (heatModuleState.isHeating()) { + deviceStateService.setHeatModuleStateTemperature(heatModuleState.getModuleCode(), 999); + } + } + } + } catch (Exception e) { + log.error("定时采集加热棒温度错误", e); + } + + } +} diff --git a/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopClient.java b/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopClient.java new file mode 100644 index 0000000..7c9dd6b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopClient.java @@ -0,0 +1,61 @@ +package com.iflytop.sgs.app.ws.client; + +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import lombok.extern.slf4j.Slf4j; +import org.java_websocket.client.WebSocketClient; +import org.java_websocket.enums.ReadyState; +import org.java_websocket.handshake.ServerHandshake; +import org.springframework.scheduling.annotation.Scheduled; + +import java.net.URI; +import java.util.function.Consumer; + +/** + * WebsocketCliet监听设备发送的急停消息，实现设备的急停 + */ +@Slf4j +public class DeviceEmergencyStopClient extends WebSocketClient { + private Consumer consumer; + + public DeviceEmergencyStopClient(URI serverUri, Consumer consumer) { + super(serverUri); + this.consumer = consumer; + } + + @Override + public void onOpen(ServerHandshake handshakedata) { + log.info("device_status_listener_websocket connect success"); + } + + @Override + public void onMessage(String message) { + JSONObject jsonObject = JSONUtil.parseObj(message); + consumer.accept(jsonObject); + } + + @Override + public void onClose(int code, String reason, boolean remote) { + log.info("device_status_listener_websocket lost connection..."); + } + + @Override + public void onError(Exception ex) { + log.info("device_status_listener_websocket on error"); + } + + //失去连接后重新连接 10s轮询 + @Scheduled(fixedRate = 10000) + private void autoConnect() { + if (!isOpen()) { + if (getReadyState().equals(ReadyState.NOT_YET_CONNECTED)) { + try { + connect(); + } catch (IllegalStateException ignored) { + } + } else if (getReadyState().equals(ReadyState.CLOSED)) { + reconnect(); + } + } + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java b/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java new file mode 100644 index 0000000..025a42d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java @@ -0,0 +1,49 @@ +package com.iflytop.sgs.app.ws.client; + +import com.iflytop.sgs.app.core.CommandPoolManager; +import com.iflytop.sgs.app.service.DeviceStateService; +import com.iflytop.sgs.app.service.StepCommandService; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; + +import java.net.URI; + +@Slf4j +@Configuration +@RequiredArgsConstructor +public class DeviceEmergencyStopConfig { + private final StepCommandService stepCommandService; + private final DeviceStateService deviceStateService; + private final CommandPoolManager commandPoolManager; + + @Value("${iflytophald.ip}") + String ip; + @Value("${iflytophald.datach.port}") + Integer port; + + + @Bean + DeviceEmergencyStopClient stopAllClientService() { + URI uri = URI.create(String.format("ws://%s:%d/%s", ip, port, "key")); + return new DeviceEmergencyStopClient(uri, s -> { + if (s.get("event").equals("press")) { + log.info("触发急停{}", s); + try { + commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令 + stepCommandService.stopAll(); + deviceStateService.setEmergencyStop(true); + } catch (Exception e) { + log.error("设备急停失败:{}", e.getMessage()); + throw new RuntimeException(e); + } + } else if (s.get("event").equals("release")) { + deviceStateService.setEmergencyStop(false); + log.info("解除急停{}", s); + } + }); + + } +} diff --git a/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServer.java b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServer.java new file mode 100644 index 0000000..acaf1c5 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServer.java @@ -0,0 +1,52 @@ +package com.iflytop.sgs.app.ws.server; + +import jakarta.websocket.*; +import jakarta.websocket.server.ServerEndpoint; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Collections; +import java.util.HashSet; +import java.util.Set; + +@Slf4j +@ServerEndpoint("/ws") +@Component +public class WebSocketServer { + + private static final Set sessions = Collections.synchronizedSet(new HashSet<>()); + + public static void sendMessageToClients(String message) { + synchronized (sessions) { + for (Session session : sessions) { + try { + session.getBasicRemote().sendText(message); + } catch (Exception e) { + log.error("发送给客户端失败 sessionId={}", session.getId(), e); + } + } + } + } + + @OnOpen + public void onOpen(Session session) { + sessions.add(session); + log.info("新连接加入，sessionId={}", session.getId()); + } + + @OnMessage + public void onMessage(String message, Session session) { +// log.info("收到消息 sessionId={}，内容：{}", session.getId(), message); + } + + @OnClose + public void onClose(Session session) { + sessions.remove(session); + log.info("连接已关闭，sessionId={}", session.getId()); + } + + @OnError + public void onError(Session session, Throwable error) { + log.error("发生错误，sessionId={}", session.getId(), error); + } +} diff --git a/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServerConfig.java b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServerConfig.java new file mode 100644 index 0000000..5e38559 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketServerConfig.java @@ -0,0 +1,14 @@ +package com.iflytop.sgs.app.ws.server; + +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; +import org.springframework.web.socket.server.standard.ServerEndpointExporter; + +@Configuration +public class WebSocketServerConfig { + + @Bean + public ServerEndpointExporter serverEndpointExporter() { + return new ServerEndpointExporter(); + } +} diff --git a/src/main/java/com/iflytop/sgs/common/annotation/CheckedRunnable.java b/src/main/java/com/iflytop/sgs/common/annotation/CheckedRunnable.java new file mode 100644 index 0000000..d5fbf34 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/annotation/CheckedRunnable.java @@ -0,0 +1,6 @@ +package com.iflytop.sgs.common.annotation; + +@FunctionalInterface +public interface CheckedRunnable { + void run() throws Exception; +} diff --git a/src/main/java/com/iflytop/sgs/common/annotation/CommandMapping.java b/src/main/java/com/iflytop/sgs/common/annotation/CommandMapping.java new file mode 100644 index 0000000..86c6d0a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/annotation/CommandMapping.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.common.annotation; + +import java.lang.annotation.ElementType; +import java.lang.annotation.Retention; +import java.lang.annotation.RetentionPolicy; +import java.lang.annotation.Target; + +@Retention(RetentionPolicy.RUNTIME) +@Target(ElementType.TYPE) +public @interface CommandMapping { + String value(); +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/base/BaseEntity.java b/src/main/java/com/iflytop/sgs/common/base/BaseEntity.java new file mode 100644 index 0000000..6257148 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/base/BaseEntity.java @@ -0,0 +1,44 @@ +package com.iflytop.sgs.common.base; + +import com.baomidou.mybatisplus.annotation.FieldFill; +import com.baomidou.mybatisplus.annotation.IdType; +import com.baomidou.mybatisplus.annotation.TableField; +import com.baomidou.mybatisplus.annotation.TableId; +import com.fasterxml.jackson.annotation.JsonFormat; +import lombok.Data; + +import java.io.Serial; +import java.io.Serializable; +import java.time.LocalDateTime; + +/** + * 基础实体类 + * 实体类的基类，包含了实体类的公共属性，如创建时间、更新时间、逻辑删除标识等

+ */ +@Data +public class BaseEntity implements Serializable { + + @Serial + private static final long serialVersionUID = 1L; + + /** + * 主键ID + */ + @TableId(type = IdType.AUTO) + private Long id; + + /** + * 创建时间 + */ + @TableField(fill = FieldFill.INSERT) + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime createTime; + + /** + * 更新时间 + */ + @TableField(fill = FieldFill.INSERT_UPDATE) + @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") + private LocalDateTime updateTime; + +} diff --git a/src/main/java/com/iflytop/sgs/common/base/BasePageQuery.java b/src/main/java/com/iflytop/sgs/common/base/BasePageQuery.java new file mode 100644 index 0000000..30b5c95 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/base/BasePageQuery.java @@ -0,0 +1,26 @@ +package com.iflytop.sgs.common.base; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.io.Serial; +import java.io.Serializable; + +/** + * 基础分页请求对象 + */ +@Data +@Schema +public class BasePageQuery implements Serializable { + + @Serial + private static final long serialVersionUID = 1L; + + @Schema(description = "页码", requiredMode = Schema.RequiredMode.REQUIRED, example = "1") + private int pageNum = 1; + + @Schema(description = "每页记录数", requiredMode = Schema.RequiredMode.REQUIRED, example = "10") + private int pageSize = 10; + + +} diff --git a/src/main/java/com/iflytop/sgs/common/base/IBaseEnum.java b/src/main/java/com/iflytop/sgs/common/base/IBaseEnum.java new file mode 100644 index 0000000..a81756e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/base/IBaseEnum.java @@ -0,0 +1,84 @@ +package com.iflytop.sgs.common.base; + + +import cn.hutool.core.util.ObjectUtil; + +import java.util.EnumSet; +import java.util.Objects; + +/** + * 枚举通用接口 + */ +public interface IBaseEnum { + + /** + * 根据值获取枚举 + * + * @param value + * @param clazz + * @param 枚举 + * @return + */ + static & IBaseEnum> E getEnumByValue(Object value, Class clazz) { + Objects.requireNonNull(value); + EnumSet allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举 + E matchEnum = allEnums.stream() + .filter(e -> ObjectUtil.equal(e.getValue(), value)) + .findFirst() + .orElse(null); + return matchEnum; + } + + /** + * 根据文本标签获取值 + * + * @param value + * @param clazz + * @param + * @return + */ + static & IBaseEnum> String getLabelByValue(Object value, Class clazz) { + Objects.requireNonNull(value); + EnumSet allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举 + E matchEnum = allEnums.stream() + .filter(e -> ObjectUtil.equal(e.getValue(), value)) + .findFirst() + .orElse(null); + + String label = null; + if (matchEnum != null) { + label = matchEnum.getLabel(); + } + return label; + } + + /** + * 根据文本标签获取值 + * + * @param label + * @param clazz + * @param + * @return + */ + static & IBaseEnum> Object getValueByLabel(String label, Class clazz) { + Objects.requireNonNull(label); + EnumSet allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举 + String finalLabel = label; + E matchEnum = allEnums.stream() + .filter(e -> ObjectUtil.equal(e.getLabel(), finalLabel)) + .findFirst() + .orElse(null); + + Object value = null; + if (matchEnum != null) { + value = matchEnum.getValue(); + } + return value; + } + + T getValue(); + + String getLabel(); + + +} diff --git a/src/main/java/com/iflytop/sgs/common/cmd/CommandFuture.java b/src/main/java/com/iflytop/sgs/common/cmd/CommandFuture.java new file mode 100644 index 0000000..0fda389 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/CommandFuture.java @@ -0,0 +1,55 @@ +package com.iflytop.sgs.common.cmd; + +import cn.hutool.json.JSONObject; +import lombok.Getter; +import lombok.Setter; + +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.ExecutionException; + +@Setter +@Getter +public class CommandFuture { + /** + * 用于保存response反馈 + */ + private CompletableFuture responseFuture = new CompletableFuture<>(); + + private long startSendTime; + private long endSendTime; + + /** + * 业务指令id + */ + private String cmdId; + /** + * 业务指令code + */ + private String cmdCode; + /** + * 设备指令 + */ + private DeviceCommandBundle deviceCommandBundle; + + /** + * 完成response + */ + public void completeResponse(JSONObject result) { + responseFuture.complete(result); + } + + /** + * 异常完成response + */ + public void completeResponseExceptionally(Throwable ex) { + responseFuture.completeExceptionally(ex); + } + + /** + * 获取response的json + */ + public JSONObject getResponseResult() throws ExecutionException, InterruptedException { + return responseFuture.get(); + } + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/cmd/CommandHandler.java b/src/main/java/com/iflytop/sgs/common/cmd/CommandHandler.java new file mode 100644 index 0000000..15a4c4c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/CommandHandler.java @@ -0,0 +1,9 @@ +package com.iflytop.sgs.common.cmd; + +import com.iflytop.sgs.app.model.dto.CmdDTO; + +import java.util.concurrent.CompletableFuture; + +public interface CommandHandler { + CompletableFuture handle(CmdDTO cmdDTO) throws Exception; +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/cmd/CyclicNumberGenerator.java b/src/main/java/com/iflytop/sgs/common/cmd/CyclicNumberGenerator.java new file mode 100644 index 0000000..6941ca9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/CyclicNumberGenerator.java @@ -0,0 +1,39 @@ +package com.iflytop.sgs.common.cmd; + +public class CyclicNumberGenerator { + // 饿汉式单例，在类加载时就创建实例 + private static final CyclicNumberGenerator INSTANCE = new CyclicNumberGenerator(); + // 当前生成的数字，初始值为 1 + private int currentNumber = 1; + + // 私有构造函数，防止外部实例化 + private CyclicNumberGenerator() { + } + + // 提供全局访问点获取单例实例 + public static CyclicNumberGenerator getInstance() { + return INSTANCE; + } + + public static void main(String[] args) { + CyclicNumberGenerator generator = CyclicNumberGenerator.getInstance(); + for (int i = 0; i < 4096; i++) { + System.out.println(generator.generateNumber()); + } + } + + /** + * 生成 1 到 255 之间的循环整数 + * + * @return 生成的整数 + */ + public synchronized int generateNumber() { + int result = currentNumber; + // 每次生成后将当前数字加 1 + currentNumber++; + if (currentNumber > 4096) { + currentNumber = 1; + } + return result; + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommand.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommand.java new file mode 100644 index 0000000..0e78a14 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommand.java @@ -0,0 +1,34 @@ +package com.iflytop.sgs.common.cmd; + +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import lombok.Data; + +@Data +public class DeviceCommand { + /** + * 指令ID + */ + private Integer cmdId; + + /** + * 指令代码 例如 "device_status_get" + */ + private String cmdCode; + + /** + * 目标设备 + */ + private CmdDevice device; + + /** + * 执行动作 + */ + private CmdAction action; + + /** + * 指令参数 + */ + private DeviceCommandParams param; +} + diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandBundle.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandBundle.java new file mode 100644 index 0000000..2fab003 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandBundle.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.common.cmd; + +import lombok.Data; + +@Data +public class DeviceCommandBundle { + + /** + * 指令名称 + */ + private String cmdName; + + /** + * 指令 + */ + private DeviceCommand deviceCommand; + +} + diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java new file mode 100644 index 0000000..ac636f1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java @@ -0,0 +1,532 @@ +package com.iflytop.sgs.common.cmd; + + +import com.iflytop.sgs.common.enums.cmd.*; + +/** + * 生成给设备发送的指令 + */ +public class DeviceCommandGenerator { + + /** + * 门 移动 + * + * @param position 位置 单位mm + */ + public static DeviceCommandBundle doorMove(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.door_motor, CmdAction.move, params, "门 移动"); + } + + /** + * 门 相对移动 + * + * @param position 位置 单位mm + */ + public static DeviceCommandBundle doorMoveBy(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.door_motor, CmdAction.move_by, params, "门 相对移动"); + } + + /** + * 门 停止动作 + */ + public static DeviceCommandBundle doorStop() { + return controlMotorCmd(CmdDevice.door_motor, CmdAction.stop, null, "门 停止"); + } + + /** + * 门 回原点 + */ + public static DeviceCommandBundle doorOrigin() { + return controlMotorCmd(CmdDevice.door_motor, CmdAction.origin, null, "门 回原点"); + } + + /** + * 门 设置参数 + * + * @param speed 速度 单位 mm/s + */ + public static DeviceCommandBundle doorSet(Double speed) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setSpeed(speed); + return setInfoCmd(CmdDevice.door_motor, CmdAction.set, null, "门 设置参数"); + } + + /** + * 龙门架 x轴设置参数 + * + * @param speed 速度 单位 mm/s + */ + public static DeviceCommandBundle gantryXSet(Double speed) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setSpeed(speed); + return setInfoCmd(CmdDevice.gantry_x, CmdAction.set, params, "龙门架 x轴设置参数"); + } + + + /** + * 龙门架 z轴设置参数 + * + * @param speed 速度 单位 mm/s + */ + public static DeviceCommandBundle gantryZSet(Double speed) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setSpeed(speed); + return setInfoCmd(CmdDevice.gantry_z, CmdAction.set, params, "龙门架 z轴设置参数"); + } + + /** + * 加液位升降电机参数设置 + * + * @param speed 速度 单位 mm/s + */ + public static DeviceCommandBundle motorLiquidSet(Double speed) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setSpeed(speed); + return setInfoCmd(CmdDevice.motor_liquid, CmdAction.set, params, "加液体位电机 设置参数"); + } + + + /** + * 龙门架 x轴回原点 + */ + public static DeviceCommandBundle gantryXOrigin() { + return controlMotorCmd(CmdDevice.gantry_x, CmdAction.origin, null, "龙门架 x轴回原点"); + } + + + /** + * 龙门架 z轴回原点 + */ + public static DeviceCommandBundle gantryZOrigin() { + return controlMotorCmd(CmdDevice.gantry_z, CmdAction.origin, null, "龙门架 z轴回原点"); + } + /** + * 加液位升降电机回原点 + */ + public static DeviceCommandBundle motorLiquidOrigin() { + return controlMotorCmd(CmdDevice.motor_liquid, CmdAction.origin, null, "加液位电机 回原点"); + } + + /** + * 龙门架 x轴移动 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle gantryXMove(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.gantry_x, CmdAction.move, params, "龙门架 x轴移动"); + } + + + /** + * 龙门架 z轴移动 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle gantryZMove(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.gantry_z, CmdAction.move, params, "龙门架 z轴移动"); + } + + /** + * 龙门架 x轴相对移动 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle gantryXMoveBy(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.gantry_x, CmdAction.move_by, params, "龙门架 x轴相对移动"); + } + + /** + * 龙门架 y轴相对移动 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle gantryYMoveBy(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.gantry_y, CmdAction.move_by, params, "龙门架 y轴相对移动"); + } + + /** + * 龙门架 z轴相对移动 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle gantryZMoveBy(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.gantry_z, CmdAction.move_by, params, "龙门架 z轴相对移动"); + } + + /** + * 龙门架 x轴停止 + */ + public static DeviceCommandBundle gantryXStop() { + return controlMotorCmd(CmdDevice.gantry_x, CmdAction.stop, null, "龙门架 x轴停止"); + } + + /** + * 龙门架 y轴停止 + */ + public static DeviceCommandBundle gantryYStop() { + return controlMotorCmd(CmdDevice.gantry_y, CmdAction.stop, null, "龙门架 y轴停止"); + } + + /** + * 龙门架 z轴停止 + */ + public static DeviceCommandBundle gantryZStop() { + return controlMotorCmd(CmdDevice.gantry_z, CmdAction.stop, null, "龙门架 z轴停止"); + } + + /** + * 加液位电机停止 + */ + public static DeviceCommandBundle motorLiquidStop() { + return controlMotorCmd(CmdDevice.motor_liquid, CmdAction.stop, null, "加液位电机 停止"); + } + + /** + * 加液机械臂 + * + * @param position 位置 单位 mm + */ + public static DeviceCommandBundle motorLiquidMove(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return controlMotorCmd(CmdDevice.motor_liquid, CmdAction.move, params, "加液机械臂 移动"); + + } + + /** + * 加液泵 泵1设置参数 + * + * @param speed 速度 单位 mm/s + */ + public static DeviceCommandBundle acidPump1Set(Double speed) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setSpeed(speed); + return setInfoCmd(CmdDevice.liquid_pump, CmdAction.set, params, "加液泵 设置参数"); + } + + /** + * 加液泵 泵1旋转 + * + */ + public static DeviceCommandBundle acidPump1Rotate(CmdDirection direction) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setDirection(direction); + return setInfoCmd(CmdDevice.liquid_pump, CmdAction.rotate, params, "加液泵 旋转"); + } + + /** + * 加液泵 相对移动 + * + * @param position 加液量 单位mL + */ + public static DeviceCommandBundle liquidPumpMoveBy(Double position) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setPosition(position); + return setInfoCmd(CmdDevice.liquid_pump, CmdAction.move_by, params, "加液泵 相对移动"); + } + + /** + * 加液泵 停止 + */ + public static DeviceCommandBundle liquidPumpStop() { + return setInfoCmd(CmdDevice.liquid_pump, CmdAction.stop, null, "加液泵 停止"); + } + + + /** + * 四路电磁控制阀转换 todo + */ + public static DeviceCommandBundle valveTurn() { + DeviceCommandParams params = new DeviceCommandParams(); + return controlCmd(CmdDevice.four_ways_valve, CmdAction.open, null, "电磁转换阀 转换"); + } + /** + * 风扇 1打开 + */ + public static DeviceCommandBundle fan1Open() { + return controlCmd(CmdDevice.fan_1, CmdAction.open, null, "风扇1 打开"); + } + + /** + * 风扇 2打开 + */ + public static DeviceCommandBundle fan2Open() { + return controlCmd(CmdDevice.fan_2, CmdAction.open, null, "风扇2 打开"); + } + + /** + * 风扇 3打开 + */ + public static DeviceCommandBundle fan3Open() { + return controlCmd(CmdDevice.fan_3, CmdAction.open, null, "风扇3 打开"); + } + + /** + * 风扇 4打开 + */ + public static DeviceCommandBundle fan4Open() { + return controlCmd(CmdDevice.fan_4, CmdAction.open, null, "风扇4 打开"); + } + + /** + * 风扇 1关闭 + */ + public static DeviceCommandBundle fan1Close() { + return controlCmd(CmdDevice.fan_1, CmdAction.close, null, "风扇1 关闭"); + } + + /** + * 风扇 2关闭 + */ + public static DeviceCommandBundle fan2Close() { + return controlCmd(CmdDevice.fan_2, CmdAction.close, null, "风扇2 关闭"); + } + + /** + * 风扇 3关闭 + */ + public static DeviceCommandBundle fan3Close() { + return controlCmd(CmdDevice.fan_3, CmdAction.close, null, "风扇3 关闭"); + } + + /** + * 风扇 4关闭 + */ + public static DeviceCommandBundle fan4Close() { + return controlCmd(CmdDevice.fan_4, CmdAction.close, null, "风扇4 关闭"); + } + + + /** + * 水泵电源 开启 + */ + public static DeviceCommandBundle waterPumpPowerOpen() { + return controlCmd(CmdDevice.water_pump_power, CmdAction.open, null, "水泵 电源开启"); + } + + /** + * 水泵电源 关闭 + */ + public static DeviceCommandBundle waterPumpPowerClose() { + return controlCmd(CmdDevice.water_pump_power, CmdAction.close, null, "水泵 电源关闭"); + } + + /** + * 风机电源 开启 + */ + public static DeviceCommandBundle ventilatorPowerOpen() { + return controlCmd(CmdDevice.ventilator_power, CmdAction.open, null, " 风机 电源开启"); + } + + /** + * 风机电源 关闭 + */ + public static DeviceCommandBundle ventilatorPowerClose() { + return controlCmd(CmdDevice.ventilator_power, CmdAction.close, null, "风机 电源关闭"); + } + + /** + * 加热棒1 获取温度 + */ + public static DeviceCommandBundle heatRod1Get() { + return getInfoCmd(CmdDevice.heat_rod_1, "加热棒1 获取温度"); + } + + /** + * 加热棒2 获取温度 + */ + public static DeviceCommandBundle heatRod2Get() { + return getInfoCmd(CmdDevice.heat_rod_2, "加热棒2 获取温度"); + } + + /** + * 加热棒3 获取温度 + */ + public static DeviceCommandBundle heatRod3Get() { + return getInfoCmd(CmdDevice.heat_rod_3, "加热棒3 获取温度"); + } + + /** + * 加热棒4 获取温度 + */ + public static DeviceCommandBundle heatRod4Get() { + return getInfoCmd(CmdDevice.heat_rod_4, "加热棒4 获取温度"); + } + + + /** + * 加热棒1 开启加热 + * + * @param temperature 目标温度 + */ + public static DeviceCommandBundle heatRod1Open(Double temperature) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setTemperature(temperature); + return controlCmd(CmdDevice.heat_rod_1, CmdAction.open, params, "加热棒1 开启加热"); + } + + /** + * 加热棒2 开启加热 + * + * @param temperature 目标温度 + */ + public static DeviceCommandBundle heatRod2Open(Double temperature) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setTemperature(temperature); + return controlCmd(CmdDevice.heat_rod_2, CmdAction.open, params, "加热棒2 开启加热"); + } + + /** + * 加热棒3 开启加热 + * + * @param temperature 目标温度 + */ + public static DeviceCommandBundle heatRod3Open(Double temperature) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setTemperature(temperature); + return controlCmd(CmdDevice.heat_rod_3, CmdAction.open, params, "加热棒3 开启加热"); + } + + /** + * 加热棒4 开启加热 + * + * @param temperature 目标温度 + */ + public static DeviceCommandBundle heatRod4Open(Double temperature) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setTemperature(temperature); + return controlCmd(CmdDevice.heat_rod_4, CmdAction.open, params, "加热棒4 开启加热"); + } + + + /** + * 加热棒1 关闭加热 + */ + public static DeviceCommandBundle heatRod1Close() { + return controlCmd(CmdDevice.heat_rod_1, CmdAction.close, null, "加热棒1 关闭加热"); + } + + /** + * 加热棒2 关闭加热 + */ + public static DeviceCommandBundle heatRod2Close() { + return controlCmd(CmdDevice.heat_rod_2, CmdAction.close, null, "加热棒2 关闭加热"); + } + + /** + * 加热棒3 关闭加热 + */ + public static DeviceCommandBundle heatRod3Close() { + return controlCmd(CmdDevice.heat_rod_3, CmdAction.close, null, "加热棒3 关闭加热"); + } + + /** + * 加热棒4 关闭加热 + */ + public static DeviceCommandBundle heatRod4Close() { + return controlCmd(CmdDevice.heat_rod_4, CmdAction.close, null, "加热棒4 关闭加热"); + } + + /** + * 三色灯开启 + * + * @param color red | green | blue + */ + public static DeviceCommandBundle tricolorLightOpen(CmdColor color) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setColor(color); + return controlCmd(CmdDevice.tricolor_light, CmdAction.open, params, "三色灯 开启"); + } + + /** + * 三色灯关闭 + */ + public static DeviceCommandBundle tricolorLightClose() { + return controlCmd(CmdDevice.tricolor_light, CmdAction.close, null, "三色灯 关闭"); + } + + /** + * 相机补灯光 开启 + * + * @param brightness 亮度 0-100 + */ + public static DeviceCommandBundle fillLightOpen(Double brightness) { + DeviceCommandParams params = new DeviceCommandParams(); + params.setBrightness(brightness); + return controlCmd(CmdDevice.fill_light, CmdAction.open, params, "相机补光灯 开启"); + } + + /** + * 相机补光灯 关闭 + */ + public static DeviceCommandBundle fillLightClose() { + return controlCmd(CmdDevice.fill_light, CmdAction.close, null, "相机补光灯 关闭"); + } + + + /** + * 拍照 + */ + public static DeviceCommandBundle takePhoto() { + return controlCmd(CmdDevice.photo, CmdAction.take_photo, null, "拍照"); + } + + + /** + * 控制设备电机指令 + */ + private static DeviceCommandBundle controlMotorCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) { + return deviceCmd("controlMotorCmd", device, action, params, commandName); + } + + /** + * 设置参数指令 + */ + private static DeviceCommandBundle setInfoCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) { + return deviceCmd("setInfoCmd", device, action, params, commandName); + } + + /** + * 获取参数指令 + */ + private static DeviceCommandBundle getInfoCmd(CmdDevice device, String commandName) { + return deviceCmd("getInfoCmd", device, CmdAction.get, null, commandName); + } + + + /** + * 设备控制指令 + */ + private static DeviceCommandBundle controlCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) { + return deviceCmd("controlCmd", device, action, params, commandName); + } + + /** + * 设备指令包装 + */ + private static DeviceCommandBundle deviceCmd(String code, CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) { + DeviceCommandBundle deviceCommandBundle = new DeviceCommandBundle(); + deviceCommandBundle.setCmdName(commandName); + DeviceCommand deviceCommand = new DeviceCommand(); + deviceCommand.setCmdCode(code); + deviceCommand.setDevice(device); + deviceCommand.setAction(action); + deviceCommand.setParam(params); + deviceCommandBundle.setDeviceCommand(deviceCommand); + return deviceCommandBundle; + } +} diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandParams.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandParams.java new file mode 100644 index 0000000..e0ba09f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandParams.java @@ -0,0 +1,26 @@ +package com.iflytop.sgs.common.cmd; + + +import com.iflytop.sgs.common.enums.cmd.CmdAxis; +import com.iflytop.sgs.common.enums.cmd.CmdColor; +import com.iflytop.sgs.common.enums.cmd.CmdDirection; +import lombok.Data; + +@Data +public class DeviceCommandParams { + private String device; + private Integer current; + private CmdDirection direction; + private Double position; + private Double speed; + private Double angle; + private Double volume; + private Double distance; + private Double temperature; + private CmdAxis axis; + private CmdColor color; + private Double brightness; + private Double x; + private Double y; + private Double z; +} diff --git a/src/main/java/com/iflytop/sgs/common/constant/CommandStatus.java b/src/main/java/com/iflytop/sgs/common/constant/CommandStatus.java new file mode 100644 index 0000000..88f14f8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/constant/CommandStatus.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.common.constant; + +public class CommandStatus { + /** + * 普通消息反馈 + */ + public static final String SEND = "send"; + + /** + * 业务指令 收到指令 + */ + public static final String RECEIVE = "receive"; + /** + * 业务指令 开始执行业务指令 + */ + public static final String START = "start"; + /** + * 业务指令 执行成功 + */ + public static final String SUCCESS = "success"; + /** + * 业务指令 执行失败 + */ + public static final String FAIL = "fail"; + /** + * 业务指令 喷涂完毕 + */ + public static final String SPRAY_TASK_FINISH = "spray_task_finish"; + /** + * 业务指令 指令处理完毕反馈 + */ + public static final String FINISH = "finish"; + + + /** + * 设备指令 发送设备指令 + */ + public static final String DEVICE_SEND = "device_send"; + /** + * 设备指令 收到设备指令反馈 + */ + public static final String DEVICE_RESULT = "device_result"; + /** + * 设备指令 收到设备指令反馈 错误 + */ + public static final String DEVICE_ERROR = "device_error"; +} diff --git a/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java b/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java new file mode 100644 index 0000000..45f2439 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java @@ -0,0 +1,42 @@ +package com.iflytop.sgs.common.constant; + +public class WebSocketMessageType { + /** + * 设备状态 + */ + public static final String STATUS = "status"; + /** + * 设备报警 + */ + public static final String ALARM = "alarm"; + /** + * 指令反馈 + */ + public static final String CMD_RESPONSE = "cmd_response"; + + /** + * 工艺执行步骤反馈 + */ + public static final String CRAFTS_STEP = "crafts_step"; + + /** + * 工艺执行状态反馈 + */ + public static final String CRAFTS_STATE = "crafts_state"; + + /** + * 工艺DEBUG + */ + public static final String CRAFTS_DEBUG = "crafts_debug"; + + /** + * 容器剩余状态 + */ + public static final String CONTAINER = "container"; + + /** + * DEBUG消息推送 + */ + public static final String CMD_DEBUG = "cmd_debug"; + +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/AcidPumpDeviceCode.java b/src/main/java/com/iflytop/sgs/common/enums/AcidPumpDeviceCode.java new file mode 100644 index 0000000..6294ca6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/AcidPumpDeviceCode.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 泵设备id枚举 + * 格式为 "acid_pump_01" ~ "acid_pump_08" + */ +@Getter +public enum AcidPumpDeviceCode { + liquid_pump; +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/ContainerCode.java b/src/main/java/com/iflytop/sgs/common/enums/ContainerCode.java new file mode 100644 index 0000000..a3f3141 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/ContainerCode.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 容器 + */ +@Getter +public enum ContainerCode { + container_01, + container_02, + container_03, + container_04, + container_05, + container_06, + container_07, + container_08, + container_09, +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/ContainerType.java b/src/main/java/com/iflytop/sgs/common/enums/ContainerType.java new file mode 100644 index 0000000..678516d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/ContainerType.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 容器类型 + */ +@Getter +public enum ContainerType { + /** + * 溶液容器 + */ + solution, + /** + * 中和容器 + */ + neutralization +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/HeatModuleCode.java b/src/main/java/com/iflytop/sgs/common/enums/HeatModuleCode.java new file mode 100644 index 0000000..f1f3272 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/HeatModuleCode.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 加热模块code枚举 + * 格式为 "heat_module_01" ~ "heat_module_06" + */ +@Getter +public enum HeatModuleCode { + heat_module_01, + heat_module_02, + heat_module_03, + heat_module_04; +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftEvents.java b/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftEvents.java new file mode 100644 index 0000000..3c1b82b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftEvents.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.common.enums.automaton; + +/** + * 工艺状态机事件枚举 + */ +public enum CraftEvents { + /** 启动工艺 */ + START, + /** 单步完成 */ + STEP_COMPLETE, + /** 暂停执行 */ + PAUSE, + /** 恢复执行 */ + RESUME, + /** 用户手动停止 */ + STOP, + /** 执行过程中发生错误 */ + ERROR_OCCUR, + /** 工艺正常完成 */ + FINISH + +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftStates.java b/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftStates.java new file mode 100644 index 0000000..951bd8d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/automaton/CraftStates.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.common.enums.automaton; + +/** + * 工艺状态机状态枚举 + */ +public enum CraftStates { + /** 初始状态，尚未启动工艺 */ + READY, + /** 工艺正在执行中 */ + RUNNING, + /** 工艺已暂停，等待恢复 */ + PAUSED, + /** 工艺已被手动停止 */ + STOPPED, + /** 工艺执行过程中发生错误 */ + ERROR, + /** 工艺已正常执行完毕 */ + FINISHED +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java new file mode 100644 index 0000000..dccb6f0 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java @@ -0,0 +1,9 @@ +package com.iflytop.sgs.common.enums.cmd; + +public enum CmdAction { + move, move_by, move_joint, move_point, origin, rotate, + + open, close, stop, start, set, get, + open_power, close_power, open_circle, close_circle, + open_heart, close_heart, open_cool, close_cool, take_photo +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAxis.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAxis.java new file mode 100644 index 0000000..6049b6a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAxis.java @@ -0,0 +1,5 @@ +package com.iflytop.sgs.common.enums.cmd; + +public enum CmdAxis { + joint1,joint2 +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdColor.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdColor.java new file mode 100644 index 0000000..dd21158 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdColor.java @@ -0,0 +1,5 @@ +package com.iflytop.sgs.common.enums.cmd; + +public enum CmdColor { + red, green, blue +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDevice.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDevice.java new file mode 100644 index 0000000..72e1a93 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDevice.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.common.enums.cmd; + +public enum CmdDevice { + door_motor, + shake_motor, + tray_motor, + dual_robot, + motor_liquid,//新增加液升降电机 todo 需要与小何同步 + four_ways_valve,// 新增4桶电磁阀 todo 需要与小何同步 + liquid_pump, + gantry_x, + gantry_y, + gantry_z, + heater_motor_1, + heater_motor_2, + heater_motor_3, + heater_motor_4, + heater_motor_5, + heater_motor_6, + acid_pump_1, + acid_pump_2, + acid_pump_3, + acid_pump_4, + acid_pump_5, + acid_pump_6, + acid_pump_7, + acid_pump_8, + claw, + fan_1, + fan_2, + fan_3, + fan_4, + fan_5, + fan_6, + water_pump_power, + ventilator_power, + heat_rod_1, + heat_rod_2, + heat_rod_3, + heat_rod_4, + heat_rod_5, + heat_rod_6, + tricolor_light, + fill_light, + cold_trap, + photo +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDirection.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDirection.java new file mode 100644 index 0000000..4b1a339 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdDirection.java @@ -0,0 +1,5 @@ +package com.iflytop.sgs.common.enums.cmd; + +public enum CmdDirection { + forward, backward +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/Deleted.java b/src/main/java/com/iflytop/sgs/common/enums/data/Deleted.java new file mode 100644 index 0000000..9de9a9d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/Deleted.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.common.enums.data; + +import lombok.Getter; + +/** + * 删除状态枚举 + */ +@Getter +public enum Deleted { + ENABLE, + DISABLE +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java new file mode 100644 index 0000000..b762003 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java @@ -0,0 +1,186 @@ +package com.iflytop.sgs.common.enums.data; + +import lombok.Getter; + +/** + * 设备位置代码 + */ +@Getter +public enum DevicePositionCode { + + /** + * 预充防滴落距离 + */ + antiDripDistance(DevicePositionType.DISTANCE, "预充防滴落距离"), + /** + * 试管间距距离 + */ + testTubeSpacing(DevicePositionType.DISTANCE, "试管间距距离"), + + /** + * 夹爪托盘夹取距离 + */ + //clawTrayPick(DevicePositionType.DISTANCE, "夹爪托盘夹取距离"), + + /** + * 加液机械臂脱离试管的距离 + */ + liquidMotorSafeDistance(DevicePositionType.DISTANCE, "加液机械臂脱离试管的距离"), + /** + * 机械臂夹紧距离 + */ + clawTrayGrip(DevicePositionType.DISTANCE, "夹紧托盘横向距离"), + /** + * 托盘和夹爪分离高度 + */ + clawTrayHeight(DevicePositionType.DISTANCE, "夹紧托盘纵向高度"), + + + /** + * 夹爪试管夹取距离 + */ + //clawTestTubePick(DevicePositionType.DISTANCE, "夹爪试管夹取距离"), + + /** + * 夹爪试管夹紧距离 + */ + //clawTestTubeGrip(DevicePositionType.DISTANCE, "夹爪试管夹紧距离"), + /** + * 夹爪拍子夹取距离 + */ + //clawCapPick(DevicePositionType.DISTANCE, "夹爪拍子夹取距离"), + + /** + * 夹爪拍子夹紧距离 + */ + //clawCapGrip(DevicePositionType.DISTANCE, "夹爪拍子夹紧距离"), + + /** + * 开门距离 + */ + doorOpen(DevicePositionType.DISTANCE, "开门距离"), + + /** + * 托盘升降抬升距离 + */ + trayLift(DevicePositionType.DISTANCE, "托盘升降抬升距离"), + + /** + * 托盘升降下降距离 + */ + trayLower(DevicePositionType.DISTANCE, "托盘升降下降距离"), + + /** + * 加热模块拍子移动高度 + */ + heatModuleCapMoveHeight(DevicePositionType.DISTANCE, "加热模块拍子移动高度"), + + /** + * 拍子升降模块拍子移动高度 + */ + capModuleCapMoveHeight(DevicePositionType.DISTANCE, "拍子升降模块拍子移动高度"), + + /** + * 加热模块托盘移动高度 + */ + heatModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加热模块托盘移动高度"), + + /** + * 加液模块托盘移动高度 + */ + solutionModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加液模块托盘移动高度"), + +// /** +// * 移动试管安全高度 +// */ +// testTubeSafetyHeight(DevicePositionType.DISTANCE, "移动试管安全高度"), + + /** + * 拍子升降高度 + */ + capLiftingHeight(DevicePositionType.DISTANCE, "拍子升降高度"), + + ////////////////////////点 + + /** + * 拍子存放区拍子夹爪点 + */ + capStorageCapClawPoint(DevicePositionType.POINT_3D, "拍子存放区拍子夹爪点"), + /** + * 上料区托盘夹爪点 + */ + materialAreaTrayPoint(DevicePositionType.POINT_3D, "上料区托盘夹爪点"), + /** + * 加液区托盘夹爪点 + */ + liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液区托盘夹爪点"), + + /** + * 加热区1托盘夹爪点 + */ + heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪点"), + + /** + * 加热区2托盘夹爪点 + */ + heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪点"), + + /** + * 加热区3托盘夹爪点 + */ + heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪点"), + + /** + * 加热区4托盘夹爪点 + */ + heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪点"), + + /** + * 加热区5托盘夹爪点 + */ + heatArea5TrayClawPoint(DevicePositionType.POINT_3D, "加热区5托盘夹爪点"), + + /** + * 加热区6托盘夹爪点 + */ + heatArea6TrayClawPoint(DevicePositionType.POINT_3D, "加热区6托盘夹爪点"), + + /** + * 加热区1拍子夹爪点 + */ + heatArea1CapClawPoint(DevicePositionType.POINT_3D, "加热区1拍子夹爪点"), + + /** + * 加热区2拍子夹爪点 + */ + heatArea2CapClawPoint(DevicePositionType.POINT_3D, "加热区2拍子夹爪点"), + + /** + * 加热区3拍子夹爪点 + */ + heatArea3CapClawPoint(DevicePositionType.POINT_3D, "加热区3拍子夹爪点"), + + /** + * 加热区4拍子夹爪点 + */ + heatArea4CapClawPoint(DevicePositionType.POINT_3D, "加热区4拍子夹爪点"), + + /** + * 加热区5拍子夹爪点 + */ + heatArea5CapClawPoint(DevicePositionType.POINT_3D, "加热区5拍子夹爪点"), + + /** + * 加热区6拍子夹爪点 + */ + heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点"); + + + private final DevicePositionType type; + private final String name; + + DevicePositionCode(DevicePositionType type, String name) { + this.type = type; + this.name = name; + } +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java new file mode 100644 index 0000000..5230a82 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.common.enums.data; + +import lombok.Getter; + +/** + * 设备位置类型 + */ +@Getter +public enum DevicePositionType { + /** + * 直线距离 + */ + DISTANCE("直线距离"), + /** + * 二维点 + */ + POINT_2D("二维点"), + /** + * 三维点 + */ + POINT_3D("三维点"); + + + private final String name; + + // 构造函数 + DevicePositionType(String name) { + this.name = name; + } + +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/FixedUser.java b/src/main/java/com/iflytop/sgs/common/enums/data/FixedUser.java new file mode 100644 index 0000000..448dbcf --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/FixedUser.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.common.enums.data; + +import lombok.Getter; + +/** + * 系統固定用户 + */ +@Getter +public enum FixedUser { + ENABLE, + DISABLE +} diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/UsrRole.java b/src/main/java/com/iflytop/sgs/common/enums/data/UsrRole.java new file mode 100644 index 0000000..9f6507a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/UsrRole.java @@ -0,0 +1,7 @@ +package com.iflytop.sgs.common.enums.data; + +public enum UsrRole { + ADMIN, + DEVELOPER, + USER; +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/ValveWaysCode.java b/src/main/java/com/iflytop/sgs/common/enums/data/ValveWaysCode.java new file mode 100644 index 0000000..3b1e01d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/data/ValveWaysCode.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.common.enums.data; + +import lombok.Getter; + +/** + * 加热模块code枚举 + * 格式为 "heat_module_01" ~ "heat_module_06" + */ +@Getter +public enum ValveWaysCode { + thin, + thick, + water, + waste; +} diff --git a/src/main/java/com/iflytop/sgs/common/exception/AppException.java b/src/main/java/com/iflytop/sgs/common/exception/AppException.java new file mode 100644 index 0000000..6d6d7a8 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/exception/AppException.java @@ -0,0 +1,21 @@ +package com.iflytop.sgs.common.exception; + +import com.iflytop.sgs.common.result.IResultCode; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +public class AppException extends RuntimeException { + private final IResultCode resultCode; + + public AppException(IResultCode resultCode) { + super(resultCode.getMsg()); + this.resultCode = resultCode; + } + + @Override + public String toString() { + return "AppException{" + "code='" + resultCode.getCode() + ", msg=" + resultCode.getMsg() + '}'; + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/exception/CommandExecTimeoutException.java b/src/main/java/com/iflytop/sgs/common/exception/CommandExecTimeoutException.java new file mode 100644 index 0000000..02d9267 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/exception/CommandExecTimeoutException.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.common.exception; + +public class CommandExecTimeoutException extends Exception{ + public CommandExecTimeoutException() { + } + + public CommandExecTimeoutException(String message) { + super(message); + } + + public CommandExecTimeoutException(String message, Throwable cause) { + super(message, cause); + } + + public CommandExecTimeoutException(Throwable cause) { + super(cause); + } + + public CommandExecTimeoutException(String message, Throwable cause, boolean enableSuppression, boolean writableStackTrace) { + super(message, cause, enableSuppression, writableStackTrace); + } +} diff --git a/src/main/java/com/iflytop/sgs/common/exception/HardwareErrorException.java b/src/main/java/com/iflytop/sgs/common/exception/HardwareErrorException.java new file mode 100644 index 0000000..e29bc01 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/exception/HardwareErrorException.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.common.exception; + +public class HardwareErrorException extends Exception{ + public HardwareErrorException() { + } + + public HardwareErrorException(String message) { + super(message); + } + + public HardwareErrorException(String message, Throwable cause) { + super(message, cause); + } + + public HardwareErrorException(Throwable cause) { + super(cause); + } + + public HardwareErrorException(String message, Throwable cause, boolean enableSuppression, boolean writableStackTrace) { + super(message, cause, enableSuppression, writableStackTrace); + } +} diff --git a/src/main/java/com/iflytop/sgs/common/exception/UnSupportCommandException.java b/src/main/java/com/iflytop/sgs/common/exception/UnSupportCommandException.java new file mode 100644 index 0000000..1314415 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/exception/UnSupportCommandException.java @@ -0,0 +1,25 @@ +package com.iflytop.sgs.common.exception; + +/** + * 不支持的命令异常 + */ +public class UnSupportCommandException extends Exception{ + public UnSupportCommandException() { + } + + public UnSupportCommandException(String message) { + super(message); + } + + public UnSupportCommandException(String message, Throwable cause) { + super(message, cause); + } + + public UnSupportCommandException(Throwable cause) { + super(cause); + } + + public UnSupportCommandException(String message, Throwable cause, boolean enableSuppression, boolean writableStackTrace) { + super(message, cause, enableSuppression, writableStackTrace); + } +} diff --git a/src/main/java/com/iflytop/sgs/common/handler/GlobalExceptionHandler.java b/src/main/java/com/iflytop/sgs/common/handler/GlobalExceptionHandler.java new file mode 100644 index 0000000..e4cb075 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/handler/GlobalExceptionHandler.java @@ -0,0 +1,82 @@ +package com.iflytop.sgs.common.handler; + +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import jakarta.servlet.http.HttpServletRequest; +import jakarta.validation.ConstraintViolationException; +import lombok.extern.slf4j.Slf4j; +import org.springframework.validation.BindException; +import org.springframework.web.HttpRequestMethodNotSupportedException; +import org.springframework.web.bind.MethodArgumentNotValidException; +import org.springframework.web.bind.annotation.ExceptionHandler; +import org.springframework.web.bind.annotation.RestControllerAdvice; + +import java.util.stream.Collectors; + +@Slf4j +@RestControllerAdvice +public class GlobalExceptionHandler { + + @ExceptionHandler(HttpRequestMethodNotSupportedException.class) + public Result handleMethodNotSupported(HttpRequestMethodNotSupportedException ex, HttpServletRequest request) { + String method = request.getMethod(); + String url = request.getRequestURL().toString(); + String allowed = ex.getSupportedHttpMethods() != null + ? ex.getSupportedHttpMethods().toString() + : "[]"; + String msg = String.format( + "请求方法 '%s' 不支持 (URL: %s)。支持的方法有：%s", + method, url, allowed); + log.error(msg, ex); + return Result.failed(ResultCode.METHOD_NOT_ALLOWED.getCode(), msg); + } + + // 1) JSON Body 校验失败 + @ExceptionHandler(MethodArgumentNotValidException.class) + public Result handleBodyValid(MethodArgumentNotValidException ex) { + String msg = ex.getBindingResult().getFieldErrors().stream() + .map(f -> f.getField() + ": " + f.getDefaultMessage()) + .collect(Collectors.joining("; ")); + return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg); + } + + // 2) 方法级参数校验失败（PathVariable/RequestParam） + @ExceptionHandler(ConstraintViolationException.class) + public Result handleParamValid(ConstraintViolationException ex) { + String msg = ex.getConstraintViolations().stream() + .map(v -> { + String path = v.getPropertyPath().toString(); + String field = path.substring(path.lastIndexOf('.') + 1); + return field + ": " + v.getMessage(); + }) + .collect(Collectors.joining("; ")); + return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg); + } + + // 3) 表单绑定失败 + @ExceptionHandler(BindException.class) + public Result handleBind(BindException ex) { + String msg = ex.getFieldErrors().stream() + .map(f -> f.getField() + ": " + f.getDefaultMessage()) + .collect(Collectors.joining("; ")); + return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg); + } + + @ExceptionHandler(Exception.class) + public Result handleException(Exception ex, HttpServletRequest request) { + // 获取请求方法和请求路径 + String method = request.getMethod(); + String url = request.getRequestURL().toString(); + + if (ex instanceof AppException ae) { + log.warn("AppException at {} {}:", method, url, ae); + return Result.failed(ae.getResultCode()); + } + + // 在日志中打印出请求地址 + log.error("Unhandled exception at {} {}:", method, url, ex); + return Result.failed(ResultCode.SYSTEM_ERROR.getCode(), ex.getMessage()); + } + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/common/handler/MyMetaObjectHandler.java b/src/main/java/com/iflytop/sgs/common/handler/MyMetaObjectHandler.java new file mode 100644 index 0000000..b08bbb2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/handler/MyMetaObjectHandler.java @@ -0,0 +1,36 @@ +package com.iflytop.sgs.common.handler; + +import com.baomidou.mybatisplus.core.handlers.MetaObjectHandler; +import org.apache.ibatis.reflection.MetaObject; +import org.springframework.stereotype.Component; + +import java.time.LocalDateTime; + +/** + * mybatis-plus 字段自动填充 + */ +@Component +public class MyMetaObjectHandler implements MetaObjectHandler { + + /** + * 新增填充创建时间 + * + * @param metaObject 元数据 + */ + @Override + public void insertFill(MetaObject metaObject) { + this.strictInsertFill(metaObject, "createTime", LocalDateTime::now, LocalDateTime.class); + this.strictUpdateFill(metaObject, "updateTime", LocalDateTime::now, LocalDateTime.class); + } + + /** + * 更新填充更新时间 + * + * @param metaObject 元数据 + */ + @Override + public void updateFill(MetaObject metaObject) { + this.strictUpdateFill(metaObject, "updateTime", LocalDateTime::now, LocalDateTime.class); + } + +} diff --git a/src/main/java/com/iflytop/sgs/common/result/IResultCode.java b/src/main/java/com/iflytop/sgs/common/result/IResultCode.java new file mode 100644 index 0000000..a338fa2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/result/IResultCode.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.common.result; + +/** + * 响应码接口 + **/ +public interface IResultCode { + + String getCode(); + + String getMsg(); + +} diff --git a/src/main/java/com/iflytop/sgs/common/result/PageResult.java b/src/main/java/com/iflytop/sgs/common/result/PageResult.java new file mode 100644 index 0000000..675da34 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/result/PageResult.java @@ -0,0 +1,43 @@ +package com.iflytop.sgs.common.result; + +import com.baomidou.mybatisplus.core.metadata.IPage; +import lombok.Data; + +import java.io.Serializable; +import java.util.List; + +/** + * 分页响应结构体 + */ +@Data +public class PageResult implements Serializable { + + private String code; + + private Data data; + + private String msg; + + public static PageResult success(IPage page) { + PageResult result = new PageResult<>(); + result.setCode(ResultCode.SUCCESS.getCode()); + + Data data = new Data<>(); + data.setList(page.getRecords()); + data.setTotal(page.getTotal()); + + result.setData(data); + result.setMsg(ResultCode.SUCCESS.getMsg()); + return result; + } + + @lombok.Data + public static class Data { + + private List list; + + private long total; + + } + +} diff --git a/src/main/java/com/iflytop/sgs/common/result/Result.java b/src/main/java/com/iflytop/sgs/common/result/Result.java new file mode 100644 index 0000000..8528492 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/result/Result.java @@ -0,0 +1,75 @@ +package com.iflytop.sgs.common.result; + +import cn.hutool.core.util.StrUtil; +import lombok.Data; + +import java.io.Serializable; + +/** + * 统一响应结构体 + **/ +@Data +public class Result implements Serializable { + + private String code; + + private T data; + + private String msg; + + public static Result success() { + return success(null); + } + + public static Result success(T data) { + Result result = new Result<>(); + result.setCode(ResultCode.SUCCESS.getCode()); + result.setMsg(ResultCode.SUCCESS.getMsg()); + result.setData(data); + return result; + } + + public static Result failed() { + return result(ResultCode.SYSTEM_ERROR.getCode(), ResultCode.SYSTEM_ERROR.getMsg(), null); + } + + public static Result failed(String msg) { + return result(ResultCode.SYSTEM_ERROR.getCode(), msg, null); + } + + public static Result judge(boolean status) { + if (status) { + return success(); + } else { + return failed(); + } + } + + public static Result failed(IResultCode resultCode) { + return result(resultCode.getCode(), resultCode.getMsg(), null); + } + + public static Result failed(IResultCode resultCode, String msg) { + return result(resultCode.getCode(), StrUtil.isNotBlank(msg) ? msg : resultCode.getMsg(), null); + } + + public static Result failed(String code, String msg) { + return result(code, msg, null); + } + + private static Result result(IResultCode resultCode, T data) { + return result(resultCode.getCode(), resultCode.getMsg(), data); + } + + private static Result result(String code, String msg, T data) { + Result result = new Result<>(); + result.setCode(code); + result.setData(data); + result.setMsg(msg); + return result; + } + + public static boolean isSuccess(Result result) { + return result != null && ResultCode.SUCCESS.getCode().equals(result.getCode()); + } +} diff --git a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java new file mode 100644 index 0000000..f388c83 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java @@ -0,0 +1,90 @@ +package com.iflytop.sgs.common.result; + +import lombok.AllArgsConstructor; +import lombok.Getter; + +import java.io.Serializable; + +/** + * 统一前端响应码定义 + */ +@Getter +@AllArgsConstructor +public enum ResultCode implements IResultCode, Serializable { + //================================ 通用 ================================= + SUCCESS("0", "成功"), + FAILED("-1", "未知错误"), + + //============================ 1xxx：请求 & 参数 ============================ + INVALID_PARAMETER("1000", "参数无效或缺失"), + PARAMETER_TYPE_MISMATCH("1001", "参数类型不匹配"), + PARAMETER_OUT_OF_RANGE("1002", "参数超出允许范围"), + + //============================ 2xxx：认证 & 授权 ============================ + UNAUTHORIZED("2000", "未认证或登录失效"), + FORBIDDEN("2001", "无访问权限"), + TOKEN_EXPIRED("2002", "Token 已过期"), + TOKEN_INVALID("2003", "Token 无效"), + + //============================ 3xxx：资源访问 ============================ + NOT_FOUND("3000", "资源不存在"), + METHOD_NOT_ALLOWED("3001", "不支持的请求方法"), + + //============================ 4xxx：业务错误 ============================ + USER_NOT_FOUND("4000", "用户不存在"), + USER_ALREADY_EXISTS("4001", "用户已存在"), + INVALID_CREDENTIALS("4002", "用户名或密码错误"), + OPERATION_NOT_ALLOWED("4003", "业务操作不允许"), + DATA_ALREADY_EXISTS("4004", "数据已存在"), + + CRAFT_RUNNING("4101", "工艺正在执行"), + CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"), + CRAFT_CONTAINER_NOT_FOUND("4005", "工艺未找到对应溶液容器"), + //============================ 5xxx：系统 & 第三方 ============================ + SYSTEM_ERROR("5000", "系统内部错误"), + SERVICE_UNAVAILABLE("5001", "服务暂不可用"), + EXTERNAL_API_ERROR("5002", "第三方服务调用失败"), + COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"), + HARDWARE_ERROR("5004", "硬件错误"), + EMERGENCY_STOP("5555", "设备急停中"), + //============================ 6xxx：指令相关 ============================ + COMMAND_NOT_FOUND("6000", "指令未找到"), + COMMAND_ALREADY_EXECUTING("6001", "指令正在执行，无法重复执行"), + SENSOR_STATUS_FAILED("6010", "获取传感器状态失败"), + TARGET_HEAT_MODULE_OCCUPIED("6021", "目标加热模块被占用"), + TARGET_HEAT_MODULE_NO_TRAY("6022", "目标加热模块无托盘"), + CAP_LIFT_ERROR("6023", "拍子升降错误"), + CMD_BUSY("6024", "设备忙，请稍后"), + ; + /** 状态码 */ + private final String code; + /** 提示信息 */ + private final String msg; + + @Override + public String getCode() { + return code; + } + + @Override + public String getMsg() { + return msg; + } + + /** + * 根据 code 获取枚举 + */ + public static ResultCode parse(String code) { + for (ResultCode item : values()) { + if (item.code.equals(code)) { + return item; + } + } + return FAILED; + } + + @Override + public String toString() { + return "{\"code\":\"" + code + "\", \"msg\":\"" + msg + "\"}"; + } +} diff --git a/src/main/java/com/iflytop/sgs/common/utils/ByteArray.java b/src/main/java/com/iflytop/sgs/common/utils/ByteArray.java new file mode 100644 index 0000000..25ca1e7 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/utils/ByteArray.java @@ -0,0 +1,125 @@ +// Source code is decompiled from a .class file using FernFlower decompiler. +package com.iflytop.sgs.common.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)); + // } +} diff --git a/src/main/java/com/iflytop/sgs/common/utils/LambdaUtil.java b/src/main/java/com/iflytop/sgs/common/utils/LambdaUtil.java new file mode 100644 index 0000000..82b7e13 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/utils/LambdaUtil.java @@ -0,0 +1,15 @@ +package com.iflytop.sgs.common.utils; + +import com.iflytop.sgs.common.annotation.CheckedRunnable; + +public class LambdaUtil { + public static Runnable unchecked(CheckedRunnable runnable) { + return () -> { + try { + runnable.run(); + } catch (Exception e) { + throw new RuntimeException(e); + } + }; + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/HardwareService.java b/src/main/java/com/iflytop/sgs/hardware/HardwareService.java new file mode 100644 index 0000000..ed40483 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/HardwareService.java @@ -0,0 +1,95 @@ +package com.iflytop.sgs.hardware; + + +import cn.hutool.core.thread.ThreadUtil; +import cn.hutool.core.util.StrUtil; +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import com.iflytop.sgs.app.core.event.CommandFeedbackEvent; +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.command.DeviceResponse; +import com.iflytop.sgs.hardware.command.checker.SupportMethod; +import com.iflytop.sgs.hardware.exception.HardwareException; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.context.ApplicationContext; +import org.springframework.context.ApplicationEventPublisher; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.HashMap; +import java.util.Map; +import java.util.Set; +import java.util.concurrent.ThreadPoolExecutor; + + +@Slf4j +@Component +@RequiredArgsConstructor +public class HardwareService { + private final ApplicationEventPublisher eventPublisher; + private final ApplicationContext applicationContext; + private final Map cmdHandlers = new HashMap<>(); + + ThreadPoolExecutor executor = ThreadUtil.newFixedExecutor(50, "hardware-service", true); + + + @PostConstruct + public void postInit() { + Map handlers = applicationContext.getBeansOfType(CommandHandler.class); + handlers.values().forEach(this::registerCommandHandler); + } + + void registerCommandHandler(CommandHandler handler) { + Set devices = handler.getSupportedDevices(); + for (CmdDevice device : devices) { + cmdHandlers.put(device, handler); + } + } + + public boolean sendCommand(DeviceCommand cmd) { + log.trace("sendCommand: {}", cmd); + if (executor.getQueue().remainingCapacity() == 0) { + log.error("线程池队列已满，无法提交任务"); + return false; + } + executor.submit(() -> handleCommand(cmd)); + return true; + } + + void handleCommand(DeviceCommand cmd) { + DeviceResponse response = new DeviceResponse(); + response.setCmdId(cmd.getCmdId()); + try { + String strMethod = cmd.getCmdCode(); + + SupportMethod.checkMethod(strMethod); + + if (cmdHandlers.containsKey(cmd.getDevice())) { + log.trace("cmdHandlers: {}", cmd); + cmdHandlers.get(cmd.getDevice()).sendCommand(cmd); + response.setSuccess(Boolean.TRUE); + } else { + log.error("不支持的设备类型: {}", cmd.getDevice()); + throw new InvalidParameterException(StrUtil.format("[Device]: {}", cmd.getDevice())); + } + + } catch (HardwareException e) { + String errorStr = e.getError().toString(); + log.error("Hardware ERROR {}", errorStr); + response.setSuccess(Boolean.FALSE); + response.setErrorMsg(errorStr); + } catch (Exception e) { + log.error("指令执行失败: {}", e.getMessage(), e); + response.setSuccess(Boolean.FALSE); + response.setErrorMsg(e.getMessage()); + } + finally { + JSONObject jsonResponse = JSONUtil.parseObj(response); + eventPublisher.publishEvent(new CommandFeedbackEvent(this, jsonResponse)); + } + } +} 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 new file mode 100644 index 0000000..58e6a7c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusConnection.java @@ -0,0 +1,360 @@ +package com.iflytop.sgs.hardware.comm.can; + +import com.iflytop.sgs.common.utils.ByteArray; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.factory.A8kPacketFactory; +import com.iflytop.sgs.hardware.service.AppEventBusService; +import com.iflytop.sgs.hardware.type.*; +import com.iflytop.sgs.hardware.type.appevent.A8kCanBusOnConnectEvent; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AEHardwareError; +import com.iflytop.sgs.hardware.utils.OS; +import com.iflytop.sgs.hardware.utils.ZList; +import jakarta.annotation.Resource; +import lombok.extern.slf4j.Slf4j; +import org.java_websocket.client.WebSocketClient; +import org.java_websocket.enums.ReadyState; +import org.java_websocket.handshake.ServerHandshake; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.scheduling.annotation.Scheduled; + +import java.net.URI; +import java.net.http.HttpClient; +import java.net.http.HttpRequest; +import java.net.http.HttpResponse; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.BlockingQueue; +import java.util.concurrent.LinkedBlockingQueue; +import java.util.concurrent.TimeUnit; + + +@Slf4j +public class A8kCanBusConnection extends WebSocketClient { + @Resource + AppEventBusService eventBus; + + String datachurl = null; + String cmdchurl = null; + Boolean firstCall = true; + + @Value("${device.enableCanBus}") + Boolean enableCanBus; + + + static class ProcessContext { + BlockingQueue receiptQueue = new LinkedBlockingQueue<>(); // + A8kPacket cmdPacket; + Map txcmdcache = new HashMap<>(); + + + public A8kPacket getReceipt(int overtime) { + long end = System.currentTimeMillis() + overtime; + A8kPacket packet = null; + while (System.currentTimeMillis() < end) { + try { + packet = receiptQueue.poll(10, TimeUnit.MILLISECONDS); + } catch (InterruptedException ignored) { + } + if (packet != null) { + return packet; + } + } + + synchronized (this) { + try { + packet = receiptQueue.poll(1, TimeUnit.MILLISECONDS); + } catch (InterruptedException ignored) { + } + receiptQueue.clear(); + return packet; + } + } + + synchronized void pushReceipt(A8kPacket receipt) { + if (this.cmdPacket != null && this.cmdPacket.getPacketIndex() == receipt.getPacketIndex()) { + if (this.cmdPacket.getModuleId() == receipt.getModuleId() && this.cmdPacket.getCmdId() == receipt.getCmdId()) { + receiptQueue.add(receipt); + this.cmdPacket = null; + } else { + log.warn("RX index equal, but cmdId not equal, {} {}", this.cmdPacket, receipt); + } + } else { + log.warn("RX unmatched index receipt, {} {}", this.cmdPacket, receipt); + log.warn("."); + } + } + + synchronized void setWaitingReceiptIndex(A8kPacket cmdPacket) { + receiptQueue.clear(); + this.cmdPacket = cmdPacket; + } + + + synchronized void storageTxLastCmd(A8kPacket pack) { + MId mid = MId.valueOf(pack.getModuleId()); + CmdId cmdId = CmdId.valueOf(pack.getCmdId()); + if (cmdId != null && cmdId.isActionCmd()) + txcmdcache.put(mid, cmdId); + } + + synchronized CmdId getLastTxCmd(MId mid) { + return txcmdcache.get(mid); + } + } + + + ProcessContext context = new ProcessContext(); + int packetIndex = 0;//发送包的packetIndex + + + public A8kCanBusConnection(String cmdchurl, String datachurl) { + super(URI.create(datachurl)); + log.info("new A8kCanBusConnection: {} {}", cmdchurl, datachurl); + + this.datachurl = datachurl; + this.cmdchurl = cmdchurl; + packetIndex = 0; + + } + + @Override public void onOpen(ServerHandshake serverHandshake) { + log.info("a8k canbus connect sucess"); + eventBus.pushEvent(new A8kCanBusOnConnectEvent()); + } + + @Override public void onMessage(String s) { + log.trace("RX-RAW: {}", s); + processCanRxMessage(s); + } + + @Override public void onClose(int i, String s, boolean b) { + log.warn("a8k canbus lost connection..."); + } + + @Override public void onError(Exception e) { + log.info("a8k can-websocket-channel on error"); + } + + + synchronized public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws HardwareException { + var packet = packParamsToPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(param)); + return autoReSend(packet, A8kPacket.CMD_OVERTIME); + } + + synchronized public A8kPacket callcmd2(MId moduleId, CmdId cmdId, Integer overtime, Integer... params) throws HardwareException { + var packet = packParamsToPacket(moduleId.toInt(), cmdId.toInt(), ZList.of(params)); + return autoReSend(packet, overtime); + } + + synchronized public A8kPacket send(A8kPacket pack, int overtime) throws HardwareException { + return priSend(pack, overtime); + } + + synchronized public ModuleStatus moduleGetStatus(MId id) throws HardwareException { + var getStatusPacket = packParamsToPacket(id.toInt(), CmdId.module_get_status.toInt(), ZList.of()); + for (int i = 0; i < 10; i++) { + try { + return ModuleStatus.valueOf(priSend(getStatusPacket, 30).getContentI32(0)); + } catch (HardwareException ignored) { + } + restartCanif(); + OS.hsleep(10); + } + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, + MId.valueOf(getStatusPacket.getModuleId()), CmdId.valueOf(getStatusPacket.getCmdId()))); + + } + + synchronized public Boolean ping(MId id) { + var getStatusPacket = packParamsToPacket(id.toInt(), CmdId.module_ping.toInt(), ZList.of()); + try { + priSend(getStatusPacket, 30); + } catch (HardwareException e) { + return false; + } + return true; + } + + // + // PRIVATE + // + @Scheduled(fixedRate = 10000) + private void autoConnect() { + if (!enableCanBus) + return; + + if (!isOpen()) { + if (getReadyState().equals(ReadyState.NOT_YET_CONNECTED)) { + try { + connect(); + } catch (IllegalStateException ignored) { + } + } else if (getReadyState().equals(ReadyState.CLOSED)) { + reconnect(); + } + } + } + + /** + * 强制关闭websocket连接，让其与canbus服务重连 + */ + private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, List params) { + return A8kPacketFactory.buildCMDPacket(moduleId, cmdId, params); + } + + + private A8kPacket autoReSend(A8kPacket pack, int overtime) throws HardwareException { + if (firstCall) { + firstCall = false; + restartCanif(); + } + + for (int i = 0; i < 5; i++) { + try { + return this.priSend(pack, overtime); + } catch (HardwareException e) { + if (!e.error.code.equals(A8kEcode.LOW_ERROR_OVERTIME)) { + throw e; + } + } + restartCanif(); + OS.hsleep(50); + + + log.error("send cmd {} {} fail, retry {}", pack, pack.toByteString(), i); + } + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); + } + + + private A8kPacket priSend(A8kPacket pack, int overtime) throws HardwareException { + try { + return _priSend(pack, overtime); + } catch (HardwareException e) { + throw e; + } catch (Exception e) { + log.error("priSend error", e); + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); + } + } + + + HardwareException buildOvertimeError(A8kPacket pack) { + return HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); + } + + private A8kPacket _priSend(A8kPacket pack, int overtime) throws HardwareException { + // alloc new packetIndex + packetIndex = packetIndex + 1; + if (packetIndex > 30000) { + packetIndex = 1; + } + + //set waiting receipt index + pack.setPacketIndex(packetIndex); + context.storageTxLastCmd(pack); + context.setWaitingReceiptIndex(pack); + + // TX packet + String txpacket = pack.toByteString(); + log.trace("TX-RAW: {} | {}", txpacket, pack); + send(txpacket); + + + A8kPacket receipt; + receipt = context.getReceipt(overtime); + if (receipt == null) { + throw buildOvertimeError(pack); + } + + if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { + throw HardwareException.of(new AEHardwareError(A8kEcode.fromInt(receipt.getContentI32(0)), + MId.valueOf(pack.getModuleId()), + CmdId.valueOf(pack.getCmdId()), + txpacket, + receipt.toByteString() + ) + ); + } + return receipt; + } + + /** + * 处理接收到的消息 + */ + private void processCanRxMessage(String s) { + byte[] rx = ByteArray.hexStringToBytes(s); + if (rx == null || rx.length == 0) { + log.warn("rx is empty"); + return; + } + + if (rx.length < A8kPacket.PACKET_MIN_LEN) { + log.warn("rx is too short,{}", s); + return; + } + + A8kPacket packet = new A8kPacket(rx); + + if (packet.getCheckcode() != packet.computeCheckcode()) { + log.warn("Rx packet checkcode error: {}, expect: {} but got: {}", packet, packet.computeCheckcode(), packet.getCheckcode()); + return; + } + + if (!packet.isSupportPacket()) { + log.warn("Rx packet not support: {}", packet); + return; + } + + + if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { + log.trace("RX-ACK |RAW:{}| {}", s, packet); + context.pushReceipt(packet); + } else if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) { + log.trace("RX-REPORT |RAW:{}| {}", s, packet); +// eventBus.pushEvent(new A8kHardwareReport(packet)); + } else { + log.warn("RX-UNPROCESSABLE: |RAW:{}| {}", s, packet); + } + } + + public synchronized CmdId getLastTxCmd(MId mid) { + return context.getLastTxCmd(mid); + } + + public void restartCanif() { + callLocalCmd("restart"); + } + + + public HttpResponse callLocalCmd(String path) { + // 创建一个HttpClient实例 + HttpClient httpClient = HttpClient.newHttpClient(); + HttpRequest httpRequest = HttpRequest.newBuilder().uri(URI.create(String.format("%s/%s", cmdchurl, path))).build(); + HttpResponse ret = null; + try { + ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString()); + } catch (Exception e) { + log.error("callcmd error", e); + return null; + } + return ret; + } + + public static void main(String[] args) { + HttpClient httpClient = HttpClient.newHttpClient(); + HttpRequest httpRequest = HttpRequest.newBuilder().uri(URI.create("http://192.168.8.10:19004/zexcan/restart")).build(); + HttpResponse ret = null; + try { + ret = httpClient.send(httpRequest, HttpResponse.BodyHandlers.ofString()); + log.info("ret: \t{}", ret.body()); + } catch (Exception e) { + log.error("callcmd error", e); + } + } + +} + + diff --git a/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java b/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java new file mode 100644 index 0000000..7fa165b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java @@ -0,0 +1,132 @@ +package com.iflytop.sgs.hardware.comm.can; + +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.*; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AEHardwareError; +import com.iflytop.sgs.hardware.utils.OS; +import jakarta.annotation.PostConstruct; +import jakarta.annotation.Resource; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.stereotype.Component; + +import java.net.URISyntaxException; + +@Component +@Slf4j +public class A8kCanBusService { + @Resource + A8kCanBusConnection connection; + + @Value("${device.enableCanBus}") + Boolean enableCanBus; + + @PostConstruct + public void init() throws URISyntaxException { + if (enableCanBus) { + connection.connect(); + }else{ + log.warn("canBus is disabled"); + } + } + + public Boolean ping(MId id) { + return connection.ping(id); + } + + /** + * 强制关闭websocket连接，让其与canbus服务重连 + */ + public void forceShutdown() { + connection.close(); + } + + // + // BASE_OPERATION + // + + public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws HardwareException { + return connection.callcmd(moduleId, cmdId, param); + } + + public A8kPacket callcmd2(MId moduleId, CmdId cmdId, Integer overtime, Integer... params) throws HardwareException { + return connection.callcmd2(moduleId, cmdId, overtime, params); + } + + synchronized public A8kPacket send(A8kPacket pack, int overtime) throws HardwareException { + return connection.send(pack, overtime); + } + + // + // MODULE FUNCTION + // + + public void moduleStop(MId id) throws HardwareException { + connection.callcmd(id, CmdId.module_stop); + } + + public void moduleStopNoException(MId id) { + try { + moduleStop(id); + } catch (HardwareException ignored) { + } + } + + public ModuleStatus moduleGetStatus(MId id) throws HardwareException { + return connection.moduleGetStatus(id); + } + + public void moduleSetReg(MId id, RegIndex regindex, Integer reg) throws HardwareException { + connection.callcmd2(id, CmdId.module_set_reg, 100, regindex.index, reg); + } + + public Integer moduleGetReg(MId id, RegIndex regindex) throws HardwareException { + var packet = connection.callcmd2(id, CmdId.module_get_reg, 100, regindex.index); + return packet.getContentI32(0); + } + + public A8kEcode moduleGetError(MId id) throws HardwareException { + var packet = connection.callcmd(id, CmdId.module_get_error); + return A8kEcode.fromInt(packet.getContentI32(0)); + } + + public Integer moduleGetDetailError(MId id) throws HardwareException { + return connection.callcmd(id, CmdId.module_get_detail_error).getContentI32(0); + } + + public Integer moduleReadVersion(MId id) throws HardwareException { + return connection.callcmd(id, CmdId.module_get_version).getContentI32(0); + } + + public ModuleType moduleReadType(MId id) throws HardwareException { + var packet = connection.callcmd(id, CmdId.module_get_type); + return ModuleType.of(packet.getContentI32(0)); + } + + public void waitForMod(MId mid, Integer acitionOvertime) throws HardwareException { + long startedAt = System.currentTimeMillis(); + CmdId action = connection.getLastTxCmd(mid); + do { + ModuleStatus statu = moduleGetStatus(mid); + if (statu == ModuleStatus.IDLE) { + break; + } else if (statu == ModuleStatus.ERROR) { + log.error("{} waitting for action {} , catch error {}, defail ecode {}", mid, action, moduleGetError(mid), moduleGetDetailError(mid)); + throw HardwareException.of(new AEHardwareError(moduleGetError(mid), mid, action)); + } + long now = System.currentTimeMillis(); + if (now - startedAt > acitionOvertime) { + log.error("{} waitting for action {} overtime({})", mid, action, acitionOvertime); + moduleStopNoException(mid); + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, mid, action)); + } + OS.hsleep(30); + } while (true); + } + + public boolean isConnect() { + return connection.isOpen(); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/comm/modbus/JSerialCommWrapper.java b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/JSerialCommWrapper.java new file mode 100644 index 0000000..49190b3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/JSerialCommWrapper.java @@ -0,0 +1,85 @@ +package com.iflytop.sgs.hardware.comm.modbus; + +import com.fazecast.jSerialComm.SerialPort; +import com.serotonin.modbus4j.serial.SerialPortWrapper; +import lombok.extern.slf4j.Slf4j; + +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; + +@Slf4j +public class JSerialCommWrapper implements SerialPortWrapper { + private final int baudRate; + private final int dataBits; + private final int stopBits; + private final int parity; + + private final SerialPort serialPort; + + public JSerialCommWrapper(String portName, int baudRate, int dataBits, int stopBits, int parity) { + this.baudRate = baudRate; + this.dataBits = dataBits; + this.stopBits = stopBits; + this.parity = parity; + + serialPort = SerialPort.getCommPort(portName); + serialPort.setBaudRate(this.baudRate); + serialPort.setNumDataBits(this.dataBits); + serialPort.setNumStopBits(this.stopBits); + serialPort.setParity(this.parity); + } + + @Override + public void open() throws Exception { + if (!serialPort.openPort()) { + log.error("Could not open serial port {}", serialPort.getSystemPortName()); + throw new IOException("Failed to open serial port: " + serialPort.getSystemPortName()); + } + else{ + log.info("Opened serial port: " + serialPort.getSystemPortName()); + } + } + + @Override + public void close() throws Exception { + if (serialPort != null) { + serialPort.closePort(); + log.info("Closed serial port: {}", serialPort.getSystemPortName()); + } + else + { + log.warn("Could not close serial port: {} null", serialPort.getSystemPortName()); + } + } + + @Override + public InputStream getInputStream() { + return serialPort.getInputStream(); + } + + @Override + public OutputStream getOutputStream() { + return serialPort.getOutputStream(); + } + + @Override + public int getBaudRate() { + return this.baudRate; + } + + @Override + public int getStopBits() { + return this.stopBits; + } + + @Override + public int getParity() { + return this.parity; + } + + @Override + public int getDataBits() { + return this.dataBits; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterFactory.java b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterFactory.java new file mode 100644 index 0000000..fb4eba6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterFactory.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.hardware.comm.modbus; + +import com.serotonin.modbus4j.ModbusFactory; +import com.serotonin.modbus4j.ModbusMaster; + +public class ModbusMasterFactory { + static final ModbusFactory factory = new ModbusFactory(); + + public static ModbusMaster createModbusRtuMaster(String portName, int baudRate) { + JSerialCommWrapper wrapper = new JSerialCommWrapper(portName, baudRate, 8, 1, 0); + return factory.createRtuMaster(wrapper); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterService.java b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterService.java new file mode 100644 index 0000000..940df55 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/comm/modbus/ModbusMasterService.java @@ -0,0 +1,283 @@ +package com.iflytop.sgs.hardware.comm.modbus; + +import com.serotonin.modbus4j .ModbusMaster; +import com.serotonin.modbus4j.msg.*; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Component; + +import java.util.concurrent.locks.ReentrantLock; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ModbusMasterService { + private ModbusMaster modbusMaster_; + private final ReentrantLock lock = new ReentrantLock(); + + @Value("${modbus.port}") + private String port; + + @Value("${modbus.baudrate}") + private int baudrate; + + @PostConstruct + public void init() { + modbusMaster_ = ModbusMasterFactory.createModbusRtuMaster(port, baudrate); + log.info("============== ============== ============== ============== =============="); + log.info("============== ============== ============== ============== =============="); + try { + this.connect(); + log.info("Modbus master 端口: {} 波特率:{} initialized successfully.", port, baudrate); + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to initialize Modbus master: {} 端口: {} 波特率: {}", + e.getMessage(), port, baudrate); + } + log.info("============== ============== ============== ============== =============="); + log.info("============== ============== ============== ============== =============="); + } + + /** + * 检查连接状态 + */ + private boolean isConnectionInvalid() { + if (modbusMaster_ == null) { + log.error("Modbus master is not initialized."); + return true; + } +// if (!modbusMaster_.isConnected()) { +// log.error("Modbus master is not connected."); +// return true; +// } + return false; + } + + // ==== ==== ==== ==== ==== ==== Modbus 功能封装 ==== ==== ==== ==== ==== ==== + + /** + * 读取线圈状态 (功能码: 1, READ_COILS) + */ + public boolean[] readCoils(int slaveId, int startAddress, int length) { + lock.lock(); + try { + if (isConnectionInvalid()) return null; + ReadCoilsRequest request = new ReadCoilsRequest(slaveId, startAddress, length); + ReadCoilsResponse response = (ReadCoilsResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error reading coils: {}", response.getExceptionMessage()); + return null; + } + return response.getBooleanData(); + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to read coils: {}", e.getMessage()); + return null; + } finally { + lock.unlock(); + } + } + + /** + * 读取离散输入 (功能码: 2, READ_DISCRETE_INPUTS) + */ + public boolean[] readDiscreteInputs(int slaveId, int startAddress, int length) { + lock.lock(); + try { + if (isConnectionInvalid()) return null; + ReadDiscreteInputsRequest request = new ReadDiscreteInputsRequest(slaveId, startAddress, length); + ReadDiscreteInputsResponse response = (ReadDiscreteInputsResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error reading discrete inputs: {}", response.getExceptionMessage()); + return null; + } + return response.getBooleanData(); + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to read discrete inputs: {}", e.getMessage()); + return null; + } finally { + lock.unlock(); + } + } + + /** + * 读取保持寄存器 (功能码: 3, READ_HOLDING_REGISTERS) + */ + public short[] readHoldingRegisters(int slaveId, int startAddress, int length) { + lock.lock(); + try { + if (isConnectionInvalid()) return null; + ReadHoldingRegistersRequest request = new ReadHoldingRegistersRequest(slaveId, startAddress, length); + ReadHoldingRegistersResponse response = (ReadHoldingRegistersResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error reading holding registers: {}", response.getExceptionMessage()); + return null; + } + return response.getShortData(); + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to read holding registers: {}", e.getMessage()); + return null; + } finally { + lock.unlock(); + } + } + + /** + * 读取输入寄存器 (功能码: 4, READ_INPUT_REGISTERS) + */ + public short[] readInputRegisters(int slaveId, int startAddress, int length) { + lock.lock(); + try { + if (isConnectionInvalid()) return null; + ReadInputRegistersRequest request = new ReadInputRegistersRequest(slaveId, startAddress, length); + ReadInputRegistersResponse response = (ReadInputRegistersResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error reading input registers: {}", response.getExceptionMessage()); + return null; + } + return response.getShortData(); + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to read input registers: {}", e.getMessage()); + return null; + } finally { + lock.unlock(); + } + } + + /** + * 写单个线圈 (功能码: 5, WRITE_COIL) + */ + public boolean writeCoil(int slaveId, int address, boolean value) { + lock.lock(); + try { + if (isConnectionInvalid()) return false; + WriteCoilRequest request = new WriteCoilRequest(slaveId, address, value); + WriteCoilResponse response = (WriteCoilResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error writing coil: {}", response.getExceptionMessage()); + return false; + } + return true; + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to write coil: {}", e.getMessage()); + return false; + } finally { + lock.unlock(); + } + } + + /** + * 写单个寄存器 (功能码: 6, WRITE_REGISTER) + */ + public boolean writeRegister(int slaveId, int address, int value) { + lock.lock(); + try { + if (isConnectionInvalid()) return false; + WriteRegisterRequest request = new WriteRegisterRequest(slaveId, address, value); + WriteRegisterResponse response = (WriteRegisterResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error writing register: {}", response.getExceptionMessage()); + return false; + } + return true; + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to write register: {}", e.getMessage()); + return false; + } finally { + lock.unlock(); + } + } + + /** + * 写多个线圈 (功能码: 15, WRITE_COILS) + */ + public boolean writeCoils(int slaveId, int startAddress, boolean[] values) { + lock.lock(); + try { + if (isConnectionInvalid()) return false; + WriteCoilsRequest request = new WriteCoilsRequest(slaveId, startAddress, values); + WriteCoilsResponse response = (WriteCoilsResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error writing coils: {}", response.getExceptionMessage()); + return false; + } + return true; + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to write coils: {}", e.getMessage()); + return false; + } finally { + lock.unlock(); + } + } + + /** + * 写多个寄存器 (功能码: 16, WRITE_REGISTERS) + */ + public boolean writeRegisters(int slaveId, int startAddress, short[] values) { + lock.lock(); + try { + if (isConnectionInvalid()) return false; + WriteRegistersRequest request = new WriteRegistersRequest(slaveId, startAddress, values); + WriteRegistersResponse response = (WriteRegistersResponse) modbusMaster_.send(request); + if (response.isException()) { + modbusMaster_.setConnected(false); + log.error("Error writing registers: {}", response.getExceptionMessage()); + return false; + } + return true; + } catch (Exception e) { + modbusMaster_.setConnected(false); + log.error("Failed to write registers: {}", e.getMessage()); + return false; + } finally { + lock.unlock(); + } + } + + // ==== ==== ==== ==== ==== ==== 自动重连 ==== ==== ==== ==== ==== ==== + void connect() throws Exception + { + modbusMaster_.init(); + modbusMaster_.setRetries(3); +// modbusMaster_.setIoLog(new BasicLogger()); + modbusMaster_.setTimeout(2000); + modbusMaster_.setConnected(true); + } + + /** + * 自动重连 + */ + @Scheduled(fixedRate = 1000) + public void autoReconnect() { + lock.lock(); + try { + if(modbusMaster_ ==null || !modbusMaster_.isInitialized() || modbusMaster_.isConnected()) + return; + + this.connect(); + + log.info("Modbus master 重连成功 端口: {} 波特率:{}.", port, baudrate); + } catch (Exception e) { + log.error("Modbus master : {}", e.getMessage()); + log.info("Modbus master 重连失败 端口: {} 波特率:{}. {}", port, baudrate, e.getMessage()); + } finally { + lock.unlock(); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/CommandHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/CommandHandler.java new file mode 100644 index 0000000..6324808 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/CommandHandler.java @@ -0,0 +1,70 @@ +package com.iflytop.sgs.hardware.command; + +import cn.hutool.core.util.StrUtil; +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.type.MId; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +/** + * 命令处理器 + * H - 硬件 C - 命令 + */ +public abstract class CommandHandler { + + abstract protected Map getSupportCmdDeviceMIdMap(); + abstract protected Set getSupportActions(); + + /** + * 发送指令 + */ + public void sendCommand(DeviceCommand command) throws Exception + { + // 校验动作是否合法 + checkAction(command.getAction()); + // 校验参数是否合法 + checkParams(command); + + // 处理指令 + handleCommand(command); + } + + abstract protected void handleCommand(DeviceCommand command) throws Exception; + + /** + * 获取支持的设备 + */ + public Set getSupportedDevices() { + Map cmdDeviceMIdMap = getSupportCmdDeviceMIdMap(); + return cmdDeviceMIdMap.keySet(); + } + + /** + * 检查Action 是否合法 + * @param action + */ + protected void checkAction(CmdAction action) throws Exception + { + Set supportedActions = getSupportActions(); + if (!supportedActions.contains(action)) { + // 生成支持的动作列表字符串 + String supported = supportedActions.stream() + .map(Enum::name) + .collect(Collectors.joining(", ")); + + throw new IllegalArgumentException( + StrUtil.format("action [{}] not supported! Supported actions: {}", + action.name(), supported)); + } + } + + /** + * 检查参数是否合法 + */ + protected void checkParams(DeviceCommand command) throws Exception + {} +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/DeviceResponse.java b/src/main/java/com/iflytop/sgs/hardware/command/DeviceResponse.java new file mode 100644 index 0000000..9be768c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/DeviceResponse.java @@ -0,0 +1,12 @@ +package com.iflytop.sgs.hardware.command; + +import cn.hutool.json.JSONObject; +import lombok.Data; + +@Data +public class DeviceResponse { + Integer cmdId; + Boolean success; + String errorMsg; + JSONObject data; +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/checker/SupportMethod.java b/src/main/java/com/iflytop/sgs/hardware/command/checker/SupportMethod.java new file mode 100644 index 0000000..69317b9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/checker/SupportMethod.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.hardware.command.checker; + +public class SupportMethod { + public enum CommandMethod { + CMD_CONTROL("controlCmd"), + CMD_CONTROL_MOTOR("controlMotorCmd"), + CMD_GET_INFO("getInfoCmd"), + CMD_SET_INFO("setInfoCmd"); + + private final String cmdName; + CommandMethod(String commandName) { + this.cmdName = commandName; + } + public String getCmdName() { + return cmdName; + } + } + + public static void checkMethod(String strMethod) { + if (strMethod == null || strMethod.isEmpty()) { + throw new NoSuchMethodError("* Empty Method *"); + } + + for (CommandMethod type : CommandMethod.values()) { + if (type.getCmdName().equals(strMethod)) { + return; + } + } + throw new NoSuchMethodError(strMethod); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/AcidPumpHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/AcidPumpHandler.java new file mode 100644 index 0000000..7a3d59c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/AcidPumpHandler.java @@ -0,0 +1,92 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.common.enums.cmd.CmdDirection; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.AcidPumpDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorDirect; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class AcidPumpHandler extends CommandHandler { + private final AcidPumpDriver driver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.acid_pump_1, StepMotorMId.ACID_PUMP_1_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_2, StepMotorMId.ACID_PUMP_2_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_3, StepMotorMId.ACID_PUMP_3_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_4, StepMotorMId.ACID_PUMP_4_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_5, StepMotorMId.ACID_PUMP_5_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_6, StepMotorMId.ACID_PUMP_6_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_7, StepMotorMId.ACID_PUMP_7_MOTOR_MID), + Map.entry(CmdDevice.acid_pump_8, StepMotorMId.ACID_PUMP_8_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.move_by, CmdAction.stop, CmdAction.rotate); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + public StepMotorDirect getMotorDirect(CmdDirection cmdDirection) + { + return switch (cmdDirection) { + case forward -> StepMotorDirect.FORWARD; + case backward -> StepMotorDirect.BACKWARD; + }; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + driver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + driver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + driver_.moveTo(stepMotorMId, position); + } + else if(command.getAction() == CmdAction.move_by) { + + double distance = command.getParam().getPosition(); + + driver_.moveBy(stepMotorMId, distance); + } + else if(command.getAction() == CmdAction.rotate) { + CmdDirection cmdDirection = command.getParam().getDirection(); + + StepMotorDirect direct = getMotorDirect(cmdDirection); + driver_.rotate(stepMotorMId, direct); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/CameraHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/CameraHandler.java new file mode 100644 index 0000000..afda886 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/CameraHandler.java @@ -0,0 +1,50 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.CameraDriver; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class CameraHandler extends CommandHandler { + private final CameraDriver cameraDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.photo, MId.NotSet) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.take_photo) { + cameraDriver_.takePhoto(); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/ClawHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ClawHandler.java new file mode 100644 index 0000000..df9fb12 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ClawHandler.java @@ -0,0 +1,64 @@ +package com.iflytop.sgs.hardware.command.handlers; + + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.ClawDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ClawHandler extends CommandHandler { + private final ClawDriver clawDriver_; + + private final Map servoMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.claw, MiniServoMId.CLAW_MID) + ); + private final Map supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + MiniServoMId servoMId = servoMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + clawDriver_.moveToHome(servoMId); + } + else if(command.getAction() == CmdAction.stop) { + clawDriver_.stop(servoMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + clawDriver_.moveTo(servoMId, position); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + clawDriver_.setSpeed(servoMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/ColdTrapHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ColdTrapHandler.java new file mode 100644 index 0000000..8876279 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ColdTrapHandler.java @@ -0,0 +1,79 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.ColdTrapDriver; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ColdTrapHandler extends CommandHandler { + private final ColdTrapDriver coldTrapDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.cold_trap, MId.NotSet) + ); + + private final Set supportActions = Set.of( + CmdAction.open_power, CmdAction.close_power, + CmdAction.set, + CmdAction.open_circle, CmdAction.close_circle, + CmdAction.open_heart, CmdAction.close_heart, + CmdAction.open_cool, CmdAction.close_cool); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open_power) { + coldTrapDriver_.openPower(); + } else if (command.getAction() == CmdAction.close_power) { + coldTrapDriver_.closePower(); + } + else if (command.getAction() == CmdAction.set) { + double temperature = command.getParam().getTemperature(); + coldTrapDriver_.setTemperature(temperature); + } + else if (command.getAction() == CmdAction.open_circle) { + coldTrapDriver_.openCircle(); + } + else if (command.getAction() == CmdAction.close_circle) { + coldTrapDriver_.closeCircle(); + } + else if (command.getAction() == CmdAction.open_heart) { + coldTrapDriver_.openHeart(); + } + else if (command.getAction() == CmdAction.close_heart) { + coldTrapDriver_.closeHeart(); + } + else if (command.getAction() == CmdAction.open_cool) { + coldTrapDriver_.openCool(); + } + else if (command.getAction() == CmdAction.close_cool) { + coldTrapDriver_.closeCool(); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/DoorHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/DoorHandler.java new file mode 100644 index 0000000..43a3b22 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/DoorHandler.java @@ -0,0 +1,72 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.DoorDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DoorHandler extends CommandHandler { + private final DoorDriver driver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.door_motor, StepMotorMId.DOOR_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + driver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + driver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + driver_.moveTo(stepMotorMId, position); + } + else if(command.getAction() == CmdAction.move_by) { + double distance = command.getParam().getPosition(); + + driver_.moveBy(stepMotorMId, distance); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + } +} + + + + diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/DualRobotHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/DualRobotHandler.java new file mode 100644 index 0000000..3b48ee3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/DualRobotHandler.java @@ -0,0 +1,90 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdAxis; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.DualRobotDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + + +@Slf4j +@Component +@RequiredArgsConstructor +public class DualRobotHandler extends CommandHandler { + private final DualRobotDriver dualRobotDriver_; + + private final Map servoMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.dual_robot, MiniServoMId.NotSet) + ); + private final Map supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop, CmdAction.move_joint); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + private DualRobotDriver.Joint getJoint(CmdAxis axis) { + switch (axis) { + case CmdAxis.joint1 -> { + return DualRobotDriver.Joint.JOINT_1; + } + case CmdAxis.joint2 -> { + return DualRobotDriver.Joint.JOINT_2; + } + default -> { + return null; + } + } + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.origin) { + dualRobotDriver_.moveToHome(MiniServoMId.DUAL_ROBOT_AXIS1_MID); + } + else if(command.getAction() == CmdAction.stop) { + CmdAxis axis = command.getParam().getAxis(); + DualRobotDriver.Joint joint = getJoint(axis); + dualRobotDriver_.stop(joint); + } + else if(command.getAction() == CmdAction.move_joint) { + CmdAxis axis = command.getParam().getAxis(); + double position = command.getParam().getPosition(); + + DualRobotDriver.Joint joint = getJoint(axis); + dualRobotDriver_.moveJointTo(joint, position); + } + else if(command.getAction() == CmdAction.move) { + double pos_x = command.getParam().getPosition(); + double pos_y = command.getParam().getPosition(); + dualRobotDriver_.moveToPoint(pos_x, pos_y); + } + else if(command.getAction() == CmdAction.set) { + CmdAxis axis = command.getParam().getAxis(); + DualRobotDriver.Joint joint = getJoint(axis); + Double speed = command.getParam().getSpeed(); + if(speed != null) { + dualRobotDriver_.setSpeed(joint, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/FanHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/FanHandler.java new file mode 100644 index 0000000..166297e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/FanHandler.java @@ -0,0 +1,59 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.DODriver.FanDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +// + +@Slf4j +@Component +@RequiredArgsConstructor +public class FanHandler extends CommandHandler { + private final FanDriver fanDriver_; + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.fan_1, OutputIOMId.DO_FAN4), + Map.entry(CmdDevice.fan_2, OutputIOMId.DO_FAN5), + Map.entry(CmdDevice.fan_3, OutputIOMId.DO_FAN6), + Map.entry(CmdDevice.fan_4, OutputIOMId.DO_FAN1), + Map.entry(CmdDevice.fan_5, OutputIOMId.DO_FAN2), + Map.entry(CmdDevice.fan_6, OutputIOMId.DO_FAN3) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + fanDriver_.open(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + fanDriver_.close(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/FillLightHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/FillLightHandler.java new file mode 100644 index 0000000..7d17cc2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/FillLightHandler.java @@ -0,0 +1,60 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.FillLightDriver; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; + +/** + * 补光灯处理 + */ +@Slf4j +@Component +@RequiredArgsConstructor +class FillLightHandler extends CommandHandler { + private final FillLightDriver fillLightDriver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.fill_light, MId.PWMLight) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + Double d_brightness = command.getParam().getBrightness(); + int i_brightnessInt = d_brightness.intValue(); + + if (d_brightness == null) { + fillLightDriver_.open(getMId(command.getDevice()), i_brightnessInt); + } + } else if (command.getAction() == CmdAction.close) { + fillLightDriver_.close(getMId(command.getDevice())); + } + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/HBotHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HBotHandler.java new file mode 100644 index 0000000..d3416c4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HBotHandler.java @@ -0,0 +1,135 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.HBotDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoSpeedLevel; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HBotHandler extends CommandHandler { + private final HBotDriver driver_; + private final LeisaiServoDriver servoDriver_; + + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.gantry_z, OutputIOMId.DO_HBOTZ_MOTOR_CLAMP) + ); + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.gantry_x, StepMotorMId.HBOT_X_MOTOR_MID), + Map.entry(CmdDevice.gantry_y, StepMotorMId.HBOT_Y_MOTOR_MID), + Map.entry(CmdDevice.gantry_z, StepMotorMId.HBOT_Z_MOTOR_MID) + ); + + + + private final Map leisaiServoMIdMap = Map.ofEntries( + Map.entry(CmdDevice.gantry_x, LeisaiServoMId.MainXSV), + Map.entry(CmdDevice.gantry_y, LeisaiServoMId.MainYSV) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + LeisaiServoMId servoMId = leisaiServoMIdMap.get(command.getDevice()); + + + + boolean isServo = command.getDevice() != CmdDevice.gantry_z; + + OutputIOMId clampMId = supportCmdDeviceIOOutputMap.get(command.getDevice()); + + if (command.getAction() == CmdAction.origin) { + if(isServo) + { + log.info("HBotHandler origin servo"); + servoDriver_.enable(servoMId, 1); + servoDriver_.moveToZeroBlock(servoMId); + } + else + { + driver_.moveToHome(stepMotorMId); + + } + + } + else if(command.getAction() == CmdAction.stop) { + if(isServo) + { + log.info("HBotHandler stop servo"); + servoDriver_.moduleStop(servoMId); + } + else + { + driver_.stop(stepMotorMId); + } + } + else if(command.getAction() == CmdAction.move) { + if(isServo) + { + double userPos = command.getParam().getPosition(); + int motor_Pos = StepMotorConverter.toMotorPosition(userPos); + log.info("HBotHandler move to userPos: {}, motor_Pos: {}", userPos, motor_Pos); + servoDriver_.enable(servoMId, 1); + servoDriver_.moveToBlock(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos); + } + else + { + driver_.moveTo(stepMotorMId, command.getParam().getPosition()); + } + } + else if(command.getAction() == CmdAction.move_by) { + double distance = command.getParam().getPosition(); + + if(isServo) + { + int motor_Pos = StepMotorConverter.toMotorPosition(distance); + log.info("HBotHandler move by distance: {}, motor_Pos: {}", distance, motor_Pos); + servoDriver_.enable(servoMId, 1); + servoDriver_.moveByBlock(servoMId, LeisaiServoSpeedLevel.DEFAULT, motor_Pos); + } + else + { + driver_.moveBy(stepMotorMId, distance); + } + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeatRodHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeatRodHandler.java new file mode 100644 index 0000000..711ce8c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeatRodHandler.java @@ -0,0 +1,77 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.HeaterRodDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeatRodHandler extends CommandHandler { + private final HeaterRodDriver driver_; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.heat_rod_1, MId.NotSet), + Map.entry(CmdDevice.heat_rod_2, MId.NotSet), + Map.entry(CmdDevice.heat_rod_3, MId.NotSet), + Map.entry(CmdDevice.heat_rod_4, MId.NotSet), + Map.entry(CmdDevice.heat_rod_5, MId.NotSet), + Map.entry(CmdDevice.heat_rod_6, MId.NotSet) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + protected void checkParams(DeviceCommand command) throws Exception { + // 检查参数 + if (command.getAction() == CmdAction.open) { + // 检查参数 + } + + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + + HeaterRodSlavedId heaterRodId = HeaterRodSlavedId.getByCmdDevice(command.getDevice()); + if(heaterRodId == null) + { + throw new InvalidParameterException("HeatRodSlavedId not found"); + } + + if (command.getAction() == CmdAction.open) { + Double temp = command.getParam().getTemperature(); + driver_.open(heaterRodId, temp); + + } else if (command.getAction() == CmdAction.close) { + driver_.close(heaterRodId); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeaterMotorHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeaterMotorHandler.java new file mode 100644 index 0000000..16e9a74 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/HeaterMotorHandler.java @@ -0,0 +1,73 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.HeaterMotorDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterMotorHandler extends CommandHandler { + private final HeaterMotorDriver driver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.heater_motor_1, StepMotorMId.HEATER_4_MOTOR_MID),//前后端顺序定义不一致，这里做了映射关系 + Map.entry(CmdDevice.heater_motor_2, StepMotorMId.HEATER_5_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_3, StepMotorMId.HEATER_6_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_4, StepMotorMId.HEATER_1_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_5, StepMotorMId.HEATER_2_MOTOR_MID), + Map.entry(CmdDevice.heater_motor_6, StepMotorMId.HEATER_3_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + if (command.getAction() == CmdAction.origin) { + driver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + driver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + driver_.moveTo(stepMotorMId, position); + } + else if(command.getAction() == CmdAction.move_by) { + double distance = command.getParam().getPosition(); + + driver_.moveBy(stepMotorMId, distance); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/ShakeMotorHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ShakeMotorHandler.java new file mode 100644 index 0000000..cd52a0a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/ShakeMotorHandler.java @@ -0,0 +1,69 @@ +package com.iflytop.sgs.hardware.command.handlers; + + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.ShakeMotorDriver; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorDirect; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ShakeMotorHandler extends CommandHandler { + private final ShakeMotorDriver driver_; + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.shake_motor, StepMotorMId.SHAKE_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.start, CmdAction.stop, CmdAction.set, CmdAction.origin); + + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + + if(command.getAction() == CmdAction.stop) { + driver_.stopShake(stepMotorMId); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + else if (command.getAction() == CmdAction.start) { + StepMotorDirect direct = StepMotorDirect.FORWARD; + driver_.startShake(stepMotorMId, direct); + } + else if(command.getAction() == CmdAction.origin){ + driver_.moveToHome(stepMotorMId); + } + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/TrayMotorHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/TrayMotorHandler.java new file mode 100644 index 0000000..d3f32ae --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/TrayMotorHandler.java @@ -0,0 +1,77 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.TrayMotorDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TrayMotorHandler extends CommandHandler { + private final TrayMotorDriver driver_; + + + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.tray_motor, OutputIOMId.DO_TRAY_MOTOR_CLAMP) + ); + + private final Map stepMotorMIdMap_ = Map.ofEntries( + Map.entry(CmdDevice.tray_motor, StepMotorMId.TRAY_MOTOR_MID) + ); + private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). + collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); + + OutputIOMId clampMId = supportCmdDeviceIOOutputMap.get(command.getDevice()); + + if (command.getAction() == CmdAction.origin) { + driver_.moveToHome(stepMotorMId); + } + else if(command.getAction() == CmdAction.stop) { + driver_.stop(stepMotorMId); + } + else if(command.getAction() == CmdAction.move) { + double position = command.getParam().getPosition(); + driver_.moveTo(stepMotorMId, position); + } + else if(command.getAction() == CmdAction.move_by) { + double distance = command.getParam().getPosition(); + driver_.moveBy(stepMotorMId, distance); + } + else if(command.getAction() == CmdAction.set) { + Double speed = command.getParam().getSpeed(); + if(speed != null) { + driver_.setSpeed(stepMotorMId, speed); + } + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/TricolorLightHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/TricolorLightHandler.java new file mode 100644 index 0000000..127b425 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/TricolorLightHandler.java @@ -0,0 +1,83 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdColor; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.TricolorLightDriver; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; +import java.util.Map; +import java.util.Set; + +/** + * 三色灯 + */ +@Slf4j +@Component +@RequiredArgsConstructor +public class TricolorLightHandler extends CommandHandler { + private final TricolorLightDriver tricolorLightDriver; + + private final Map supportCmdDeviceMIdMap = Map.ofEntries( + Map.entry(CmdDevice.tricolor_light, MId.TriColorLight) + ); + + private final Set supportActions = Set.of(CmdAction.open, CmdAction.close); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + protected void checkParams(DeviceCommand command) throws Exception { + // 检查参数 + if (command.getAction() == CmdAction.open) { + // 检查参数 + CmdColor cmdColor = command.getParam().getColor(); + getCmdColor(cmdColor); + } + + } + + TricolorLightDriver.Color getCmdColor(CmdColor cmdColor){ + switch (cmdColor){ + case red: + return TricolorLightDriver.Color.RED; + case green: + return TricolorLightDriver.Color.GREEN; + case blue: + return TricolorLightDriver.Color.BLUE; + default: + throw new InvalidParameterException("颜色参数错误"); + } + } + + MId getMId(CmdDevice cmdDevice){ + return supportCmdDeviceMIdMap.get(cmdDevice); + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + CmdColor cmdColor = command.getParam().getColor(); + TricolorLightDriver.Color color = getCmdColor(cmdColor); + tricolorLightDriver.open(getMId(command.getDevice()), color); + } else if (command.getAction() == CmdAction.close) { + tricolorLightDriver.close(getMId(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/VentilatorHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/VentilatorHandler.java new file mode 100644 index 0000000..2eecb61 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/VentilatorHandler.java @@ -0,0 +1,52 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.DODriver.VentilatorDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class VentilatorHandler extends CommandHandler { + private final VentilatorDriver ventilatorDriver_; + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.ventilator_power, OutputIOMId.DO_VENTILATOR) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open_power, CmdAction.close_power); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + ventilatorDriver_.openPower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + ventilatorDriver_.closePower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/command/handlers/WaterPumpHandler.java b/src/main/java/com/iflytop/sgs/hardware/command/handlers/WaterPumpHandler.java new file mode 100644 index 0000000..58af418 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/command/handlers/WaterPumpHandler.java @@ -0,0 +1,52 @@ +package com.iflytop.sgs.hardware.command.handlers; + +import com.iflytop.sgs.common.cmd.DeviceCommand; +import com.iflytop.sgs.common.enums.cmd.CmdAction; +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.command.CommandHandler; +import com.iflytop.sgs.hardware.drivers.DODriver.WaterPumpDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.Set; +import java.util.stream.Collectors; + +@Slf4j +@Component +@RequiredArgsConstructor +public class WaterPumpHandler extends CommandHandler { + private final WaterPumpDriver waterPumpDriver_; + private final Map supportCmdDeviceIOOutputMap = Map.ofEntries( + Map.entry(CmdDevice.ventilator_power, OutputIOMId.DO_VENTILATOR) + ); + + private final Map supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream() + .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); + + private final Set supportActions = Set.of(CmdAction.open_power, CmdAction.close_power); + + @Override + protected Map getSupportCmdDeviceMIdMap() + { + return supportCmdDeviceMIdMap; + } + + @Override + protected Set getSupportActions() { + return supportActions; + } + + @Override + public void handleCommand(DeviceCommand command) throws Exception { + // 发送命令 + if (command.getAction() == CmdAction.open) { + waterPumpDriver_.openPower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } else if (command.getAction() == CmdAction.close) { + waterPumpDriver_.closePower(supportCmdDeviceIOOutputMap.get(command.getDevice())); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/config/A8kSubModuleInitRegConfig.java b/src/main/java/com/iflytop/sgs/hardware/config/A8kSubModuleInitRegConfig.java new file mode 100644 index 0000000..e4bfbe1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/config/A8kSubModuleInitRegConfig.java @@ -0,0 +1,112 @@ +package com.iflytop.sgs.hardware.config; + +import com.iflytop.sgs.hardware.type.ModuleType; +import com.iflytop.sgs.hardware.type.RegIndex; +import jakarta.annotation.PostConstruct; +import org.springframework.stereotype.Component; + +import java.util.ArrayList; +import java.util.List; + +@Component +public class A8kSubModuleInitRegConfig { + static class ModuleRegMarker { + public ModuleType moduleType; + public RegIndex regIndex; + + ModuleRegMarker(ModuleType moduleType, RegIndex regIndex) { + this.moduleType = moduleType; + this.regIndex = regIndex; + } + } + + private final List regMarkers = new ArrayList(); + + public List findRegIndexByModuleType(ModuleType moduleType) { + List regIndexes = new ArrayList<>(); + for (ModuleRegMarker marker : regMarkers) { + if (marker.moduleType == moduleType) { + regIndexes.add(marker.regIndex); + } + } + return regIndexes; + } + + public Boolean isNeeded(ModuleType moduleType, RegIndex regIndex) { + for (ModuleRegMarker marker : regMarkers) { + if (marker.moduleType == moduleType && marker.regIndex == regIndex) { + return true; + } + } + return false; + } + + @PostConstruct + void init() { + regMarkers(); + } + + + private void regMarkers() { + // + // 标记数据库关心的寄存器，被标记的寄存器，会在设备初始化时侯，初始化其数值 + // + //HBOT + //TMCStepMotor + // addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_shift); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_shaft); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_one_circle_pulse); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_one_circle_pulse_denominator); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_default_velocity); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_low_velocity); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_mid_velocity); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_high_velocity); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_ihold); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_irun); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_iholddelay); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_iglobalscaler); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_mres); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_run_to_zero_speed); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_look_zero_edge_speed); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_max_d); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_min_d); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_in_debug_mode); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_vstart); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_a1); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_amax); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_v1); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_dmax); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_d1); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_vstop); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_tzerowait); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_enc_resolution); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_enable_enc); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_dzero_pos); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kret_step_motor_pos_devi_tolerance); + addRegMarker(ModuleType.TMCStepMotor, RegIndex.kret_step_motor_io_trigger_append_distance); + + + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_limit_velocity); + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_limit_torque); + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_protective_torque); + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_target_pos_tolerance); + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_min_angle); // 最小角度限制 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_max_angle); // 最大角度限制 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_max_temp); // 最高温度上限 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_max_voltage); // 最高输入电压 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_min_voltage); // 最低输入电压 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_max_torque); // 最大扭矩 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_unload_condition); // 卸载条件 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_protect_current); // 保护电流 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_protect_torque); // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_protect_time); // 保护时间 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_overload_torque); // 过载扭矩 + addRegMarker(ModuleType.MiniServo, RegIndex.kreg_mini_servo_servo_acc); // 加速度 + + } + + private void addRegMarker(ModuleType moduleTYpe, RegIndex regIndex) { + regMarkers.add(new ModuleRegMarker(moduleTYpe, regIndex)); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/config/StepMotorConfig.java b/src/main/java/com/iflytop/sgs/hardware/config/StepMotorConfig.java new file mode 100644 index 0000000..2ddf165 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/config/StepMotorConfig.java @@ -0,0 +1,261 @@ +package com.iflytop.sgs.hardware.config; + +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; + +@Slf4j +@Component +public class StepMotorConfig { + // 导程 配置 + private final static double DEFAULT_LEAD = 10.0; // mm + final static Map stepMotorLeadMap = Map.ofEntries( + Map.entry(StepMotorMId.TRAY_MOTOR_MID, 5.0), + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 5.0), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 4.0), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 5.0), + Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, 5.0) + ); + // 电流配置 + final static int DEFAULT_CURRENT = 8; // [0-31] + final static int HEATER_MOTOR_DEFAULT_CURRENT = 20; + final static int ACID_PUMP_MOTOR_DEFAULT_CURRENT = 8; + final static Map stepMotorCurrentMap = Map.ofEntries( + Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 8), + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 31), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 31), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 31), + Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT), + Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT) + ); + + // 速度配置 + final static double DEFAULT_SPEED = 1.0; // mm/s + final static double HEATER_MOTOR_DEFAULT_SPEED = 1.0; + final static double ACID_PUMP_MOTOR_DEFAULT_SPEED = 1.0; + final static Map stepMotorSpeedMap = Map.ofEntries( + Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 1.0), + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 20.0), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 20.0), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 20.0), + Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED), + Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED) + ); + + // 最小限位配置 + static final double DEFAULT_MIN_LIMIT = 0.0; // mm + static final double HEATER_MOTOR_DEFAULT_MIN_LIMIT = 0.0; + static final double ACID_PUMP_MOTOR_DEFAULT_MIN_LIMIT = 0.0; + final static Map stepMotorMinLimitMap = Map.ofEntries( + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 0.0), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 0.0), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 0.0) + ); + + // 最大限位配置 + static final double DEFAULT_MAX_LIMIT = 0.0; // mm + static final double HEATER_MOTOR_DEFAULT_MAX_LIMIT = 100.0; + static final double ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT = 1000000; + final static Map stepMotorMaxLimitMap = Map.ofEntries( + Map.entry(StepMotorMId.DOOR_MOTOR_MID, 500.0), + Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 20000.0), + Map.entry(StepMotorMId.TRAY_MOTOR_MID, 385.0), + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 1400.0), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 700.0), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 300.0), + Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT), + Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT) + ); + + // 是否安装编码器 + private final static boolean DEFAULT_ENCODER_INSTALLED = false; + static Map stepMotorEncoderMap = Map.ofEntries( + Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, true), + Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, true), + Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, true) + ); + + /* ******************** ******************** ******************** */ + /* ******************** 导程 ******************** */ + /* ******************** ******************** ******************** */ + + // 从数据库拉取导程信息 + private Double getLeadFromDB(StepMotorMId stepMotorId) + { + return null; + } + + // 从默认配置中获取导程信息 + private Double getLeadFromDefault(StepMotorMId stepMotorId) + { + return stepMotorLeadMap.getOrDefault(stepMotorId, DEFAULT_LEAD); + } + + // 获取导程信息 + public double getLead(StepMotorMId stepMotorId) + { + Double lead = getLeadFromDB(stepMotorId); + if (lead != null) { + return lead; + } else { + return getLeadFromDefault(stepMotorId); + } + } + + /* ******************** ******************** ******************** */ + /* ******************** 电流 ******************** */ + /* ******************** ******************** ******************** */ + // 从数据库拉取电流信息 + private Integer getCurrentFromDB(StepMotorMId stepMotorId) + { + return null; + } + + private Integer getCurrentFromDefault(StepMotorMId stepMotorId) + { + return stepMotorCurrentMap.getOrDefault(stepMotorId, DEFAULT_CURRENT); + } + + public int getCurrent(StepMotorMId stepMotorId) + { + Integer current = getCurrentFromDB(stepMotorId); + if (current != null) { + return current; + } else { + return getCurrentFromDefault(stepMotorId); + } + } + + /* ******************** ******************** ******************** */ + /* ******************** 速度 ******************** */ + /* ******************** ******************** ******************** */ + // 从数据库拉取速度信息 + private Double getSpeedFromDB(StepMotorMId stepMotorId) + { + return null; + } + private Double getSpeedFromDefault(StepMotorMId stepMotorId) + { + return stepMotorSpeedMap.getOrDefault(stepMotorId, DEFAULT_SPEED); + } + + public double getSpeed(StepMotorMId stepMotorId) + { + Double speed = getSpeedFromDB(stepMotorId); + if (speed != null) { + return speed; + } else { + return getSpeedFromDefault(stepMotorId); + } + } + + /* ******************** ******************** ******************** */ + /* ******************** 最小限位 ******************** */ + /* ******************** ******************** ******************** */ + // 从数据库拉取最小限位信息 + private Double getMinLimitFromDB(StepMotorMId stepMotorId) + { + return null; + } + + private Double getMinLimitFromDefault(StepMotorMId stepMotorId) + { + return stepMotorMinLimitMap.getOrDefault(stepMotorId, DEFAULT_MIN_LIMIT); + } + + public double getMinLimit(StepMotorMId stepMotorId) + { + Double minLimit = getMinLimitFromDB(stepMotorId); + if (minLimit != null) { + return minLimit; + } else { + return getMinLimitFromDefault(stepMotorId); + } + } + + /* ******************** ******************** ******************** */ + /* ******************** 最大限位 ******************** */ + /* ******************** ******************** ******************** */ + // 从数据库拉取最大限位信息 + private Double getMaxLimitFromDB(StepMotorMId stepMotorId) + { + return null; + } + + private Double getMaxLimitFromDefault(StepMotorMId stepMotorId) + { + return stepMotorMaxLimitMap.getOrDefault(stepMotorId, DEFAULT_MAX_LIMIT); + } + + public double getMaxLimit(StepMotorMId stepMotorId) + { + Double maxLimit = getMaxLimitFromDB(stepMotorId); + if (maxLimit != null) { + return maxLimit; + } else { + return getMaxLimitFromDefault(stepMotorId); + } + } + + /* ******************** ******************** ******************** */ + /* ******************** 编码器 ******************** */ + /* ******************** ******************** ******************** */ + // 从数据库拉取编码器信息 + private Boolean getEncoderFromDB(StepMotorMId stepMotorId) + { + return null; + } + + private Boolean getEncoderFromDefault(StepMotorMId stepMotorId) + { + return stepMotorEncoderMap.getOrDefault(stepMotorId, DEFAULT_ENCODER_INSTALLED); + } + + public boolean isEncoderInstalled(StepMotorMId stepMotorId) + { + Boolean encoder = getEncoderFromDB(stepMotorId); + if (encoder != null) { + return encoder; + } else { + return getEncoderFromDefault(stepMotorId); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/constants/ActionOvertimeConstant.java b/src/main/java/com/iflytop/sgs/hardware/constants/ActionOvertimeConstant.java new file mode 100644 index 0000000..e711b91 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/constants/ActionOvertimeConstant.java @@ -0,0 +1,61 @@ +package com.iflytop.sgs.hardware.constants; + + +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.Servo.LiquidArmMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import org.springframework.stereotype.Component; + +import java.util.ArrayList; +import java.util.List; + +@Component +public class ActionOvertimeConstant { + final Integer defaultOvertime = 80 * 1000; + + static class OvertimeConfigItem { + public MId mid; + public CmdId cmdId; + public Integer overtime; + } + + List overtimeConfigItems = new ArrayList<>(); + + public Integer get(MId mid, CmdId cmdId) { + return priGetOvertime(mid, cmdId); + } + + public Integer get(StepMotorMId mid, CmdId cmdId) { + return priGetOvertime(mid.mid, cmdId); + } + + public void pushNewConfig(LeisaiServoMId mid, CmdId cmdId, Integer overtime) { + pushNewConfig(mid.mid, cmdId, overtime); + } + public void pushNewConfig(LiquidArmMId mid, CmdId cmdId, Integer overtime) { + pushNewConfig(mid.mid, cmdId, overtime); + } + public void pushNewConfig(StepMotorMId mid, CmdId cmdId, Integer overtime) { + pushNewConfig(mid.mid, cmdId, overtime); + } + + private void pushNewConfig(MId mid, CmdId cmdId, Integer overtime) { + OvertimeConfigItem item = new OvertimeConfigItem(); + item.mid = mid; + item.cmdId = cmdId; + item.overtime = overtime; + overtimeConfigItems.add(item); + } + + private Integer priGetOvertime(MId mid, CmdId cmdId) { + for (OvertimeConfigItem item : overtimeConfigItems) { + if (item.mid == mid && item.cmdId == cmdId) { + return item.overtime; + } + } + return defaultOvertime; + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/constants/FilePathConstant.java b/src/main/java/com/iflytop/sgs/hardware/constants/FilePathConstant.java new file mode 100644 index 0000000..d91b8ba --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/constants/FilePathConstant.java @@ -0,0 +1,5 @@ +package com.iflytop.sgs.hardware.constants; + +public class FilePathConstant { + public static final String FILE_DB_EXPORT_PATH = "runenv/files/db"; //存储数据库导出文件 +} diff --git a/src/main/java/com/iflytop/sgs/hardware/constants/MiniServoConstant.java b/src/main/java/com/iflytop/sgs/hardware/constants/MiniServoConstant.java new file mode 100644 index 0000000..c22e92f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/constants/MiniServoConstant.java @@ -0,0 +1,51 @@ +package com.iflytop.sgs.hardware.constants; + +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import org.springframework.util.Assert; + +import java.util.Map; + +public class MiniServoConstant { + static public final Integer actionOvertime = 20000; + static class MiniServoFixPosConfig { + public Integer zeroPos; + public Integer refPos; + } + + static Map map = Map.of( +// //摇匀模组Y轴 +// MiniServoMId.ShakeModGripperYSV, new MiniServoFixPosConfig() {{ +// zeroPos = 110; +// refPos = 100;//Y轴最外侧的位置 +// }}, +// //摇匀模组夹爪 +// MiniServoMId.ShakeModGripperSV, new MiniServoFixPosConfig() {{ +// zeroPos = 1600; +// refPos = 1800;//完全张开的位置 +// }}, +// //试管架夹紧 +// MiniServoMId.ShakeModTubeScanerClampingSV, new MiniServoFixPosConfig() {{ +// zeroPos = 1800; +// refPos = 1800;//水平位置 +// }}, +// //试管顶升舵机 +// MiniServoMId.ShakeModLiftingSV, new MiniServoFixPosConfig() {{ +// zeroPos = 644;//底部 644/3000 = 220/1024 +// refPos = 644;//底部 +// }} + ); + + static public Integer getZeroPos(MiniServoMId mid) { + var config = map.get(mid); + Assert.notNull(config, "getZeroPos fail"); + return config.zeroPos; + } + + static public Integer getRefPos(MiniServoMId mid) { + var config = map.get(mid); + Assert.notNull(config, "getRefPos fail"); + return config.refPos; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/AcidPumpController.java b/src/main/java/com/iflytop/sgs/hardware/controller/AcidPumpController.java new file mode 100644 index 0000000..4b7fd60 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/AcidPumpController.java @@ -0,0 +1,84 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.app.service.DeviceParamConfigService; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.AcidPumpDriver; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "加酸泵控制") +@RestController +@RequestMapping("/api/acid-pump") +@RequiredArgsConstructor +@Slf4j +public class AcidPumpController { + private final AcidPumpDriver driver; + private final DeviceParamConfigService deviceParamConfigService; + + @PostMapping("/set-speed") + public void setSpeed(@RequestParam StepMotorMId stepMotorMId, @RequestParam int speed) { + log.info("Setting acid pump speed to: {}", speed); + try { + driver.setSpeed(stepMotorMId, speed); + deviceParamConfigService.setModuleAndReg(stepMotorMId.mid.name(), StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),speed); + } catch (Exception e) { + log.error("Failed to set speed for acid pump: {}", e.getMessage()); + } + } + + @PostMapping("/motor-enable") + public void motorEnable(@RequestParam StepMotorMId stepMotorMId, @RequestParam boolean enable) { + log.info("Setting acid pump motor enable to: {}", enable); + try { + driver.motorEnable(stepMotorMId, enable); + } catch (Exception e) { + log.error("Failed to enable motor for acid pump: {}", e.getMessage()); + } + } + + @PostMapping("/move-to-home") + public void moveToHome(@RequestParam StepMotorMId stepMotorMId) { + log.info("Moving acid pump to home position"); + try { + driver.moveToHome(stepMotorMId); + } catch (Exception e) { + log.error("Failed to move acid pump to home: {}", e.getMessage()); + } + } + + @PostMapping("/move-to") + public void moveTo(@RequestParam StepMotorMId stepMotorMId, @RequestParam int position) { + log.info("Moving acid pump to position: {}", position); + try { + driver.moveTo(stepMotorMId, position); + } catch (Exception e) { + log.error("Failed to move acid pump to position: {}", e.getMessage()); + } + } + + @PostMapping("/move-by") + public void moveBy(@RequestParam StepMotorMId stepMotorMId, @RequestParam int offset) { + log.info("Moving acid pump by offset: {}", offset); + try { + driver.moveBy(stepMotorMId, offset); + } catch (Exception e) { + log.error("Failed to move acid pump by offset: {}", e.getMessage()); + } + } + + @PostMapping("/stop") + public void stop(@RequestParam StepMotorMId stepMotorMId) { + log.info("Stopping acid pump"); + try { + driver.stop(stepMotorMId); + } catch (Exception e) { + log.error("Failed to stop acid pump: {}", e.getMessage()); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/DualRobotController.java b/src/main/java/com/iflytop/sgs/hardware/controller/DualRobotController.java new file mode 100644 index 0000000..8416451 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/DualRobotController.java @@ -0,0 +1,91 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.DualRobotDriver; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.DualRobotDriver.Joint; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "双轴机械臂控制") +@RestController +@RequestMapping("/api/dual-robot") +@RequiredArgsConstructor +@Slf4j +public class DualRobotController { + private final DualRobotDriver driver; + + @PostMapping("/move-joint-to") + public void moveJointTo(@RequestParam MiniServoMId sevoMid, @RequestParam double position) { + log.info("Moving joint {} to position {}", sevoMid, position); + try { + driver.moveJointTo(sevoMid, position); + } catch (Exception e) { + log.error("Failed to move joint {} to position {}: {}", sevoMid, position, e.getMessage()); + } + } + + @PostMapping("/stop-servo") + public void stop(@RequestParam MiniServoMId sevoMid) { + log.info("Stopping servo {}", sevoMid); + try { + driver.stop(sevoMid); + } catch (Exception e) { + log.error("Failed to stop servo {}: {}", sevoMid, e.getMessage()); + } + } + + @PostMapping("/set-speed") + public void setSpeed(@RequestParam Joint joint, @RequestParam double speed) { + log.info("Setting speed for joint {} to {}", joint, speed); + try { + driver.setSpeed(joint, speed); + } catch (Exception e) { + log.error("Failed to set speed for joint {}: {}", joint, e.getMessage()); + } + } + + @PostMapping("/move-to-point") + public void moveToPoint(@RequestParam double pointX, @RequestParam double pointY) { + log.info("Moving to point ({}, {})", pointX, pointY); + try { + driver.moveToPoint(pointX, pointY); + } catch (Exception e) { + log.error("Failed to move to point ({}, {}): {}", pointX, pointY, e.getMessage()); + } + } + + @PostMapping("/move-to-home") + public void moveToHome(@RequestParam Joint joint) { + log.info("Moving joint {} to home position", joint); + try { + driver.moveToHome(joint); + } catch (Exception e) { + log.error("Failed to move joint {} to home position: {}", joint, e.getMessage()); + } + } + + @PostMapping("/move-joint-to-position") + public void moveJointTo(@RequestParam Joint joint, @RequestParam double position) { + log.info("Moving joint {} to position {}", joint, position); + try { + driver.moveJointTo(joint, position); + } catch (Exception e) { + log.error("Failed to move joint {} to position {}: {}", joint, position, e.getMessage()); + } + } + + @PostMapping("/stop-joint") + public void stop(@RequestParam Joint joint) { + log.info("Stopping joint {}", joint); + try { + driver.stop(joint); + } catch (Exception e) { + log.error("Failed to stop joint {}: {}", joint, e.getMessage()); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/HeaterMotorController.java b/src/main/java/com/iflytop/sgs/hardware/controller/HeaterMotorController.java new file mode 100644 index 0000000..df259c6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/HeaterMotorController.java @@ -0,0 +1,70 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.HeaterMotorDriver; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "加热电机控制") +@RestController +@RequestMapping("/api/heater-motor") +@RequiredArgsConstructor +@Slf4j +public class HeaterMotorController { + private final HeaterMotorDriver driver; + + @PostMapping("/motor-enable") + public void motorEnable(@RequestParam StepMotorMId stepMotorMId, @RequestParam boolean enable) { + log.info("Setting heater motor enable to: {}", enable); + try { + driver.motorEnable(stepMotorMId, enable); + } catch (Exception e) { + log.error("Failed to enable motor for heater motor: {}", e.getMessage()); + } + } + + @PostMapping("/move-to-home") + public void moveToHome(@RequestParam StepMotorMId stepMotorMId) { + log.info("Moving heater motor to home position"); + try { + driver.moveToHome(stepMotorMId); + } catch (Exception e) { + log.error("Failed to move heater motor to home: {}", e.getMessage()); + } + } + + @PostMapping("/move-to") + public void moveTo(@RequestParam StepMotorMId stepMotorMId, @RequestParam int position) { + log.info("Moving heater motor to position: {}", position); + try { + driver.moveTo(stepMotorMId, position); + } catch (Exception e) { + log.error("Failed to move heater motor to position: {}", e.getMessage()); + } + } + + @PostMapping("/move-by") + public void moveBy(@RequestParam StepMotorMId stepMotorMId, @RequestParam int offset) { + log.info("Moving heater motor by offset: {}", offset); + try { + driver.moveBy(stepMotorMId, offset); + } catch (Exception e) { + log.error("Failed to move heater motor by offset: {}", e.getMessage()); + } + } + + @PostMapping("/stop") + public void stop(@RequestParam StepMotorMId stepMotorMId) { + log.info("Stopping heater motor"); + try { + driver.stop(stepMotorMId); + } catch (Exception e) { + log.error("Failed to stop heater motor: {}", e.getMessage()); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/HeaterRodController.java b/src/main/java/com/iflytop/sgs/hardware/controller/HeaterRodController.java new file mode 100644 index 0000000..9bc932c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/HeaterRodController.java @@ -0,0 +1,61 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.hardware.drivers.HeaterRodDriver; +import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "加热棒控制") +@RestController +@RequestMapping("/api/heater-rod") +@RequiredArgsConstructor +@Slf4j +public class HeaterRodController { + private final HeaterRodDriver driver; + + @PostMapping("/get-temperature") + public double getTemperature(@RequestParam HeaterRodSlavedId heaterRodId) { + log.info("Getting temperature for heater rod with ID: {}", heaterRodId.name()); + try { + return driver.getTemperature(heaterRodId); + } catch (Exception e) { + log.error("Failed to get temperature for heater rod: {}", e.getMessage()); + return Double.NaN; + } + } + + @PostMapping("/open") + public void open(@RequestParam HeaterRodSlavedId heaterRodId, @RequestParam double temperature) { + log.info("Opening heater rod with ID: {} and setting temperature to: {}", heaterRodId.name(), temperature); + try { + driver.open(heaterRodId, temperature); + } catch (Exception e) { + log.error("Failed to open heater rod: {}", e.getMessage()); + } + } + + @PostMapping("/close") + public void close(@RequestParam HeaterRodSlavedId heaterRodId) { + log.info("Closing heater rod with ID: {}", heaterRodId.name()); + try { + driver.close(heaterRodId); + } catch (Exception e) { + log.error("Failed to close heater rod: {}", e.getMessage()); + } + } + + @PostMapping("/set-device-address") + public void setDeviceAddress(@RequestParam HeaterRodSlavedId heaterRodId, @RequestParam int newAddress) { + log.info("Setting device address for heater rod with ID: {} to: {}", heaterRodId.name(), newAddress); + try { + driver.setDeviceAddress(heaterRodId, newAddress); + } catch (Exception e) { + log.error("Failed to set device address for heater rod: {}", e.getMessage()); + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/IOController.java b/src/main/java/com/iflytop/sgs/hardware/controller/IOController.java new file mode 100644 index 0000000..f5a9150 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/IOController.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "IO控制") +@RestController +@RequestMapping("/api/io") +@RequiredArgsConstructor +@Slf4j +public class IOController { + private final OutputIOCtrlDriver driver; + + @PostMapping("/set-output") + public Result setOutput(@RequestParam OutputIOMId index, @RequestParam boolean state) { + log.info("Setting IO output at index: {} to state: {}", index, state); + try { + driver.setIOState(index, state); + } catch (Exception e) { + log.error("Failed to set IO output: {}", e.getMessage()); + } + return Result.success(); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/ServoController.java b/src/main/java/com/iflytop/sgs/hardware/controller/ServoController.java new file mode 100644 index 0000000..c3016b6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/ServoController.java @@ -0,0 +1,161 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.app.service.DeviceParamConfigService; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.service.ServoService; +import com.iflytop.sgs.hardware.type.Servo.DeviceServoId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoRegIndex; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +@Tag(name = "伺服电机控制") +@RestController +@RequestMapping("/api/servo") +@RequiredArgsConstructor +@Slf4j +public class ServoController { + private final ServoService servoService; + private final DeviceParamConfigService deviceParamConfigService; + + // 获取设备列表 + @PostMapping("/get-device-list") + @Operation(summary = "获取设备列表") + public Map getDeviceList() { + Map map = new HashMap<>(); + for(DeviceServoId id : DeviceServoId.values()) { + map.put(id.name(), id.getDescription()); + } + return map; + } + + // 获取寄存器列表 + @PostMapping("/get-reg-list") + @Operation(summary = "获取寄存器列表") + public List getRegList() { + List list = new ArrayList<>(); + for(MiniServoRegIndex reg : MiniServoRegIndex.values()) { + list.add(reg.name()); + } + return list; + } + + // 基础操作 + @PostMapping("/enable") + @Operation(summary = "电源开启") + public Result enable(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.enable(deviceId, true); + return Result.success(); + } + + @PostMapping("/disable") + @Operation(summary = "电源关闭") + public Result disable(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.enable(deviceId, false); + return Result.success(); + } + + @PostMapping("/stop") + @Operation(summary = "停止") + public Result stop(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.stop(deviceId); + return Result.success(); + } + + @PostMapping("/move-to") + @Operation(summary = "移动(绝对)") + public Result moveTo(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException { + servoService.moveTo(deviceId, pos); + return Result.success(); + } + + @PostMapping("/rotate-forward") + @Operation(summary = "正转") + public Result rotateForward(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.rotate(deviceId, 1); + return Result.success(); + } + + @PostMapping("/rotate-backward") + @Operation(summary = "反转") + public Result rotateBackward(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.rotate(deviceId, 0); + return Result.success(); + } + @PostMapping("/rotate-with-torque") + @Operation(summary = "旋转(力矩)") + public Result rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException { + servoService.rotateWithTorque(deviceId, pos); + return Result.success(); + } + + @PostMapping("/move-to-zero") + @Operation(summary = "回Home") + public Result moveToZero(@RequestParam DeviceServoId deviceId) throws HardwareException { + servoService.moveToZero(deviceId); + return Result.success(); + } + + // 寄存器操作 + @PostMapping("/limit-velocity") + @Operation(summary = "设置限速") + public Result setLimitVelocity( + @RequestParam DeviceServoId deviceId, + @RequestParam Integer val) throws HardwareException { + servoService.setLimitVelocity(deviceId, val); + deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_velocity.regIndex.name(),val); + return Result.success(); + } + + @PostMapping("/limit-torque") + @Operation(summary = "设置限力矩") + public Result setLimitTorque( + @RequestParam DeviceServoId deviceId, + @RequestParam Integer val) throws HardwareException { + servoService.setLimitTorque(deviceId, val); + deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_torque.regIndex.name(),val); + return Result.success(); + } + + @PostMapping("/protective-torque") + @Operation(summary = "设置保护力矩") + public Result setProtectiveTorque( + @RequestParam DeviceServoId deviceId, + @RequestParam Integer val) throws HardwareException { + servoService.setProtectiveTorque(deviceId, val); + deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_protective_torque.regIndex.name(),val); + return Result.success(); + } + + @PostMapping("/reg") + @Operation(summary = "设置寄存器") + public Result setReg( + @RequestParam DeviceServoId deviceId, + @RequestParam MiniServoRegIndex reg, + @RequestParam Integer val) throws HardwareException { + servoService.setReg(deviceId, reg, val); + deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), reg.regIndex.name(),val); + return Result.success(); + } + + // 状态查询 + @GetMapping("/position") + @Operation(summary = "读取位置") + public Integer readPos(@RequestParam DeviceServoId deviceId) throws HardwareException { + return servoService.readPos(deviceId); + } + + @GetMapping("/regs") + @Operation(summary = "获取所有寄存器") + public Map getAllReg(@RequestParam DeviceServoId deviceId) { + return servoService.getAllReg(deviceId); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/controller/StepMotorController.java b/src/main/java/com/iflytop/sgs/hardware/controller/StepMotorController.java new file mode 100644 index 0000000..a0ddfa9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/controller/StepMotorController.java @@ -0,0 +1,312 @@ +package com.iflytop.sgs.hardware.controller; + +import com.iflytop.sgs.app.service.DeviceParamConfigService; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.service.StepMotorService; +import com.iflytop.sgs.hardware.type.StepMotor.DeviceStepMotorId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorSpeedLevel; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.*; + +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +@Tag(name = "步进电机控制") +@RestController +@RequestMapping("/api/step-motor") +@RequiredArgsConstructor +@Slf4j +public class StepMotorController { + private final StepMotorService stepMotorService; + private final DeviceParamConfigService deviceParamConfigService; + + // 获取设备列表 + @PostMapping("/get-device-list") + @Operation(summary = "获取设备列表") + public Map getDeviceList() { + Map map = new HashMap<>(); + for(DeviceStepMotorId id : DeviceStepMotorId.values()) { + map.put(id.name(), id.getDescription()); + } + return map; + } + + // 获取寄存器列表 + @PostMapping("/get-reg-list") + @Operation(summary = "获取寄存器列表") + public List getRegList() { + List list = new ArrayList<>(); + for(StepMotorRegIndex reg : StepMotorRegIndex.values()) { + list.add(reg.name()); + } + return list; + } + + // 基础设置 + @PostMapping("/speed-level") + @Operation(summary = "设置速度等级") + public Result setStepMotorSpeedLevel(@RequestParam StepMotorSpeedLevel speedLevel) { + stepMotorService.setStepMotorSpeedLevel(speedLevel); + return Result.success(); + } + + // 基础操作 + @PostMapping("/enable") + @Operation(summary = "电源开启") + public Result enableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.enableMotor(deviceId); + return Result.success(); + } + + @PostMapping("/disable") + @Operation(summary = "电源关闭") + public Result disableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.disableMotor(deviceId); + return Result.success(); + } + + @PostMapping("/move-to-zero") + @Operation(summary = "回Home") + public Result stepMotorEasyMoveToZero(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.stepMotorEasyMoveToZero(deviceId); + return Result.success(); + } + + @PostMapping("/move-to-zero-quick") + @Operation(summary = "快速回Home") + public Result stepMotorEasyMoveToZeroPointQuickBlock(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.stepMotorEasyMoveToZeroPointQuickBlock(deviceId); + return Result.success(); + } + + @PostMapping("/stop") + @Operation(summary = "停止") + public Result stepMotorStop(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.stepMotorStop(deviceId); + return Result.success(); + } + + // 相对移动 + @PostMapping("/move-by-forward") + @Operation(summary = "正向点动") + public Result stepMotorEasyMoveByForward( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer dpos) throws HardwareException { + stepMotorService.stepMotorEasyMoveByForward(deviceId, dpos); + return Result.success(); + } + + @PostMapping("/move-by-backward") + @Operation(summary = "反向点动") + public Result stepMotorEasyMoveByBackward( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer dpos) throws HardwareException { + stepMotorService.stepMotorEasyMoveByBackward(deviceId, dpos); + return Result.success(); + } + + // 绝对移动 + @PostMapping("/move-to") + @Operation(summary = "移动(绝对)") + public Result stepMotorEasyMoveTo( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer pos) throws HardwareException { + stepMotorService.stepMotorEasyMoveTo(deviceId, pos); + return Result.success(); + } + + // 旋转 + @PostMapping("/rotate-forward") + @Operation(summary = "正转") + public Result rotateForward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.rotateForward(deviceId); + return Result.success(); + } + + @PostMapping("/rotate-backward") + @Operation(summary = "反转") + public Result rotateBackward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + stepMotorService.rotateBackward(deviceId); + return Result.success(); + } + + // 寄存器配置 + @PostMapping("/mres") + @Operation(summary = "设置细分") + public Result setMres( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer mres) throws HardwareException { + stepMotorService.setMres(deviceId, mres); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mres.regIndex.name(),mres); + return Result.success(); + } + + @PostMapping("/irun") + @Operation(summary = "设置IRUN") + public Result setIRUN( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer irun) throws HardwareException { + stepMotorService.setIRUN(deviceId, irun); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_irun.regIndex.name(),irun); + return Result.success(); + } + + @PostMapping("/ihold") + @Operation(summary = "设置IHOLD") + public Result setIHOLD( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer ihold) throws HardwareException { + stepMotorService.setIHOLD(deviceId, ihold); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_ihold.regIndex.name(),ihold); + return Result.success(); + } + + @PostMapping("/start-stop-vel") + @Operation(summary = "设置起停速度") + public Result setStartAndStopVel( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer v) throws HardwareException { + stepMotorService.setStartAndStopVel(deviceId, v); + //开始速度参数保存到数据库 + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstart.regIndex.name(),v); + //停止速度参数保存到数据库 + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstop.regIndex.name(),v); + return Result.success(); + } + + @PostMapping("/v1") + @Operation(summary = "设置V1") + public Result setV1( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer v) throws HardwareException { + stepMotorService.setV1(deviceId, v); + //参数保存到数据库 + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_v1.regIndex.name(),v); + return Result.success(); + } + + @PostMapping("/acceleration") + @Operation(summary = "设置加速度") + public Result setA1AndD1( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer acc) throws HardwareException { + stepMotorService.setA1AndD1(deviceId, acc); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_a1.regIndex.name(),acc); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_d1.regIndex.name(),acc); + return Result.success(); + } + + @PostMapping("/max-acceleration") + @Operation(summary = "设置最大加速度") + public Result setAmaxAndDmax( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer acc) throws HardwareException { + stepMotorService.setAmaxAndDmax(deviceId, acc); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_amax.regIndex.name(),acc); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dmax.regIndex.name(),acc); + return Result.success(); + } + + @PostMapping("/default-velocity") + @Operation(summary = "设置默认速度") + public Result setDefaultVel( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer v) throws HardwareException { + stepMotorService.setDefaultVel(deviceId, v); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),v); + return Result.success(); + } + + @PostMapping("/speed") + @Operation(summary = "设置速度") + public Result setSpeed( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer low, + @RequestParam Integer mid, + @RequestParam Integer high) throws HardwareException { + stepMotorService.setSpeed(deviceId, low, mid, high); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_low_velocity.regIndex.name(),low); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mid_velocity.regIndex.name(),mid); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_high_velocity.regIndex.name(),high); + return Result.success(); + } + + @PostMapping("/one-circle-pulse") + @Operation(summary = "设置一圈脉冲数") + public Result setOneCirclePulse( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer pulse, + @RequestParam Integer denominator) throws HardwareException { + stepMotorService.setOneCirclePulse(deviceId, pulse, denominator); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse.regIndex.name(),pulse); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator.regIndex.name(),denominator); + return Result.success(); + } + + @PostMapping("/dzero") + @Operation(summary = "设置DZero") + public Result setDZero( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam Integer dzero) throws HardwareException { + stepMotorService.setDZero(deviceId, dzero); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dzero_pos.regIndex.name(),dzero); + return Result.success(); + } + + @GetMapping("/reg") + @Operation(summary = "读取寄存器值") + public Integer readReg( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam StepMotorRegIndex reg) { + return stepMotorService.readReg(deviceId, reg); + } + + @PostMapping("/reg") + @Operation(summary = "设置寄存器") + public Result setReg( + @RequestParam DeviceStepMotorId deviceId, + @RequestParam StepMotorRegIndex reg, + @RequestParam Integer val) throws HardwareException { + stepMotorService.setReg(deviceId, reg, val); + deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),reg.regIndex.name(),val); + return Result.success(); + } + + // 状态查询 + @GetMapping("/regs") + @Operation(summary = "读取所有寄存器") + public Map readAllRegs(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + return stepMotorService.readAllRegs(deviceId); + } + + @GetMapping("/position") + @Operation(summary = "读取位置") + public Integer readPos(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + return stepMotorService.readPos(deviceId); + } + + @GetMapping("/encoder-position") + @Operation(summary = "读取编码器位置") + public Integer readEncPos(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + return stepMotorService.readEncPos(deviceId); + } + + @PostMapping("/read-zero-sensor") + @Operation(summary = "读取零点光电") + public Boolean readZeroSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + return stepMotorService.readIoState(deviceId, 0); + } + @PostMapping("/read-limit-sensor") + @Operation(summary = "读取限位光电") + public Boolean readLimitSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException { + return stepMotorService.readIoState(deviceId, 1); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/dao/SubModuleRegInitialValueDao.java b/src/main/java/com/iflytop/sgs/hardware/dao/SubModuleRegInitialValueDao.java new file mode 100644 index 0000000..85d3acb --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/dao/SubModuleRegInitialValueDao.java @@ -0,0 +1,38 @@ +package com.iflytop.sgs.hardware.dao; + +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.RegIndex; +import com.iflytop.sgs.hardware.type.db.SubModuleRegInitialValue; +import com.iflytop.sgs.hardware.utils.ZSqlite; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.jdbc.core.JdbcTemplate; +import org.springframework.stereotype.Component; + +@Component +@Slf4j +@RequiredArgsConstructor +public class SubModuleRegInitialValueDao extends ZSqlite { + private final JdbcTemplate _jdbcTemplate; + + @PostConstruct + void init() { + init(_jdbcTemplate, "zapp_sub_module_reg_initial_value", SubModuleRegInitialValue.class, false); + } + + public SubModuleRegInitialValue findByIDAndRegIndex(MId mid, RegIndex regIndex) { + return queryOne("select * from " + tableName + " where mid = ? and regIndex = ?;", mid, regIndex); + } + + public void update(MId mid, RegIndex regIndex, Integer regInitVal) { + var old = findByIDAndRegIndex(mid, regIndex); + if (old == null) { + add(new SubModuleRegInitialValue(mid, regIndex, regInitVal)); + } else { + old.regInitVal = regInitVal; + update(old); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/CameraDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/CameraDriver.java new file mode 100644 index 0000000..64363bd --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/CameraDriver.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.hardware.drivers; + +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class CameraDriver { + public void takePhoto(){ + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/ColdTrapDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/ColdTrapDriver.java new file mode 100644 index 0000000..9ed4eb4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/ColdTrapDriver.java @@ -0,0 +1,52 @@ +package com.iflytop.sgs.hardware.drivers; + +import com.iflytop.sgs.hardware.drivers.DODriver.OutputIOCtrlDriver; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Component; + +import static com.iflytop.sgs.hardware.type.IO.OutputIOMId.DO_COLD_TRAP_POWER; + +/** + * 物理冷阱 + */ +@Component +@RequiredArgsConstructor +public class ColdTrapDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void setTemperature(Double temperature) throws Exception { + + } + + public void openPower() throws Exception{ + outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, true); + } + + public void closePower() throws Exception{ + outputIOCtrlDriver_.setIOState(DO_COLD_TRAP_POWER, false); + } + + public boolean openCircle() { + return false; + } + + public boolean closeCircle() { + return false; + } + + public boolean openHeart() { + return false; + } + + public boolean closeHeart() { + return false; + } + + public boolean openCool() { + return false; + } + + public boolean closeCool() { + return false; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/DIDriver/InputDetectDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/DIDriver/InputDetectDriver.java new file mode 100644 index 0000000..d57c843 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/DIDriver/InputDetectDriver.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.hardware.drivers.DIDriver; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.IO.InputIOMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class InputDetectDriver { + + private final A8kCanBusService canBus; + + public Boolean getIOState(InputIOMId ioid) throws HardwareException { + while (true) { + Boolean firstReadIO = priGetIOState(ioid); + Boolean secondReadIO = priGetIOState(ioid); + if (firstReadIO == secondReadIO) { + if (ioid.mirror) { + return !firstReadIO; + } + return firstReadIO; + } else { + log.warn("getIOState {} not match, retry", ioid); + } + } + } + + + private Boolean priGetIOState(InputIOMId ioid) throws HardwareException { + return canBus.callcmd(ioid.mid, CmdId.read_in_io, ioid.ioIndex).getContentI32(0) != 0; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/FanDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/FanDriver.java new file mode 100644 index 0000000..942e719 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/FanDriver.java @@ -0,0 +1,24 @@ +package com.iflytop.sgs.hardware.drivers.DODriver; + +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class FanDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void open(OutputIOMId outputIOMId) throws Exception + { + log.info("Opening FanD {}", outputIOMId.mid.getDescription()); + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void close(OutputIOMId outputIOMId) throws Exception + { + log.info("Closing FanD {}", outputIOMId.mid.getDescription()); + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/OutputIOCtrlDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/OutputIOCtrlDriver.java new file mode 100644 index 0000000..1ad247e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/OutputIOCtrlDriver.java @@ -0,0 +1,30 @@ +package com.iflytop.sgs.hardware.drivers.DODriver; + + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Component; + +@Component +@RequiredArgsConstructor +public class OutputIOCtrlDriver { + + private final A8kCanBusService canBus; + + public void setIOState(OutputIOMId IOOutput, Boolean state) throws HardwareException { + canBus.callcmd(IOOutput.mid, CmdId.write_out_io, IOOutput.ioIndex, state ? 1 : 0); + } + + public void open(OutputIOMId IOOutput) throws HardwareException + { + this.setIOState(IOOutput, true); + } + + public void close(OutputIOMId IOOutput) throws HardwareException + { + this.setIOState(IOOutput, false); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/VentilatorDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/VentilatorDriver.java new file mode 100644 index 0000000..9c9ab55 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/VentilatorDriver.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.hardware.drivers.DODriver; + +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class VentilatorDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void openPower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void closePower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/WaterPumpDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/WaterPumpDriver.java new file mode 100644 index 0000000..4de6bcc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/DODriver/WaterPumpDriver.java @@ -0,0 +1,22 @@ +package com.iflytop.sgs.hardware.drivers.DODriver; + +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class WaterPumpDriver { + private final OutputIOCtrlDriver outputIOCtrlDriver_; + + public void openPower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, true); + } + public void closePower(OutputIOMId outputIOMId) throws Exception + { + outputIOCtrlDriver_.setIOState(outputIOMId, false); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/FillLightDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/FillLightDriver.java new file mode 100644 index 0000000..4b0dc95 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/FillLightDriver.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.hardware.drivers; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class FillLightDriver { + private final A8kCanBusService canBus; + + public void open(MId mId, Integer brightness) throws Exception { + // 模拟打开 + canBus.callcmd(mId, CmdId.pwm_light_on, brightness); + } + public void close(MId mId) throws Exception { + canBus.callcmd(mId, CmdId.pwm_light_off); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/HeaterRodDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/HeaterRodDriver.java new file mode 100644 index 0000000..5161672 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/HeaterRodDriver.java @@ -0,0 +1,122 @@ +package com.iflytop.sgs.hardware.drivers; + +import cn.hutool.core.util.StrUtil; +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.comm.modbus.ModbusMasterService; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.A8kPacket; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterRodDriver { + private final A8kCanBusService canBus; + private final ModbusMasterService modbusMaster; + + private static final int SV_ADDRESS = 0x2000; + private static final int PV_ADDRESS = 0x2010; + + private static final int CONTROL_REGISTER = 0x2106; + private static final int DP_ADDRESS = 0x2107; + private static final int DEVICE_ADDRESS_REGISTER = 0x2112; + + private final Map dpCache = new ConcurrentHashMap<>(); + private static final int DEFAULT_DP = 1; + + public void setDeviceAddress(HeaterRodSlavedId heaterRodId, int newAddress) throws Exception { + int slaveId = heaterRodId.getSlaveId(); + + if (!modbusMaster.writeRegister(slaveId, DEVICE_ADDRESS_REGISTER, newAddress)) { + throw new Exception("Failed to set device address for heater rod with ID: " + heaterRodId.name()); + } + + log.info("Device address for heater rod with ID: {} set to: {}", heaterRodId.name(), newAddress); + } + + private int getDecimalPoint(int slaveId) throws Exception { + return dpCache.computeIfAbsent(slaveId, id -> { + try { + short[] response = modbusMaster.readHoldingRegisters(id, DP_ADDRESS, 1); + if (response != null && response.length > 0) { + return (int) response[0]; + } + } catch (Exception e) { + log.warn("Failed to read DP for slave ID: {}, using default DP: {}", id, DEFAULT_DP); + } + return DEFAULT_DP; + }); + } + + public void openPower(HeaterRodSlavedId heaterRodId) throws Exception + { + int slaveId = heaterRodId.getSlaveId(); + if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 1)) { // 1 = Start + throw new Exception("Failed to start heater rod with ID: " + heaterRodId.name()); + } + } + + public void closePower(HeaterRodSlavedId heaterRodId) throws Exception + { + int slaveId = heaterRodId.getSlaveId(); + + if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 2)) { // 2 = Stop + throw new Exception("Failed to stop heater rod with ID: " + heaterRodId.name()); + } + + log.info("{} stopped.", heaterRodId.name()); + } + + public void setTemperature(HeaterRodSlavedId heaterRodId, double temperature) throws Exception { + int slaveId = heaterRodId.getSlaveId(); + int decimalPoint = getDecimalPoint(slaveId); + int scaledTemperature = (int) (temperature * Math.pow(10, decimalPoint)); + + if (!modbusMaster.writeRegister(slaveId, SV_ADDRESS, scaledTemperature)) { + throw new Exception("Failed to set temperature for heater rod with ID: " + heaterRodId.name()); + } + + log.info("{} started with temperature: {}", heaterRodId.name(), temperature); + } + + public double getTemperature(HeaterRodSlavedId heaterRodId) throws Exception { + int slaveId = heaterRodId.getSlaveId(); + int decimalPoint = getDecimalPoint(slaveId); + + short[] response = modbusMaster.readHoldingRegisters(slaveId, PV_ADDRESS, 1); + if (response == null || response.length == 0) { + throw new Exception(StrUtil.format("Failed to read temperature {}", heaterRodId.name())); + } + double temperature = response[0] / Math.pow(10, decimalPoint); + log.info("{} GET temperature {}", heaterRodId.name(), temperature); + return temperature; + } + + /** + * 获取电流 + * @return + */ + public Integer getCurrent(HeaterRodSlavedId heaterRodId) throws HardwareException + { + A8kPacket packet = canBus.callcmd(heaterRodId.getMid(), CmdId.adc_read_adc, heaterRodId.getAdcCurrentIndex()); + Integer current = packet.getContentI32(0); + return current; + } + + // ==== ==== ==== ==== ==== ==== application ==== ==== ==== ==== ==== ==== + public void open(HeaterRodSlavedId heaterRodId, double temperature) throws Exception { + this.openPower(heaterRodId); + this.setTemperature(heaterRodId, temperature); + } + + public void close(HeaterRodSlavedId heaterRodId) throws Exception { + this.closePower(heaterRodId); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/LeisaiServoDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/LeisaiServoDriver.java new file mode 100644 index 0000000..54188ba --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/LeisaiServoDriver.java @@ -0,0 +1,98 @@ +package com.iflytop.sgs.hardware.drivers; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.constants.ActionOvertimeConstant; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.A8kPacket; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiRegIndex; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoSpeedLevel; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Component +@Slf4j +@RequiredArgsConstructor +public class LeisaiServoDriver { + final private A8kCanBusService canBus; + private final ActionOvertimeConstant actionOvertimeConstant; + static public final Integer actionOvertime = 10000; + + public void moduleStop(LeisaiServoMId id) throws HardwareException { + log.info("moduleStop called with id: {}", id); + canBus.moduleStop(id.mid); + } + + public void enable(LeisaiServoMId id, Integer enable) throws HardwareException { + log.info("enable called with id: {}, enable: {}", id, enable); + canBus.callcmd(id.mid, CmdId.leisai_servo_enable, enable); + } + + public Integer readPosition(LeisaiServoMId id) throws HardwareException { + log.info("readPosition called with id: {}", id); + A8kPacket packet = canBus.callcmd(id.mid, CmdId.leisai_servo_read_pos); + return packet.getContentI32(0); + } + + public Boolean readIoState(LeisaiServoMId id, Integer io_index) throws HardwareException { + log.info("readIoState called with id: {}, io_index: {}", id, io_index); + A8kPacket packet = canBus.callcmd(id.mid, CmdId.leisai_servo_read_io_state, io_index); + return packet.getContentI32(0) != 0; + } + + public void moveTo(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer pos) throws HardwareException { + log.info("moveTo called with id: {}, speedLevel: {}, pos: {}", id, speedLevel, pos); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_to, speedLevel.ordinal(), pos); + } + + public void moveBy(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer dpos) throws HardwareException { + log.info("moveBy called with id: {}, speedLevel: {}, dpos: {}", id, speedLevel, dpos); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_by, speedLevel.ordinal(), dpos); + } + + public void rotate(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer direction) throws HardwareException { + log.info("rotate called with id: {}, speedLevel: {}, direction: {}", id, speedLevel, direction); + canBus.callcmd(id.mid, CmdId.leisai_servo_rotate, speedLevel.ordinal(), direction); + } + + public void moveToZero(LeisaiServoMId id) throws HardwareException { + log.info("moveToZero called with id: {}", id); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_to_zero); + } + + // ====== ===== ====== ===== ====== ===== Block ====== ===== ====== ===== ====== ===== + public void moveToBlock(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer pos) throws HardwareException { + log.info("moveToBlock called with id: {}, speedLevel: {}, pos: {}", id, speedLevel, pos); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_to, speedLevel.ordinal(), pos); + waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_to)); + } + + public void moveByBlock(LeisaiServoMId id, LeisaiServoSpeedLevel speedLevel, Integer dpos) throws HardwareException { + log.info("moveByBlock called with id: {}, speedLevel: {}, dpos: {}", id, speedLevel, dpos); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_by, speedLevel.ordinal(), dpos); + waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_by)); + } + + public void moveToZeroBlock(LeisaiServoMId id) throws HardwareException { + log.info("moveToZeroBlock called with id: {}", id); + canBus.callcmd(id.mid, CmdId.leisai_servo_move_to_zero); + waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.leisai_servo_move_to_zero)); + } + + public void waitForMod(LeisaiServoMId id, Integer overtime) throws HardwareException { + canBus.waitForMod(id.mid, overtime); + } + + public void setReg(LeisaiServoMId id, LeisaiRegIndex regindex, int val) throws HardwareException { + log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val); + canBus.moduleSetReg(id.mid, regindex.regIndex, val); + } + + + public Integer getReg(LeisaiServoMId id, LeisaiRegIndex regindex) throws HardwareException { + log.info("getReg called with id: {}, regindex: {}", id, regindex); + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/LiquidDistributionArmDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/LiquidDistributionArmDriver.java new file mode 100644 index 0000000..5c2cd8a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/LiquidDistributionArmDriver.java @@ -0,0 +1,98 @@ +package com.iflytop.sgs.hardware.drivers; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.constants.ActionOvertimeConstant; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.Servo.LiquidArmMId; +import com.iflytop.sgs.hardware.type.Servo.LiquidArmRegIndex; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +/** + * 加液臂接口 + */ +@Component +@Slf4j +@RequiredArgsConstructor +public class LiquidDistributionArmDriver { + private final ActionOvertimeConstant actionOvertimeConstant; + final private A8kCanBusService canBus; + /** + * 使能 + * @param id + * @param enable + * @throws HardwareException + */ + public void liquidDistributionArmEnable(LiquidArmMId id, int enable) throws HardwareException { + log.info("liquidDistributionArmEnable called with id: {}, enable: {}", id, enable); + canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_enable, enable); + } + + /** + * 移动到指定试管架 + * @param id + * @param index + * @throws HardwareException + */ + public void liquidDistributionArmMoveTo(LiquidArmMId id, int index) throws HardwareException { + log.info("liquidDistributionArmMoveTo called with id: {}, index: {}", id, index); + canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_move_to, index); + } + + public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException { + liquidDistributionArmMoveTo(id,index); + waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.liquid_distribution_arm_move_to)); + } + public void waitForMod(LiquidArmMId id, Integer overtime) throws HardwareException { + canBus.waitForMod(id.mid, overtime); + } + + public int liquidDistributionReadPos(LiquidArmMId id) throws HardwareException { + log.info("liquidDistributionReadPos called with id: {}", id); + var packet = canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_read_pos); + return packet.getContentI32(0); + } + + public void liquidDistributionSetCurPosAsPresetPos(LiquidArmMId id, int index) throws HardwareException { + log.info("liquidDistributionSetCurPosAsPresetPos called with id: {}, index: {}", id, index); + canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_set_cur_pos_as_preset_pos, index); + } + + public void liquidDistributionSetCurPosAsMidPos(LiquidArmMId id) throws HardwareException { + log.info("liquidDistributionSetCurPosAsMidPos called with id: {}", id); + canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_set_cur_pos_as_mid_pos); + } + + /** + * 停止 + * @param id + * @throws HardwareException + */ + public void moduleStop(LiquidArmMId id) throws HardwareException { + log.info("moduleStop called with id: {}", id); + canBus.moduleStop(id.mid); + } + + public void setReg(LiquidArmMId id, LiquidArmRegIndex regindex, int val) throws HardwareException { + log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val); + canBus.moduleSetReg(id.mid, regindex.regIndex, val); + } + + public Integer getReg(LiquidArmMId id, LiquidArmRegIndex regindex) throws HardwareException { + log.info("getReg called with id: {}, regindex: {}", id, regindex); + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } + +// public Object getAllReg(LiquidArmMId id) throws HardwareException { +// log.info("getAllReg called with id: {}", id); +// ObjectNode node = ZJsonHelper.createObjectNode(); +// for (LiquidArmRegIndex regIndex : LiquidArmRegIndex.values()) { +// Integer regVal = getReg(id, regIndex); +// log.info("read reg {} -> {}", regIndex, regVal); +// node.put(regIndex.name(), getReg(id, regIndex)); +// } +// return node; +// } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/ClawDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/ClawDriver.java new file mode 100644 index 0000000..5a2bcd6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/ClawDriver.java @@ -0,0 +1,108 @@ +package com.iflytop.sgs.hardware.drivers.MiniServoDriver; + +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import com.iflytop.sgs.hardware.utils.Math.ServoPositionConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ClawDriver { + private static final double MIN_DISTANCE = 34.0; + private static final double MAX_DISTANCE = 54.0; + + private static double MIN_SERVO_POSITION = 2048; + private static double MAX_SERVO_POSITION = 3000; + + private final MiniServoDriver miniServoDriver; + + private double speed_ = 10.0; // mm/s + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + /** + * 将距离转换为舵机位置 + * @param distance 距离值，范围在 MIN_DISTANCE 到 MAX_DISTANCE 之间 + * @return 对应的舵机位置，范围在 MIN_SERVO_POSITION 到 MAX_SERVO_POSITION 之间 + */ + public static double distanceToServoPosition(double distance) { + if (distance < MIN_DISTANCE) { + distance = MIN_DISTANCE; + } else if (distance > MAX_DISTANCE) { + distance = MAX_DISTANCE; + } + return MIN_SERVO_POSITION + (distance - MIN_DISTANCE) * (MAX_SERVO_POSITION - MIN_SERVO_POSITION) / (MAX_DISTANCE - MIN_DISTANCE); + } + + /** + * 将舵机位置转换为距离 + * @param servoPosition 舵机位置值，范围在 MIN_SERVO_POSITION 到 MAX_SERVO_POSITION 之间 + * @return 对应的距离，范围在 MIN_DISTANCE 到 MAX_DISTANCE 之间 + */ + public static double servoPositionToDistance(double servoPosition) { + if (servoPosition < MIN_SERVO_POSITION) { + servoPosition = MIN_SERVO_POSITION; + } else if (servoPosition > MAX_SERVO_POSITION) { + servoPosition = MAX_SERVO_POSITION; + } + return MIN_DISTANCE + (servoPosition - MIN_SERVO_POSITION) * (MAX_DISTANCE - MIN_DISTANCE) / (MAX_SERVO_POSITION - MIN_SERVO_POSITION); + } + + + private int toServoPosition(double position) { + int servoPosition = 0; + servoPosition = (int)distanceToServoPosition(position); + servoPosition = (int)ServoPositionConverter.convert4096To3600(servoPosition); + return servoPosition; + } + + private int toServoSpeed(double speed) { + int servoSpeed = 0; + servoSpeed = (int)speed; + return servoSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(MiniServoMId servoMid) + { + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(MiniServoMId servoMid, double speed) { + log.info("[ {} ] Setting speed to {}", servoMid.mid.getDescription(), speed); + // 检查速度是否合法 + speed_ = speed; + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void moveToHome(MiniServoMId servoMid) throws HardwareException + { + log.info("[ {} ] moveToHome", servoMid.mid.getDescription()); + + this.moveTo(servoMid, MIN_DISTANCE); + } + + public void moveTo(MiniServoMId servoMid, double position) throws HardwareException + { + // 检查位置是否合法 + if (position < MIN_DISTANCE || position > MAX_DISTANCE) { + log.error("[ {} ] Position is out of range", servoMid.mid.getDescription()); + throw new InvalidParameterException("Position is out of range"); + } + miniServoDriver.miniServoEnable(servoMid, 1); + int servoPosition = toServoPosition(position); + log.info("[ {} ] moveTo {}, servo position {} ...", servoMid, position, servoPosition); + miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition); + log.info("[ {} ] moveTo {}, servo position {} end", servoMid, position, servoPosition); + } + + public void stop(MiniServoMId servoMid) throws HardwareException { + log.info("[ {} ] stop", servoMid.mid.getDescription()); + miniServoDriver.miniServoStop(servoMid); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/DualRobotDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/DualRobotDriver.java new file mode 100644 index 0000000..0716919 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/DualRobotDriver.java @@ -0,0 +1,178 @@ +package com.iflytop.sgs.hardware.drivers.MiniServoDriver; + +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.awt.geom.Point2D; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DualRobotDriver { + public enum Joint { + JOINT_1, + JOINT_2 + } + + // 舵机角度范围常量（度） + public static final double MIN_ANGLE_DEG = -180.0; + public static final double MAX_ANGLE_DEG = 180.0; + + // 舵机位置值范围常量 + public static final int MIN_SERVO_POSITION = 0; + public static final int MAX_SERVO_POSITION = 3600; + + private final MiniServoDriver miniServoDriver; + + private double speed_ = 10.0; // mm/s + + // ==== ==== ==== ==== ==== ==== convert ==== ==== ==== ==== ==== ==== + + /** + * 将舵机角度（-180 到 180 度）转换为位置值（0 - 4096） + * @param angle 舵机角度，范围在 -180 到 180 度之间 + * @return 对应的位置值，范围在 0 到 4096 之间 + * @throws IllegalArgumentException 如果输入角度超出范围 + */ + public static int angleToServoPosition(double angle) { + if (angle < MIN_ANGLE_DEG || angle > MAX_ANGLE_DEG) { + throw new IllegalArgumentException("角度必须在 " + MIN_ANGLE_DEG + " 到 " + MAX_ANGLE_DEG + " 度之间"); + } + + // 线性映射公式：position = minPos + (angle - minAngle) * (maxPos - minPos) / (maxAngle - minAngle) + return (int) Math.round( + MIN_SERVO_POSITION + + (angle - MIN_ANGLE_DEG) * + (MAX_SERVO_POSITION - MIN_SERVO_POSITION) / + (MAX_ANGLE_DEG - MIN_ANGLE_DEG) + ); + } + + /** + * 将位置值（0 - 4096）转换为舵机角度（-180 到 180 度） + * @param servoPosition 设置值，范围在 0 到 4096 之间 + * @return 对应的舵机角度，范围在 -180 到 180 度之间 + * @throws IllegalArgumentException 如果输入位置值超出范围 + */ + public static double servoPositionToAngle(int servoPosition) { + if (servoPosition < MIN_SERVO_POSITION || servoPosition > MAX_SERVO_POSITION) { + throw new IllegalArgumentException("位置值必须在 " + MIN_SERVO_POSITION + " 到 " + MAX_SERVO_POSITION + " 之间"); + } + + // 线性映射公式：angle = minAngle + (position - minPos) * (maxAngle - minAngle) / (maxPos - minPos) + return MIN_ANGLE_DEG + + (servoPosition - MIN_SERVO_POSITION) * + (MAX_ANGLE_DEG - MIN_ANGLE_DEG) / + (MAX_SERVO_POSITION - MIN_SERVO_POSITION); + } + + + private int toServoPosition(double angle) { + int servoPosition = angleToServoPosition(angle); + return servoPosition; + } + + private double toAngle(Integer position) + { + double angle = servoPositionToAngle(position); + return angle; + } + + private Point2D toServoPosition(Point2D point) { + Point2D servoPosition = new Point2D.Double(0, 0); + servoPosition.setLocation(point.getX(), point.getY()); + return servoPosition; + } + + private int toServoSpeed(double speed) { + int servoSpeed = 0; + servoSpeed = (int)speed; + return servoSpeed; + } + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(MiniServoMId servoMid) + { + return speed_; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(MiniServoMId servoMid, double speed) { + // 检查速度是否合法 + speed_ = speed; + } + + public MiniServoMId getMiniServoMId(Joint joint) { + switch (joint) { + case JOINT_1: + return MiniServoMId.DUAL_ROBOT_AXIS1_MID; + case JOINT_2: + return MiniServoMId.DUAL_ROBOT_AXIS2_MID; + default: + return null; + } + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void servoEnable(MiniServoMId servoMId, boolean enable) throws HardwareException + { + miniServoDriver.miniServoEnable(servoMId, enable ? 1 : 0); + } + + public void moveToHome(MiniServoMId servoMid) throws HardwareException + { + log.info("Servo {} Move To Home", servoMid.mid.getDescription()); + this.servoEnable(servoMid, true); + } + + public void moveJointTo(MiniServoMId servoMid, double position) throws HardwareException + { + // 检查位置是否合法 + Integer servoPosition = toServoPosition(position); + log.info("Servo {} Move To position {}, Servo Position {}", servoMid.mid.getDescription(), position, servoPosition); + this.servoEnable(servoMid, true); + miniServoDriver.miniServoMoveToBlock(servoMid, servoPosition); + } + + public void stop(MiniServoMId servoMid) throws HardwareException { + log.info("Servo {} Stop", servoMid.mid.getDescription()); + miniServoDriver.miniServoStop(servoMid); + } + + // ==== ==== ==== ==== ==== ==== Application ==== ==== ==== ==== ==== ==== + + public void setSpeed(Joint joint, double speed) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + setSpeed(servoMId, speed); + log.info("Set speed for {} to {}", joint, speed); + } + + public void moveToPoint(double pointX, double pointY) throws HardwareException { +// Point2D point = getServoPosition(new Point2D.Double(pointX, pointY)); +// +// miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS1_MID, (int)point.getX()); +// miniServoDriver.miniServoMoveToBlock(MiniServoMId.DUAL_ROBOT_AXIS2_MID, (int)point.getY()); + } + + public void moveToHome(Joint joint) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + log.info("Servo {} Move To Home", servoMId.mid.getDescription()); + moveToHome(servoMId); + } + + public void moveJointTo(Joint joint, double position) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + log.info("Servo {} Move To position {}", servoMId.mid.getDescription(), position); + moveJointTo(servoMId, position); + } + + public void stop(Joint joint) throws HardwareException { + MiniServoMId servoMId = getMiniServoMId(joint); + log.info("Servo {} Stop", servoMId.mid.getDescription()); + stop(servoMId); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/MiniServoDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/MiniServoDriver.java new file mode 100644 index 0000000..2b114a4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/MiniServoDriver/MiniServoDriver.java @@ -0,0 +1,162 @@ +package com.iflytop.sgs.hardware.drivers.MiniServoDriver; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.constants.MiniServoConstant; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.RegIndex; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoRegIndex; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AEHardwareError; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + + +@Component +@Slf4j +@RequiredArgsConstructor +public class MiniServoDriver { + final private A8kCanBusService canBus; + + public void moduleStop(MiniServoMId id) throws HardwareException { + canBus.moduleStop(id.mid); + } + + public void miniServoEnable(MiniServoMId id, int enable) throws HardwareException { + log.debug("{} miniServoEnable {}", id.mid, enable); + canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable); + } + + public void miniServoForceEnable(MiniServoMId id, int enable) { + try { + miniServoEnable(id, enable); + } catch (HardwareException e) { + log.error("miniServoForceEnable error", e); + } + } + + public Boolean miniServoPing(MiniServoMId id) { + try { + miniServoReadPos(id); + } catch (HardwareException e) { + return false; + } + return true; + } + + public int miniServoReadPos(MiniServoMId id) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos); + return packet.getContentI32(0); + } + + public void miniServoMoveToZeroBlock(MiniServoMId id) throws HardwareException { + log.debug("{} miniServoMoveToZeroBlock", id.mid); + miniServoMoveToBlock(id, MiniServoConstant.getZeroPos(id)); + } + + public void miniServoMoveToZero(MiniServoMId id) throws HardwareException { + log.debug("{} miniServoMoveToZero", id.mid); + miniServoMoveTo(id, MiniServoConstant.getZeroPos(id)); + } + + + public void miniServoActiveCfg(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_active_cfg); + } + + public void miniServoStop(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_stop); + } + + public void miniServoSetMidPoint(MiniServoMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_set_mid_point); + } + + public int miniServoReadIoState(MiniServoMId id) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_io_state); + return packet.getContentI32(0); + } + + public void miniServoMoveTo(MiniServoMId id, int pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.mini_servo_move_to, pos); + } + + public void miniServoMoveToBlock(MiniServoMId id, int pos) throws HardwareException { + log.debug("{} miniServoMoveTo {}", id.mid, pos); + miniServoMoveTo(id, pos); + canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime); + } + + + public void miniServoRotate(MiniServoMId id, int direction) throws HardwareException { + log.debug("{} miniServoRotate {}", id.mid, direction); + canBus.callcmd(id.mid, CmdId.mini_servo_rotate, direction); + } + + public void miniServoRotateBlock(MiniServoMId id, int direction) throws HardwareException { + miniServoRotate(id, direction); + canBus.waitForMod(id.mid, MiniServoConstant.actionOvertime); + } + + public void miniServoRotateWithTorque(MiniServoMId id, int torque) throws HardwareException { + log.debug("{} miniServoRotateWithTorque {}", id.mid, torque); + canBus.callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque); + } + + public void waitForMod(MiniServoMId mid) throws HardwareException { + canBus.waitForMod(mid.mid, MiniServoConstant.actionOvertime); + } + + public void waitForMod(MiniServoMId... mid) throws HardwareException { + for (MiniServoMId m : mid) { + waitForMod(m); + } + } + + + // kmini_servo_set_cur_pos + private void miniServoSetCurPos(MiniServoMId id, Integer pos) throws HardwareException { + log.debug("{} miniServoSetCurPos {}", id.mid, pos); + canBus.callcmd2(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos); + } + + public Integer miniServoSetRefPos(MiniServoMId id) throws HardwareException { + miniServoSetCurPos(id, MiniServoConstant.getRefPos(id)); + return MiniServoConstant.getRefPos(id); + } + + public void setReg(MiniServoMId id, MiniServoRegIndex regindex, int val) throws HardwareException { + log.debug("{} setReg {} {}", id.mid, regindex, val); + canBus.moduleSetReg(id.mid, regindex.regIndex, val); + } + + public Integer getReg(MiniServoMId id, MiniServoRegIndex regindex) throws HardwareException { + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } + + public Integer getRegNoEx(MiniServoMId id, MiniServoRegIndex regindex) { + try { + return canBus.moduleGetReg(id.mid, regindex.regIndex); + } catch (HardwareException e) { + log.error("readRegNoEx error", e); + return null; + } + } + + public void miniServoWaitIsNotMove(MiniServoMId id, int acitionOvertime) throws HardwareException { + long startedAt = System.currentTimeMillis(); + do { + var isMove = canBus.moduleGetReg(id.mid, RegIndex.kreg_mini_servo_is_move); + if (isMove != 0) { + break; + } + long now = System.currentTimeMillis(); + if (now - startedAt > acitionOvertime) { + throw HardwareException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, id.mid, null)); + } + + } while (true); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/ModuleEnableCtrlDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/ModuleEnableCtrlDriver.java new file mode 100644 index 0000000..ac026d2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/ModuleEnableCtrlDriver.java @@ -0,0 +1,78 @@ +package com.iflytop.sgs.hardware.drivers; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Component +@Slf4j +@RequiredArgsConstructor +public class ModuleEnableCtrlDriver { + + private final StepMotorCtrlDriver stepMotorCtrlDriver; + private final MiniServoDriver miniServoDriver; + private final A8kCanBusService canBus; + + public void forceDisableAllMotor() { + // StepMotorMId.values() + for (StepMotorMId stepMotorMId : StepMotorMId.values()) { + try { + stepMotorCtrlDriver.stepMotorEnable(stepMotorMId, 0); + } catch (HardwareException e) { + log.info("disableStepMotor: {} failed, {}", stepMotorMId, e.getMessage()); + } + } + + for (MiniServoMId miniServoMId : MiniServoMId.values()) { + try { + miniServoDriver.miniServoEnable(miniServoMId, 0); + } catch (HardwareException e) { + log.info("disableMiniServo: {} failed, {}", miniServoMId, e.getMessage()); + } + } + } + + public void disableAllModule() throws HardwareException { + + for (var motorId : StepMotorMId.values()) { + try { + stepMotorCtrlDriver.stepMotorStop(motorId); + stepMotorCtrlDriver.stepMotorEnable(motorId, 0); + } catch (HardwareException ignored) { + } + } + + for (var miniServoId : MiniServoMId.values()) { + try { + miniServoDriver.miniServoEnable(miniServoId, 0); + } catch (HardwareException ignored) { + } + } + } + + + public void enableAllModule() throws HardwareException { + try { + for (StepMotorMId stepMotorMId : StepMotorMId.values()) + stepMotorCtrlDriver.stepMotorEnable(stepMotorMId, 1); + + + for (MiniServoMId miniServoMId : MiniServoMId.values()) + miniServoDriver.miniServoEnable(miniServoMId, 1); + + + } catch (HardwareException e) { + forceDisableAllMotor(); + throw e; + } + + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/AcidPumpDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/AcidPumpDriver.java new file mode 100644 index 0000000..cf2bc1c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/AcidPumpDriver.java @@ -0,0 +1,100 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorDirect; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class AcidPumpDriver { + private final StepMotorConfig config_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + log.info("Motor {} speed set to {}, motorSpeed {}", stepMotorMId.mid.getDescription(), speed, motorSpeed); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception + { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception + { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + motorEnable(stepMotorMId, false); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception + { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {} , limit {}", stepMotorMId.mid.getDescription(), position , config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Positon {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + motorEnable(stepMotorMId, false); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception + { + // 检查位置是否合法 + + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By position out of range, position {} , limit {}", stepMotorMId.mid.getDescription(), distance , config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By position {}, Motor Positon {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + motorEnable(stepMotorMId, false); + } + + /** + * 正转加液 反转排液 + * @param stepMotorMId + * @param direct + * @throws Exception + */ + public void rotate(StepMotorMId stepMotorMId, StepMotorDirect direct) throws Exception + { + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyRotate(stepMotorMId, direct.getValue()); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + motorEnable(stepMotorMId, true); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/DoorDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/DoorDriver.java new file mode 100644 index 0000000..be87ef1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/DoorDriver.java @@ -0,0 +1,78 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class DoorDriver{ + private final StepMotorConfig config_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception { + // 检查位置是否合法 + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + motorEnable(stepMotorMId, true); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HBotDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HBotDriver.java new file mode 100644 index 0000000..a55b83e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HBotDriver.java @@ -0,0 +1,99 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HBotDriver { + private final StepMotorConfig config_; + private final OutputIOCtrlDriver doDriver_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception { + // 检查位置是否合法 + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + motorEnable(stepMotorMId, true); + } + + // ==== ==== ==== ==== ==== ==== IO Ctrl ==== ==== ==== ==== ==== + public void openClamp(OutputIOMId iomId) throws Exception + { + if(iomId == null) { + return; + } + doDriver_.open(iomId); + } + + public void closeClamp(OutputIOMId iomId) throws Exception + { + if(iomId == null) { + return; + } + doDriver_.close(iomId); + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java new file mode 100644 index 0000000..93455de --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java @@ -0,0 +1,78 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class HeaterMotorDriver { + private final StepMotorConfig config_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception { + // 检查位置是否合法 + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + motorEnable(stepMotorMId, true); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java new file mode 100644 index 0000000..84f8d69 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java @@ -0,0 +1,89 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorDirect; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class ShakeMotorDriver { + private final StepMotorConfig config_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception { + // 检查位置是否合法 + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + motorEnable(stepMotorMId, true); + } + + public void startShake(StepMotorMId stepMotorMId, StepMotorDirect direct) throws Exception { + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyRotate(stepMotorMId, direct.getValue()); + } + + public void stopShake(StepMotorMId stepMotorMId) throws Exception { + this.stop(stepMotorMId); + this.moveToHome(stepMotorMId); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java new file mode 100644 index 0000000..dab0bff --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java @@ -0,0 +1,181 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +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.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorSpeedLevel; +import lombok.RequiredArgsConstructor; +import org.slf4j.Logger; +import org.springframework.stereotype.Component; + +import java.util.HashMap; +import java.util.Map; + +@Component +@RequiredArgsConstructor +public class StepMotorCtrlDriver { + static Logger logger = org.slf4j.LoggerFactory.getLogger(StepMotorCtrlDriver.class); + + final private A8kCanBusService canBus; + + private final ActionOvertimeConstant actionOvertimeConstant; + + public void stepMotorEasyMoveBy(StepMotorMId id, Integer dpos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_by, dpos); + } + + public void stepMotorEasyMoveTo(StepMotorMId id, Integer pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos); + } + + public void stepMotorEasyMoveToZero(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero); + } + + public void setCurrentPos(StepMotorMId id, Integer pos) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_set_current_pos, pos); + } + + void stepMotorEasyMoveToZeroPointQuick(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero_point_quick); + } + + void stepMotorEasyMoveToEndPoint(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_end_point); + } + + public void stepMotorEnable(StepMotorMId mid, Integer enable) throws HardwareException { + canBus.callcmd(mid.mid, CmdId.step_motor_enable, enable); + } + + public Integer stepMotorReadPos(StepMotorMId id) throws HardwareException { + A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_pos); + return packet.getContentI32(0); + } + + public Integer stepMotorReadEncPos(StepMotorMId id) throws HardwareException { + A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_enc_pos); + return packet.getContentI32(0); + } + + public void stepMotorEasyRotate(StepMotorMId id, Integer direction) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_rotate, direction); + } + + public void stepMotorEasyMoveByBlock(StepMotorMId id, Integer dpos) throws HardwareException { + logger.debug("stepMotorEasyMoveByBlock {} {}", id, dpos); + stepMotorEasyMoveBy(id, dpos); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_by)); + } + + public void waitForMod(StepMotorMId id, Integer overtime) throws HardwareException { + canBus.waitForMod(id.mid, overtime); + } + + public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos) throws HardwareException { + logger.debug("stepMotorEasyMoveToBlock {} {}", id, pos); + stepMotorEasyMoveTo(id, pos); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to)); + } + + public void stepMotorEasyMoveToZeroBlock(StepMotorMId id) throws HardwareException { + logger.debug("stepMotorEasyMoveToZeroBlock {}", id); + stepMotorEasyMoveToZero(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_zero)); + } + + public Integer stepMotorReadPosByMoveToZeroBlock(StepMotorMId id) throws HardwareException { + stepMotorEnable(id, 1); + stepMotorEasyMoveToZeroBlock(id); + Integer nowpos = stepMotorReadPos(id); + Integer measurepos = -canBus.moduleGetReg(id.mid, RegIndex.kreg_step_motor_dpos) + nowpos; + return measurepos; + } + + public void stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId id) throws HardwareException { + stepMotorEasyMoveToZeroPointQuick(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_zero_point_quick)); + } + + public void stepMotorStop(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_stop, 0); + } + + public void moveByBlock(StepMotorMId id, Integer dpos, StepMotorSpeedLevel speedLevel) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_by, dpos, speedLevel.ordinal()); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_by)); + } + + public void moveToBlock(StepMotorMId id, Integer pos, StepMotorSpeedLevel speedLevel) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_to, pos, speedLevel.ordinal()); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to)); + } + + public void moveToZeroQuickBlock(StepMotorMId id, StepMotorSpeedLevel speedLevel) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_move_to_zero_point_quick, speedLevel.ordinal()); + waitForMod(id, actionOvertimeConstant.get(id, CmdId.step_motor_move_to_zero_point_quick)); + } + + public void rotate(StepMotorMId id, Integer direction, StepMotorSpeedLevel speedLevel) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_rotate, direction, speedLevel.ordinal()); + + } + + public Boolean stepMotorReadIoState(StepMotorMId id, Integer ioindex) throws HardwareException { + var packet = canBus.callcmd(id.mid, CmdId.step_motor_read_io_state, ioindex); + return packet.getContentI32(0) != 0; + } + + public void stepMotorEasyMoveToEndPointBlock(StepMotorMId id) throws HardwareException { + stepMotorEasyMoveToEndPoint(id); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_end_point)); + } + + void stepMotorEasyReciprocatingMotion(StepMotorMId id, Integer startpos, Integer endpos, Integer times) throws HardwareException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_reciprocating_motion, startpos, endpos, times); + } + + public void stepMotorEasyReciprocatingMotionBlock(StepMotorMId id, Integer startpos, Integer endpos, Integer times) throws HardwareException { + stepMotorEasyReciprocatingMotion(id, startpos, endpos, times); + canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_reciprocating_motion)); + } + + public Boolean isHasMoveToZero(StepMotorMId id) throws HardwareException { + return getReg(id, StepMotorRegIndex.kreg_step_motor_has_move_zero) != 0; + } + + public void setReg(StepMotorMId id, StepMotorRegIndex regIndex, Integer val) throws HardwareException { + canBus.moduleSetReg(id.mid, regIndex.regIndex, val); + } + + public Integer getReg(StepMotorMId id, StepMotorRegIndex regIndex) throws HardwareException { + return canBus.moduleGetReg(id.mid, regIndex.regIndex); + } + + public void resetRegs(StepMotorMId id) throws HardwareException { + canBus.callcmd(id.mid, CmdId.module_reset_reg); + } + +// public Object getAllReg(StepMotorMId id) throws HardwareException { +// ObjectNode node = ZJsonHelper.createObjectNode(); +// for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) { +// Integer regVal = getReg(id, regIndex); +// logger.debug("read reg {} -> {}", regIndex, regVal); +// node.put(regIndex.name(), getReg(id, regIndex)); +// } +// return node; +// } + + public Map getAllReg(StepMotorMId id) throws HardwareException { + Map map = new HashMap(); + for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) { + Integer regVal = getReg(id, regIndex); + logger.debug("read reg {} -> {}", regIndex, regVal); + map.put(regIndex.name(), regVal); + } + return map; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/TrayMotorDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/TrayMotorDriver.java new file mode 100644 index 0000000..0b60ff9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/StepMotorDriver/TrayMotorDriver.java @@ -0,0 +1,97 @@ +package com.iflytop.sgs.hardware.drivers.StepMotorDriver; + +import com.iflytop.sgs.hardware.config.StepMotorConfig; +import com.iflytop.sgs.hardware.drivers.DODriver.OutputIOCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.IO.OutputIOMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.security.InvalidParameterException; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TrayMotorDriver { + private final StepMotorConfig config_; + private final OutputIOCtrlDriver doDriver_; + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + // ==== ==== ==== ==== ==== ==== Get ==== ==== ==== ==== ==== ==== + private double getSpeed(StepMotorMId stepMotorMId) + { + return 0.0; + } + + // ==== ==== ==== ==== ==== ==== Set ==== ==== ==== ==== ==== ==== + public void setSpeed(StepMotorMId stepMotorMId, double speed) throws HardwareException { + // 检查速度是否合法 + // 设置速度到单片机 + int motorSpeed = StepMotorConverter.toMotorSpeed(Math.abs(speed), config_.getLead(stepMotorMId)); + stepMotorCtrlDriver_.setReg(stepMotorMId, StepMotorRegIndex.kreg_step_motor_default_velocity, motorSpeed); + } + + // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ==== + public void motorEnable(StepMotorMId stepMotorMId, Boolean enable) throws Exception { + Integer i_enable = enable ? 1 : 0; + stepMotorCtrlDriver_.stepMotorEnable(stepMotorMId, i_enable); + } + + public void moveToHome(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To Home", stepMotorMId.mid.getDescription()); + motorEnable(stepMotorMId, true); + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId); + } + + public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception { + // 检查位置是否合法 + if (Math.abs(position) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move To position out of range, position {}, limit {}", stepMotorMId.mid.getDescription(), position, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("position is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(position); + log.info("Motor {} Move To position {}, Motor Position {}", stepMotorMId.mid.getDescription(), position, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition); + } + + public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception { + // 检查位置是否合法 + if (Math.abs(distance) > Math.abs(config_.getMaxLimit(stepMotorMId))) { + log.error("Motor {} Move By distance out of range, distance {}, limit {}", stepMotorMId.mid.getDescription(), distance, config_.getMaxLimit(stepMotorMId)); + throw new InvalidParameterException("Distance is out of range"); + } + + motorEnable(stepMotorMId, true); + int motorPosition = StepMotorConverter.toMotorPosition(distance); + log.info("Motor {} Move By distance {}, Motor Position {}", stepMotorMId.mid.getDescription(), distance, motorPosition); + stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition); + } + + public void stop(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Stop", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); + } + + // ==== ==== ==== ==== ==== ==== IO Ctrl ==== ==== ==== ==== ==== + public void openClamp(OutputIOMId iomId) throws Exception + { + if(iomId == null) { + return; + } + doDriver_.open(iomId); + } + + public void closeClamp(OutputIOMId iomId) throws Exception + { + if(iomId == null) { + return; + } + doDriver_.close(iomId); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/drivers/TricolorLightDriver.java b/src/main/java/com/iflytop/sgs/hardware/drivers/TricolorLightDriver.java new file mode 100644 index 0000000..6bd5e61 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/drivers/TricolorLightDriver.java @@ -0,0 +1,28 @@ +package com.iflytop.sgs.hardware.drivers; + + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.MId; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class TricolorLightDriver { + private final A8kCanBusService canBus; + public enum Color { + RED, GREEN, BLUE + } + + public void open(MId mid, Color color) throws HardwareException { + canBus.callcmd(mid, CmdId.tricolor_light_on, color.ordinal()); + } + + public void close(MId mid) throws HardwareException{ + canBus.callcmd(mid, CmdId.tricolor_light_off); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/exception/HardwareException.java b/src/main/java/com/iflytop/sgs/hardware/exception/HardwareException.java new file mode 100644 index 0000000..5d4182c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/exception/HardwareException.java @@ -0,0 +1,62 @@ +package com.iflytop.sgs.hardware.exception; + + +import com.iflytop.sgs.hardware.type.*; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AECodeError; +import com.iflytop.sgs.hardware.type.error.AEHardwareError; +import com.iflytop.sgs.hardware.type.error.AppError; +import lombok.Getter; +import lombok.extern.slf4j.Slf4j; + +@Slf4j +@Getter +public class HardwareException extends Exception { + // 构造函数 + + public AppError error; + + + public HardwareException(A8kEcode ecodeType) { + super(String.format("%s", ecodeType)); + this.error = new AppError(ecodeType); + } + + public HardwareException(AppError error) { + super(String.format("%s", error.toString())); + this.error = error; + } + + public static HardwareException of(A8kEcode errorCode, MId mid, CmdId cmdId) { + return new HardwareException(new AEHardwareError(errorCode, mid, cmdId)); + } + + public static HardwareException of(A8kEcode errorCode) { + return new HardwareException(new AppError(errorCode)); + } + + public static HardwareException of(A8kEcode errorCode, MId mid) { + return new HardwareException(new AEHardwareError(errorCode, mid, null)); + } + + public static HardwareException of(A8kEcode errorCode, String exmsg, Object... args) { + return new HardwareException(new AppError(errorCode, exmsg, args)); + } + + public static HardwareException of(AEHardwareError AEHardwareError) { + return new HardwareException(AEHardwareError); + } + + public static HardwareException of(AECodeError AECodeError) { + return new HardwareException(AECodeError); + } + + + public static HardwareException ofAECodeError(String fmt, Object... args) { + return new HardwareException(new AECodeError(fmt, args)); + } + +// public static HardwareException ofSimplePrompt(String fmt, Object... args) { +// return new HardwareException(new AESimpleErrorPrompt(fmt, args)); +// } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/factory/A8kPacketFactory.java b/src/main/java/com/iflytop/sgs/hardware/factory/A8kPacketFactory.java new file mode 100644 index 0000000..a240471 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/factory/A8kPacketFactory.java @@ -0,0 +1,53 @@ +package com.iflytop.sgs.hardware.factory; + + + +import com.iflytop.sgs.hardware.type.A8kPacket; +import com.iflytop.sgs.hardware.type.CmdId; + +import java.util.List; + +public class A8kPacketFactory { + + //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; + + 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 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()); + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/service/AppEventBusService.java b/src/main/java/com/iflytop/sgs/hardware/service/AppEventBusService.java new file mode 100644 index 0000000..5d5e96a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/AppEventBusService.java @@ -0,0 +1,93 @@ +package com.iflytop.sgs.hardware.service; + +import com.iflytop.sgs.hardware.type.appevent.AppEvent; +import jakarta.annotation.PostConstruct; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.context.ApplicationListener; +import org.springframework.context.event.ContextRefreshedEvent; +import org.springframework.stereotype.Component; + +import java.util.ArrayList; +import java.util.List; +import java.util.concurrent.BlockingQueue; +import java.util.concurrent.LinkedBlockingQueue; + +/** + * 事件总线 + * + */ +@Component +public class AppEventBusService implements ApplicationListener { + public static final Logger logger = LoggerFactory.getLogger(AppEventBusService.class); + + @FunctionalInterface + public interface AppEventListener { + void onAppEvent(AppEvent event); + } + + + Thread eventProcessorThread; + BlockingQueue eventQueue = new LinkedBlockingQueue<>(); + List listeners = new ArrayList<>(); + + @PostConstruct + public void init() { + + } + + public void regListener(AppEventListener listener) { + listeners.add(listener); + } + + + public void pushEvent(AppEvent event) { + logger.info("pushEvent: {} {}", event.getClass().getSimpleName(), event); + eventQueue.add(event); + } + +// public void pushAppPromptEvent(String msg) { +// pushEvent(new AppPromptEvent(ZAppPromoptFactory.buildNotifyPromopt(msg))); +// } + +// public void pushAppExceptionEvent(Exception e) { +// pushEvent(new AppExceptionEvent(e)); +// } + +// public void pushAppTubeholderSettingUpdateEvent() { +// pushEvent(new AppTubeholderSettingUpdateEvent()); +// } + + private void eventBusSchedule() { + while (!Thread.currentThread().isInterrupted()) { + AppEvent event = null; + try { + event = eventQueue.take(); + } catch (InterruptedException ignored) { + } + callOnEvent(event); + } + } + + private void callOnEvent(AppEvent event) { + // logger.info("Processing event: {}", event.getClass().getSimpleName()); + for (AppEventListener listener : listeners) { + listener.onAppEvent(event); + } + } + + @Override + public void onApplicationEvent(ContextRefreshedEvent event) { + logger.info("Spring context refreshed"); + if (eventProcessorThread == null) { + eventProcessorThread = new Thread(new Runnable() { + public void run() { + logger.info("Starting event bus schedule"); + eventBusSchedule(); + } + }); + eventProcessorThread.start(); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusService.java b/src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusService.java new file mode 100644 index 0000000..84d151f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusService.java @@ -0,0 +1,91 @@ +package com.iflytop.sgs.hardware.service; + +import com.iflytop.sgs.hardware.drivers.DIDriver.InputDetectDriver; +import com.iflytop.sgs.hardware.drivers.HeaterRodDriver; +import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver; +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver; +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.IO.InputIOMId; +import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId; +import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +@RequiredArgsConstructor +public class GDDeviceStatusService { + private final InputDetectDriver inputDetectDriver; + private final HeaterRodDriver heaterRodDriver; + private final StepMotorCtrlDriver stepMotorCtrlDriver; + private final MiniServoDriver miniServoDriver; + private final LeisaiServoDriver leisaiServoDriver; + + /** + * 获取步进电机的原点状态 + * @param stepMotorMId + * @return true 在原点 false 不在原点 + */ + public Boolean stepMotorIsOrigin(StepMotorMId stepMotorMId) throws HardwareException { + return stepMotorCtrlDriver.stepMotorReadIoState(stepMotorMId, 0); + } + + /** + * 获取XY 伺服的原点状态 + * @param mid + * @return + * @throws HardwareException + */ + public Boolean getXYServoIsOrigin(LeisaiServoMId mid) throws HardwareException + { + return leisaiServoDriver.readIoState(mid, 0); + } + + /** + * 获取 拍子 试管架拍子 急停 到位信号 + * @param inputIOMId + * @return + * @throws HardwareException + */ + public Boolean getInputState(InputIOMId inputIOMId) throws HardwareException { + return inputDetectDriver.getIOState(inputIOMId); + } + + /** + * 获取加热棒温度 + * @param heaterRodSlavedId + * @return + * @throws Exception + */ + public Double getHeaterRodTemperature(HeaterRodSlavedId heaterRodSlavedId) throws Exception { + return heaterRodDriver.getTemperature(heaterRodSlavedId); + } + + /** + * 获取电机位置 + * @param stepMotorMId + * @return + * @throws HardwareException + */ + public Double getStepMotorPostion(StepMotorMId stepMotorMId) throws HardwareException { + Integer motorPosition = stepMotorCtrlDriver.stepMotorReadPos(stepMotorMId); + Double realPosition = StepMotorConverter.toUserPosition(motorPosition); + return realPosition; + } + + /** + * 获取伺服类电机位置 + * @param mid + * @return + * @throws HardwareException + */ + public Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException { + int servoPosition = leisaiServoDriver.readPosition(mid); + return StepMotorConverter.toUserPosition(servoPosition); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/service/IOService.java b/src/main/java/com/iflytop/sgs/hardware/service/IOService.java new file mode 100644 index 0000000..05ee897 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/IOService.java @@ -0,0 +1,4 @@ +package com.iflytop.sgs.hardware.service; + +public class IOService { +} diff --git a/src/main/java/com/iflytop/sgs/hardware/service/ServoService.java b/src/main/java/com/iflytop/sgs/hardware/service/ServoService.java new file mode 100644 index 0000000..83680a3 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/ServoService.java @@ -0,0 +1,129 @@ +package com.iflytop.sgs.hardware.service; + +import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.Servo.DeviceServoId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoMId; +import com.iflytop.sgs.hardware.type.Servo.MiniServoRegIndex; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AppError; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.HashMap; +import java.util.Map; + +@Service +@RequiredArgsConstructor +public class ServoService { + private final MiniServoDriver miniServoDriver; + + private void throwDeviceNull(DeviceServoId id) throws HardwareException + { + throw new HardwareException(new AppError(A8kEcode.PE_PARAM_OUT_OF_RANGE, "StepMotorMId is null for id: " + id)); + } + + public void enable(DeviceServoId id, Boolean enable) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.miniServoEnable(servoMId, enable ? 1 : 0); + } + + public void stop(DeviceServoId id) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.moduleStop(servoMId); + } + + public void moveTo(DeviceServoId id, Integer pos) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.miniServoMoveToBlock(servoMId, pos); + } + + public void rotate(DeviceServoId id, Integer direction) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.miniServoRotate(servoMId, direction); + } + + public void rotateWithTorque(DeviceServoId id, Integer pos) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.miniServoRotateWithTorque(servoMId, pos); + } + + public void setReg(DeviceServoId id, MiniServoRegIndex reg, Integer val) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.setReg(servoMId, reg, val); + } + + public Map getAllReg(DeviceServoId id) { + Map map = new HashMap<>(); + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + return map; + } + + for (MiniServoRegIndex reg : MiniServoRegIndex.values()) { + try { + map.put(reg.name(), miniServoDriver.getReg(servoMId, reg)); + } catch (HardwareException e) { + } + } + return map; + } + + public void setLimitVelocity(DeviceServoId id, Integer val) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_limit_velocity, val); + } + + public void setLimitTorque(DeviceServoId id, Integer val) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_limit_torque, val); + } + + public void setProtectiveTorque(DeviceServoId id, Integer val) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.setReg(servoMId, MiniServoRegIndex.kreg_mini_servo_protective_torque, val); + } + + public Integer readPos(DeviceServoId id) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + return miniServoDriver.miniServoReadPos(servoMId); + } + + public void moveToZero(DeviceServoId id) throws HardwareException { + MiniServoMId servoMId = id.getServoMId(); + if (servoMId == null) { + throwDeviceNull(id); + } + miniServoDriver.miniServoMoveToZeroBlock(servoMId); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/service/StepMotorService.java b/src/main/java/com/iflytop/sgs/hardware/service/StepMotorService.java new file mode 100644 index 0000000..73f6e0a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/StepMotorService.java @@ -0,0 +1,262 @@ +package com.iflytop.sgs.hardware.service; + +import com.iflytop.sgs.hardware.drivers.StepMotorDriver.*; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.StepMotor.DeviceStepMotorId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorRegIndex; +import com.iflytop.sgs.hardware.type.StepMotor.StepMotorSpeedLevel; +import com.iflytop.sgs.hardware.type.error.A8kEcode; +import com.iflytop.sgs.hardware.type.error.AppError; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.Map; + +@Slf4j +@Service +@RequiredArgsConstructor +public class StepMotorService { + private final StepMotorCtrlDriver stepMotorCtrlDriver_; + + StepMotorSpeedLevel speedLevel_ = StepMotorSpeedLevel.DEFAULT; + + private void throwDeviceNull(DeviceStepMotorId id) throws HardwareException + { + throw new HardwareException(new AppError(A8kEcode.PE_PARAM_OUT_OF_RANGE, "StepMotorMId is null for id: " + id)); + } + + public void setStepMotorSpeedLevel(StepMotorSpeedLevel speedLevel) { + this.speedLevel_ = speedLevel; + } + + public void enableMotor(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.stepMotorEnable(stepId, 1); + } + + public void disableMotor(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.stepMotorEnable(stepId, 0); + } + + public void stepMotorEasyMoveToZero(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepId); + } + + public void stepMotorEasyMoveToZeroPointQuickBlock(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.stepMotorEasyMoveToZeroPointQuickBlock(stepId); + } + + public void stepMotorStop(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.stepMotorStop(stepId); + } + + public void stepMotorEasyMoveByForward(DeviceStepMotorId id, Integer dpos) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + log.info("stepMotorEasyMoveForward: {} {}", id, dpos); + stepMotorCtrlDriver_.moveByBlock(stepId, dpos, speedLevel_); + } + + public void stepMotorEasyMoveByBackward(DeviceStepMotorId id, Integer dpos) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + log.info("stepMotorEasyMoveBackward: {} {}", id, -dpos); + stepMotorCtrlDriver_.moveByBlock(stepId, -dpos, speedLevel_); + } + + public void stepMotorEasyMoveTo(DeviceStepMotorId id, Integer pos) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + log.info("stepMotorEasyMoveTo: {} {}", id, pos); + stepMotorCtrlDriver_.moveToBlock(stepId, pos, speedLevel_); + } + + public void rotateForward(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.rotate(stepId, 1, speedLevel_); + } + + public void rotateBackward(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.rotate(stepId, -1, speedLevel_); + } + + public Integer readEncPos(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + return stepMotorCtrlDriver_.stepMotorReadEncPos(stepId); + } + + public Integer readPos(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + return stepMotorCtrlDriver_.stepMotorReadPos(stepId); + } + + public void setReg(DeviceStepMotorId id, StepMotorRegIndex reg, Integer val) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, reg, val); + } + + public void setStartAndStopVel(DeviceStepMotorId id, Integer v) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_vstart, v); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_vstop, v); + } + + public void setV1(DeviceStepMotorId id, Integer v) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_v1, v); + } + + public void setA1AndD1(DeviceStepMotorId id, Integer acc) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_a1, acc); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_d1, acc); + } + + public void setAmaxAndDmax(DeviceStepMotorId id, Integer acc) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_amax, acc); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_dmax, acc); + } + + public void setDefaultVel(DeviceStepMotorId id, Integer v) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_default_velocity, v); + } + + public void setSpeed(DeviceStepMotorId id, Integer low_speed, Integer mid_speed, Integer high_speed) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_low_velocity, low_speed); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_mid_velocity, mid_speed); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_high_velocity, high_speed); + } + + public void setMres(DeviceStepMotorId id, Integer mres) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_mres, mres); + } + + public void setIRUN(DeviceStepMotorId id, Integer irun) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_irun, irun); + } + + public void setIHOLD(DeviceStepMotorId id, Integer ihold) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_ihold, ihold); + } + + public void setOneCirclePulse(DeviceStepMotorId id, Integer pulse, Integer denominator) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, pulse); + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator, denominator); + } + + public void setDZero(DeviceStepMotorId id, Integer dzero) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + stepMotorCtrlDriver_.setReg(stepId, StepMotorRegIndex.kreg_step_motor_dzero_pos, dzero); + } + + public Integer readReg(DeviceStepMotorId id, StepMotorRegIndex reg) { + try { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + return stepMotorCtrlDriver_.getReg(stepId, reg); + } catch (HardwareException e) { + return 0; + } + } + + public Map readAllRegs(DeviceStepMotorId id) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + return stepMotorCtrlDriver_.getAllReg(stepId); + } + + public Boolean readIoState(DeviceStepMotorId id, Integer ioindex) throws HardwareException { + StepMotorMId stepId = id.getStepMotorMId(); + if (stepId == null) { + throwDeviceNull(id); + } + return stepMotorCtrlDriver_.stepMotorReadIoState(stepId, ioindex); + } +} 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 new file mode 100644 index 0000000..5aa669c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/setup/A8kSubModuleRegInitService.java @@ -0,0 +1,136 @@ +package com.iflytop.sgs.hardware.service.setup; + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.config.A8kSubModuleInitRegConfig; +import com.iflytop.sgs.hardware.drivers.ModuleEnableCtrlDriver; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.service.AppEventBusService; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.ModuleType; +import com.iflytop.sgs.hardware.type.RegIndex; +import com.iflytop.sgs.hardware.type.appevent.A8kCanBusOnConnectEvent; +import com.iflytop.sgs.hardware.type.appevent.AppEvent; +import com.iflytop.sgs.hardware.type.db.SubModuleRegInitialValue; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.List; + +/** + * 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 { +// try { + log.info("forceInitA8kModParams"); + dumpAllSubBoardVersion(); +// initA8kModParams(); + isInited = true; + + 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("="); + } + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/service/setup/SubModuleRegInitialValueMgrService.java b/src/main/java/com/iflytop/sgs/hardware/service/setup/SubModuleRegInitialValueMgrService.java new file mode 100644 index 0000000..338ef04 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/service/setup/SubModuleRegInitialValueMgrService.java @@ -0,0 +1,85 @@ +package com.iflytop.sgs.hardware.service.setup; + + +import com.iflytop.sgs.hardware.comm.can.A8kCanBusService; +import com.iflytop.sgs.hardware.config.A8kSubModuleInitRegConfig; +import com.iflytop.sgs.hardware.dao.SubModuleRegInitialValueDao; +import com.iflytop.sgs.hardware.exception.HardwareException; +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.ModuleType; +import com.iflytop.sgs.hardware.type.RegIndex; +import com.iflytop.sgs.hardware.type.db.SubModuleRegInitialValue; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.List; + + +@Component +@Slf4j +@RequiredArgsConstructor +public class SubModuleRegInitialValueMgrService { + + private final SubModuleRegInitialValueDao subModuleRegInitialValueDao; + private final A8kCanBusService canBus; + private final A8kSubModuleInitRegConfig a8kSubModuleInitRegConfig; + + + /** + * 从微控制器同步寄存器值到数据库 + * @throws HardwareException e + */ + public void syncFromMirco() throws HardwareException { + List regcache = List.of(); + for (MId mid : MId.values()) { + if (mid == MId.NotSet) + continue; + + ModuleType moduleType = canBus.moduleReadType(mid); + List regIndexes = a8kSubModuleInitRegConfig.findRegIndexByModuleType(moduleType); + + for (RegIndex regIndex : regIndexes) { + log.info("read {}({})-{}", mid, mid.index, regIndex); + Integer val = canBus.moduleGetReg(mid, regIndex); + regcache.add(new SubModuleRegInitialValue(mid, regIndex, val)); + } + } + for (SubModuleRegInitialValue reg : regcache) { + log.info(String.format("storage %s(%d) %-40s: %d", reg.mid, reg.mid.index, reg.regIndex, reg.regInitVal)); + subModuleRegInitialValueDao.update(reg.mid, reg.regIndex, reg.regInitVal); + } + + // + // 删除掉不需要的寄存器 + // + var allConfigs = subModuleRegInitialValueDao.getAll(); + for (SubModuleRegInitialValue reg : allConfigs) { + ModuleType moduleType = canBus.moduleReadType(reg.mid); + if (!a8kSubModuleInitRegConfig.isNeeded(moduleType, reg.regIndex)) { + subModuleRegInitialValueDao.delete(reg.id); + } + } + } + + public void export() { + subModuleRegInitialValueDao.export(); + } + + public String getExportPath() { + return subModuleRegInitialValueDao.getExportPATH(); + } + + public void importFromCSV(String filecontent) { + subModuleRegInitialValueDao.importFromCSV(filecontent, true); + } + + public List getAll() { + return subModuleRegInitialValueDao.getAll(); + } + + public SubModuleRegInitialValue findByIDAndRegIndex(MId mid, RegIndex regIndex) { + return subModuleRegInitialValueDao.findByIDAndRegIndex(mid, regIndex); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/A8kPacket.java b/src/main/java/com/iflytop/sgs/hardware/type/A8kPacket.java new file mode 100644 index 0000000..9813ce1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/A8kPacket.java @@ -0,0 +1,227 @@ +package com.iflytop.sgs.hardware.type; + +import com.iflytop.sgs.common.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()); + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/CmdId.java b/src/main/java/com/iflytop/sgs/hardware/type/CmdId.java new file mode 100644 index 0000000..260eb54 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/CmdId.java @@ -0,0 +1,177 @@ +package com.iflytop.sgs.hardware.type; + + +public enum CmdId { + NotSet(0xFFFF, "NOACTION"),// + + board_reset(0x0000, "复位板子"),// + event_bus_reg_change_report(0x0064, "寄存器修改事件"),// + // + + module_ping(0x0101, "MODULE_PING"), + module_stop(0x0102, "MODULE_STOP"), + + module_get_error(0x0110, "MODULE_GET_ERROR"), + module_get_detail_error(0x0111, "MODULE_GET_DETAIL_ERROR"), + module_clear_error(0x0112, "MODULE_CLEAR_ERROR"), + + module_set_reg(0x0120, "MODULE_SET_REG"), + module_get_reg(0x0121, "MODULE_GET_REG"), + module_reset_reg(0x0123, "MODULE_RESET_REG"), + + module_get_version(0x0130, "MODULE_GET_VERSION"), + module_get_type(0x0131, "MODULE_GET_TYPE"), + module_get_status(0x0132, "MODULE_GET_STATUS"), + + // IO 板卡 1 + + // IO 板卡 2 + + // 电机通用控制 + step_motor_enable(0x0201, "STEP_MOTOR_ENABLE"),// + step_motor_read_pos(0x020b, "STEP_MOTOR_READ_POS"),// + step_motor_read_enc_pos(0x020c, "STEP_MOTOR_READ_ENC_POS"),// + step_motor_easy_rotate(0x0211, "STEP_MOTOR_EASY_ROTATE"),// + step_motor_easy_move_by(0x0212, "STEP_MOTOR_EASY_MOVE_BY"),// + step_motor_easy_move_to(0x0213, "STEP_MOTOR_EASY_MOVE_TO"),// + step_motor_easy_move_to_zero(0x0214, "STEP_MOTOR_EASY_MOVE_TO_ZERO"),// + step_motor_easy_set_current_pos(0x0215, "STEP_MOTOR_EASY_SET_CURRENT_POS"),// + step_motor_easy_move_to_io(0x0216, "STEP_MOTOR_EASY_MOVE_TO_IO"),// + step_motor_stop(0x0228, "STEP_MOTOR_STOP"),// + step_motor_move_by(0x021d, "STEP_MOTOR_MOVE_BY"), // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + step_motor_move_to(0x021e, "STEP_MOTOR_MOVE_TO"), // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + step_motor_move_to_zero_point_quick(0x021f, "STEP_MOTOR_MOVE_TO_ZERO_POINT_QUICK"), // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + step_motor_rotate(0x0220, "STEP_MOTOR_ROTATE"), // + + step_motor_active_cfg(0x0229, "STEP_MOTOR_ACTIVE_CFG"),// + step_motor_read_io_state(0x022a, "STEP_MOTOR_READ_IO_STATE"),// + step_motor_easy_move_to_end_point(0x022c, "STEP_MOTOR_EASY_MOVE_TO_END_POINT"),// + step_motor_read_tmc5130_status(0x0232, "STEP_MOTOR_READ_TMC5130_STATUS"),// + step_motor_read_tmc5130_state(0x0233, "STEP_MOTOR_READ_TMC5130_STATE"),// + step_motor_read_io_index_in_stm32(0x0238, "STEP_MOTOR_READ_IO_INDEX_IN_STM32"),// + step_motor_set_subdevice_reg(0x0239, "STEP_MOTOR_SET_SUBDEVICE_REG"),// + step_motor_get_subdevice_reg(0x023a, "STEP_MOTOR_GET_SUBDEVICE_REG"),// + step_motor_easy_reciprocating_motion(0x022d, "STEP_MOTOR_EASY_RECIPROCATING_MOTION"),// + step_motor_easy_move_to_zero_point_quick(0x022e, "STEP_MOTOR_EASY_MOVE_TO_ZERO_POINT_QUICK"), + + + mini_servo_enable(0x3601, "MINI_SERVO_ENABLE"), + mini_servo_read_pos(0x3602, "MINI_SERVO_READ_POS"), + mini_servo_active_cfg(0x3603, "MINI_SERVO_ACTIVE_CFG"), + mini_servo_stop(0x3604, "MINI_SERVO_STOP"), + mini_servo_set_mid_point(0x3607, "MINI_SERVO_SET_MID_POINT"), + mini_servo_read_io_state(0x3608, "MINI_SERVO_READ_IO_STATE"), + mini_servo_move_to(0x3609, "MINI_SERVO_MOVE_TO"), + mini_servo_rotate(0x360a, "MINI_SERVO_ROTATE"), + mini_servo_rotate_with_torque(0x360b, "MINI_SERVO_ROTATE_WITH_TORQUE"), + mini_servo_set_cur_pos(0x360c, "MINI_SERVO_SET_CUR_POS"), + + leisai_servo_enable(0x3701, "LEISAI_SERVO_ENABLE"),// + leisai_servo_read_pos(0x3702, "LEISAI_SERVO_READ_POS"),// + leisai_servo_read_io_state(0x3703, "LEISAI_SERVO_READ_IO_STATE"),// + leisai_servo_move_by(0x3704, "LEISAI_SERVO_MOVE_BY"), // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + leisai_servo_move_to(0x3705, "LEISAI_SERVO_MOVE_TO"), // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + leisai_servo_rotate(0x3706, "LEISAI_SERVO_ROTATE"), // (direction,speedlevel)-> null + leisai_servo_move_to_zero(0x3707, "LEISAI_SERVO_MOVE_TO_ZERO"), // (null)-> null + + liquid_distribution_arm_enable(0x3801, "LIQUID_DISTRIBUTION_ARM_ENABLE"),// + liquid_distribution_arm_move_to(0x3802, "LIQUID_DISTRIBUTION_ARM_MOVE_TO"), // (pos)->null pos=(-1,0,1...16) -1代表未知未知，0代表待机位置,1...16分别对应16加酸孔位 + liquid_distribution_arm_read_pos(0x3803, "LIQUID_DISTRIBUTION_ARM_READ_POS"), // (null)->pos pos=(-1,0,1...16) -1代表未知未知，0代表待机位置,1...16分别对应16加酸孔位 + liquid_distribution_arm_set_cur_pos_as_mid_pos(0x3804, "LIQUID_DISTRIBUTION_ARM_SET_CUR_POS_AS_MID_POS"), // (null)->null 校准舵机 + liquid_distribution_arm_set_cur_pos_as_preset_pos(0x3805, "LIQUID_DISTRIBUTION_ARM_SET_CUR_POS_AS_PRESET_POS"), // 设置当前位置作为预设位置(posindex)->null pos=(0,1...16) 0代表未知未知，1...16分别对应16加酸孔位 + + read_in_io(0x4001, "READ_IN_IO"), + write_out_io(0x4002, "WRITE_OUT_IO"), + read_muti_in_io(0x4003, "READ_MUTI_IN_IO"), + read_in_io_index_in_stm32(0x4004, "READ_IN_IO_INDEX_IN_STM32"), + read_out_io_index_in_stm32(0x4005, "READ_OUT_IO_INDEX_IN_STM32"), + read_out_io(0x4006, "READ_OUT_IO"), + + tricolor_light_on(0x5101, "TRICOLOR_LIGHT_ON"), + tricolor_light_off(0x5102, "TRICOLOR_LIGHT_OFF"), + + pwm_light_on(0x5201, "PWM_LIGHT_ON"), + pwm_light_off(0x5202, "PWM_LIGHT_OFF"), + + adc_enable_log(0x05301, "ADC_ENABLE_LOG"), + adc_read_adc(0x05302, "ADC_READ_ADC"), + adc_read_multi_adc(0x05303, "ADC_READ_MULTI_ADC"), + ; + + public final static int ATTACH_IS_BYTES = 1; + public final static int ATTACH_IS_INT32 = 2; + public final int index; + public final String chName; + + CmdId(int index, String chname) { + this.index = index; + this.chName = chname; + } + + public int toInt() { + return index; + } + + public static CmdId valueOf(int val) { + CmdId[] values = CmdId.values(); + for (CmdId e : values) { + if (e.toInt() == val) + return e; + } + return null; + } + + public static String toString(int val) { + CmdId[] values = CmdId.values(); + for (CmdId e : values) { + if (e.toInt() == val) { + return e.toString(); + } + } + return "unkown(" + val + ")"; + } + + public String getChname() { + return chName; + } + + public Boolean eq(Integer index) { + return this.index == index; + } + + + 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, + module_get_reg, + module_set_reg, + step_motor_read_io_state, + read_in_io, + read_muti_in_io, + read_in_io_index_in_stm32, + read_out_io_index_in_stm32, + adc_read_adc, + adc_read_multi_adc -> false; + default -> true; + }; + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/type/IO/InputIOMId.java b/src/main/java/com/iflytop/sgs/hardware/type/IO/InputIOMId.java new file mode 100644 index 0000000..71cfc5b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/IO/InputIOMId.java @@ -0,0 +1,34 @@ +package com.iflytop.sgs.hardware.type.IO; + +import com.iflytop.sgs.hardware.type.MId; + +public enum InputIOMId { + HEAT_MODULE01_EXIST("HEAT_MODULE01_EXIST [ 加热模1传感器存在 ]", MId.IO1_IO, 0,false), + HEAT_MODULE02_EXIST("HEAT_MODULE02_EXIST [ 加热模2传感器存在 ]", MId.IO1_IO, 1,false), + HEAT_MODULE03_EXIST("HEAT_MODULE03_EXIST [ 加热模3传感器存在 ]", MId.IO1_IO, 2,false), + HEAT_MODULE04_EXIST("HEAT_MODULE04_EXIST [ 加热模4传感器存在 ]", MId.IO1_IO, 3,false), + HEAT_MODULE05_EXIST("HEAT_MODULE05_EXIST [ 加热模5传感器存在 ]", MId.IO1_IO, 4,false), + HEAT_MODULE06_EXIST("HEAT_MODULE06_EXIST [ 加热模6传感器存在 ]", MId.IO1_IO, 5,false), + CAP01_EXIST("CAP01_EXIST [ 拍子存放位拍子1到位 ]", MId.IO1_IO, 6,false), + CAP02_EXIST("CAP02_EXIST [ 拍子存放位拍子2到位 ]", MId.IO1_IO, 7,false), + CAP03_EXIST("CAP03_EXIST [ 拍子存放位拍子3到位 ]", MId.IO1_IO, 8,false), + CAP04_EXIST("CAP04_EXIST [ 拍子存放位拍子4到位 ]", MId.IO1_IO, 9,false), + CAP05_EXIST("CAP05_EXIST [ 拍子存放位拍子5到位 ]", MId.IO1_IO, 10,false), + CAP06_EXIST("CAP06_EXIST [ 拍子存放位拍子6到位 ]", MId.IO1_IO, 11,false), + + E_STOP("E_STOP [ 急停 ]", MId.IO1_IO, 18,false), + ; + + final public String description; + final public MId mid; + final public int ioIndex; + final public boolean mirror; + + InputIOMId(String description, MId mid, int ioIndex, boolean mirror) { + this.description = description; + this.mid = mid; + this.ioIndex = ioIndex; + this.mirror = mirror; + + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/IO/OutputIOMId.java b/src/main/java/com/iflytop/sgs/hardware/type/IO/OutputIOMId.java new file mode 100644 index 0000000..2f7c9e2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/IO/OutputIOMId.java @@ -0,0 +1,34 @@ +package com.iflytop.sgs.hardware.type.IO; + +import com.iflytop.sgs.hardware.type.MId; + +public enum OutputIOMId { + DO_FAN1("FAN1", MId.IO1_IO, 0,false), + DO_FAN2("FAN2", MId.IO1_IO, 1,false), + DO_FAN3("FAN3", MId.IO1_IO, 2,false), + DO_FAN4("FAN4", MId.IO1_IO, 3,false), + DO_FAN5("FAN5", MId.IO1_IO, 4,false), + DO_FAN6("FAN6", MId.IO1_IO, 5,false), + DO_TRAY_MOTOR_CLAMP("TRAY_MOTOR_CLAMP [ 托盘电机 ] ", MId.IO1_IO, 6,false), + DO_HBOTZ_MOTOR_CLAMP("HBOTZ_MOTOR_CLAMP [ 龙门架Z轴 ] ", MId.IO1_IO, 7,false), + DO_WATER_PUMP("WATER_PUMP [ 水泵 ] ", MId.IO1_IO, 12,false), + DO_VENTILATOR("VENTILATOR [ 风机电源 ]", MId.IO1_IO, 13,false), + DO_COLD_TRAP_POWER("COLD_TRAP_POWER[ 冷阱 电源 ]", MId.IO1_IO, 14,false), + DO_BEEP("DO_BEEP [ 蜂鸣器 ]", MId.IO1_IO, 16,false), + DO_OUT17("DO_OUT17", MId.IO1_IO, 17,false), + ; + + final public String description; + final public MId mid; + final public int ioIndex; + final public boolean mirror; + + OutputIOMId(String description, MId mid, int ioIndex, boolean mirror) { + this.description = description; + this.mid = mid; + this.ioIndex = ioIndex; + this.mirror = mirror; + + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/MId.java b/src/main/java/com/iflytop/sgs/hardware/type/MId.java new file mode 100644 index 0000000..b39bf06 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/MId.java @@ -0,0 +1,109 @@ +package com.iflytop.sgs.hardware.type; + +/** + * MID 现版本 取值范围 0-255 + */ +public enum MId { + NotSet(0, "未设置"), + IO1Board(5, "台面 IO 板模块"), + PWMLight(6, "PWM 灯"), + TriColorLight(7, "三色灯"), + HBotClawSV(8, "夹爪舵机"),// + DualRobotAxis1SV(9, "双轴机械臂1舵机"), + DualRobotAxis2SV(10, "双轴机械臂2舵机"), + IO1_IO(11, "台面 IO 板模块"), + IO1_ADC(12, "台面 ADC 板模块"), + LiquidDistributionArm(13, "加液臂"), + MainXSV(14, "X轴Leisai舵机"),// + MainYSV(15, "Y轴Leisai舵机"),// + +// IO2Board(25, "台下 IO 板模块"), + + DoorBoard(40, "门电机板模块"),// + DoorM(41, "门电机"), + + ShakeModBoard(45, "摇匀模组板"), // + ShakeM(46, "加液位摇匀电机"), // + + CapStorageBoard(50, "拍子存放板模块"), // + CapStorageM(51, "拍子存放电机"), // + + HBotXBoard(65, "X轴板模块"),// + HBotXM(66, "X轴电机"), + HBotYBoard(70, "Y轴板模块"),// + HBotYM(71, "Y轴电机"), + HBotZBoard(75, "Z轴板模块"),// + HBotZM(76, "Z轴电机"), + + Heater1Board(80, "加热1板模块"),// + Heater1M(81, "加热1电机"), + Heater2Board(85, "加热2板模块"),// + Heater2M(86, "加热2电机"), + Heater3Board(90, "加热3板模块"),// + Heater3M(91, "加热3电机"), + Heater4Board(95, "加热4板模块"),// + Heater4M(96, "加热4电机"), + Heater5Board(100, "加热5板模块"),// + Heater5M(101, "加热5电机"), + Heater6Board(105, "加热6板模块"),// + Heater6M(106, "加热6电机"), + + AcidPump1Board(110, "加酸泵1板模块"),// + AcidPump1M(111, "加酸泵1电机"), + AcidPump2Board(115, "加酸泵2板模块"),// + AcidPump2M(116, "加酸泵2电机"), + AcidPump3Board(120, "加酸泵3板模块"),// + AcidPump3M(121, "加酸泵3电机"), + AcidPump4Board(125, "加酸泵4板模块"),// + AcidPump4M(126, "加酸泵4电机"), + AcidPump5Board(130, "加酸泵5板模块"),// + AcidPump5M(131, "加酸泵5电机"), + AcidPump6Board(135, "加酸泵6板模块"),// + AcidPump6M(136, "加酸泵6电机"), + AcidPump7Board(140, "加酸泵7板模块"),// + AcidPump7M(141, "加酸泵7电机"), + AcidPump8Board(145, "加酸泵8板模块"),// + AcidPump8M(146, "加酸泵8电机"), + ; + + final public String description; + final public int index; + + MId(int index, String description) { + this.description = description; + this.index = index; + } + + public int toInt() { + return index; + } + + public String getDescription() + { + return description; + } + + + public static MId valueOf(Integer val) { + return valueOf(val.intValue()); + } + + public static MId valueOf(int val) { + MId[] values = MId.values(); + for (MId e : values) { + if (e.toInt() == val) + return e; + } + return null; + } + + public static String toString(int val) { + MId[] values = MId.values(); + for (MId e : values) { + if (e.toInt() == val) { + return e.toString(); + } + } + return "unknown(" + val + ")"; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/ModuleStatus.java b/src/main/java/com/iflytop/sgs/hardware/type/ModuleStatus.java new file mode 100644 index 0000000..57ba644 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/ModuleStatus.java @@ -0,0 +1,25 @@ +package com.iflytop.sgs.hardware.type; + +import org.springframework.util.Assert; + +public enum ModuleStatus { + IDLE(0), // + BUSY(1), // + ERROR(2),// + ; + + final public int index; + + ModuleStatus(int index) { + this.index = index; + } + + public int getIndex() { + return index; + } + + public static ModuleStatus valueOf(int value) { // 手写的从int到enum的转换函数 + Assert.isTrue((value >= 0 && value <= 2), String.format("(value=%s value >= 0 && value <= 2)", value)); + return values()[value]; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/ModuleType.java b/src/main/java/com/iflytop/sgs/hardware/type/ModuleType.java new file mode 100644 index 0000000..4b7a77e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/ModuleType.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.hardware.type; + +public enum ModuleType { + Board(1), // 板子 + + TMCStepMotor(2), // 步进电机 + MiniServo(3), // 舵机 + IO(4), // IO扩展 + + TriColorLightCtrl(101), // + PwmLightCtrl(102), // + ADC(103), // ADC扩展 + LeiSaiServo(104), // 雷赛伺服 + LiquidDistributionArm(105), // 液体分配机械臂控制 + + UNKNOWN(999); // 未知类型 + public final int code; + + ModuleType(int val) { + this.code = val; + } + + static public ModuleType of(int val) { + for (ModuleType type : ModuleType.values()) { + if (type.code == val) { + return type; + } + } + return UNKNOWN; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/RegIndex.java b/src/main/java/com/iflytop/sgs/hardware/type/RegIndex.java new file mode 100644 index 0000000..4f8f8ae --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/RegIndex.java @@ -0,0 +1,192 @@ +package com.iflytop.sgs.hardware.type; + +/** + * @brief 寄存器索引 + */ +public enum RegIndex { + + /*********************************************************************************************************************** + * 步进电机控制器 * + ***********************************************************************************************************************/ + /*********************************************************************************************************************** + * step_motor start * + ***********************************************************************************************************************/ + + kreg_step_motor_pos(10101), // 机器人x坐标 + kreg_step_motor_is_enable(10102), // 是否使能 + kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移 + kreg_step_motor_has_move_zero(10104), // 是否回零 + // kreg_step_motor_shift(10150), // x偏移 + kreg_step_motor_shaft(10151), // x轴是否反转 + kreg_step_motor_one_circle_pulse(10152), // x轴一圈脉冲数 + kreg_step_motor_one_circle_pulse_denominator(10153), // 设置一圈脉冲数的分母 + kreg_step_motor_default_velocity(10154), // 默认速度 + kreg_step_motor_low_velocity(10155), // 低速 + kreg_step_motor_mid_velocity(10156), // 中速 + kreg_step_motor_high_velocity(10157), // 高速 + kreg_step_motor_ihold(10158), // 步进电机电流配置 + kreg_step_motor_irun(10159), // 步进电机电流配置 + kreg_step_motor_iholddelay(10160), // 步进电机电流配置 + kreg_step_motor_iglobalscaler(10161), // 步进电机电流配置 + kreg_step_motor_mres(10162), // 电机细分 + kreg_step_motor_run_to_zero_speed(10173), // 回零速度 + kreg_step_motor_look_zero_edge_speed(10175), // 找零边缘速度 + kreg_step_motor_max_d(10178), // 最大限制距离 + kreg_step_motor_min_d(10179), // 最小限制距离 + kreg_step_motor_in_debug_mode(10180), // 驱动器处于调试模式 + kreg_step_motor_vstart(10181), // a1起作用的速度 + kreg_step_motor_a1(10182), // + kreg_step_motor_amax(10183), // + kreg_step_motor_v1(10184), // + kreg_step_motor_dmax(10185), // + kreg_step_motor_d1(10186), // + kreg_step_motor_vstop(10187), // + kreg_step_motor_tzerowait(10188), // + kreg_step_motor_enc_resolution(10189), // 编码器分辨率 1000,1024,4000,4096,16384 + kreg_step_motor_enable_enc(10190), // + kreg_step_motor_dzero_pos(10191), // 驱动器处于调试模式 + kret_step_motor_pos_devi_tolerance(10192), // 位置偏差容忍度 + kret_step_motor_io_trigger_append_distance(10193), // 移动到io时，附加的距离 + + /*********************************************************************************************************************** + * step_motor end * + ***********************************************************************************************************************/ + + + /*********************************************************************************************************************** + * servo * + ***********************************************************************************************************************/ + + kreg_mini_servo_pos(10201), // 位置 + kreg_mini_servo_limit_velocity(10251), // 限制速度 + kreg_mini_servo_limit_torque(10252), // 限制扭矩 + kreg_mini_servo_protective_torque(10253), // 保护扭矩 + kreg_mini_servo_is_move(10254), // 是否在运动 + kreg_mini_servo_status(10255), // 舵机状态 + kreg_mini_servo_voltage(10256), // 电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_current(10257), // 电流 反馈当前工作电流值,单位为ma + kreg_mini_servo_temperature(10258), // 温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_loadvalue(10259), // 负载值 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_target_pos_tolerance(10260), // 目标位置容忍度 + + + kreg_mini_servo_firmware_main_version(10500), // 固件主版本号 + kreg_mini_servo_firmware_sub_version(10501), // 固件次版本号 + kreg_mini_servo_servo_main_version(10503), // 舵机主版本号 + kreg_mini_servo_servo_sub_version(10504), // 舵机次版本号 + kreg_mini_servo_servo_min_angle(10509), // 最小角度限制 + kreg_mini_servo_servo_max_angle(10511), // 最大角度限制 + kreg_mini_servo_servo_max_temp(10513), // 最高温度上限 + kreg_mini_servo_servo_max_voltage(10514), // 最高输入电压 + kreg_mini_servo_servo_min_voltage(10515), // 最低输入电压 + kreg_mini_servo_servo_max_torque(10516), // 最大扭矩 + kreg_mini_servo_servo_unload_condition(10519), // 卸载条件 + kreg_mini_servo_servo_p(10521), // P 比例系 + kreg_mini_servo_servo_d(10522), // D 微分系 + kreg_mini_servo_servo_i(10523), // I + kreg_mini_servo_servo_min_start(10524), // 最小启动 + kreg_mini_servo_servo_cw_dead_zone(10526), // 顺时针不灵敏区 + kreg_mini_servo_servo_ccw_dead_zone(10527), // 逆时针不灵敏 + kreg_mini_servo_servo_protect_current(10528), // 保护电流 + kreg_mini_servo_servo_protect_torque(10534), // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除 + kreg_mini_servo_servo_protect_time(10535), // 保护时间 + kreg_mini_servo_servo_overload_torque(10536), // 过载扭矩 + kreg_mini_servo_servo_speed_p(10537), // 速度闭环P比例参数 + kreg_mini_servo_servo_overload_time(10538), // 过流保护时间 + kreg_mini_servo_servo_speed_i(10539), // 速度闭环I积分参数 + kreg_mini_servo_servo_torque_switch(10540), // 扭矩开关 + kreg_mini_servo_servo_acc(10541), // 加速度 + kreg_mini_servo_servo_target_pos(10542), // 目标位置 + kreg_mini_servo_servo_run_time(10544), // 运行时间 + kreg_mini_servo_servo_run_speed(10546), // 运行速度 + kreg_mini_servo_servo_torque_limit(10548), // 转矩限制 + kreg_mini_servo_servo_lock_flag(10555), // 锁标志 + kreg_mini_servo_servo_current_pos(10556), // 当前位置 + kreg_mini_servo_servo_current_speed(10558), // 当前速度 + kreg_mini_servo_servo_current_load(10560), // 当前负载 bit10为方向位 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_servo_current_voltage(10562), // 当前电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_servo_current_temp(10563), // 当前温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_servo_status(10565), // 舵机状态 + kreg_mini_servo_servo_move_flag(10566), // 移动标志 + kreg_mini_servo_servo_current_current(10569), // 当前电流 反馈当前工作电流值,单位为6.26.5mA,最大可反馈电流为500*6.5mA=3250mA + + + kreg_liquid_distribution_arm_enable(10600), // 电机使能 + kreg_liquid_distribution_arm_pos0_d0(10610), // 位置0 舵机0位置 + kreg_liquid_distribution_arm_pos0_d1(10611), // 位置0 舵机1位置 + kreg_liquid_distribution_arm_pos1_d0(10612), // 位置1 舵机0位置 + kreg_liquid_distribution_arm_pos1_d1(10613), // 位置1 舵机1位置 + kreg_liquid_distribution_arm_pos2_d0(10614), // 位置2 舵机0位置 + kreg_liquid_distribution_arm_pos2_d1(10615), // 位置2 舵机1位置 + kreg_liquid_distribution_arm_pos3_d0(10616), // 位置3 舵机0位置 + kreg_liquid_distribution_arm_pos3_d1(10617), // 位置3 舵机1位置 + kreg_liquid_distribution_arm_pos4_d0(10618), // 位置4 舵机0位置 + kreg_liquid_distribution_arm_pos4_d1(10619), // 位置4 舵机1位置 + kreg_liquid_distribution_arm_pos5_d0(10620), // 位置5 舵机0位置 + kreg_liquid_distribution_arm_pos5_d1(10621), // 位置5 舵机1位置 + kreg_liquid_distribution_arm_pos6_d0(10622), // 位置6 舵机0位置 + kreg_liquid_distribution_arm_pos6_d1(10623), // 位置6 舵机1位置 + kreg_liquid_distribution_arm_pos7_d0(10624), // 位置7 舵机0位置 + kreg_liquid_distribution_arm_pos7_d1(10625), // 位置7 舵机1位置 + kreg_liquid_distribution_arm_pos8_d0(10626), // 位置8 舵机0位置 + kreg_liquid_distribution_arm_pos8_d1(10627), // 位置8 舵机1位置 + kreg_liquid_distribution_arm_pos9_d0(10628), // 位置9 舵机0位置 + kreg_liquid_distribution_arm_pos9_d1(10629), // 位置9 舵机1位置 + kreg_liquid_distribution_arm_pos10_d0(10630), // 位置10 舵机0位置 + kreg_liquid_distribution_arm_pos10_d1(10631), // 位置10 舵机1位置 + kreg_liquid_distribution_arm_pos11_d0(10632), // 位置11 舵机0位置 + kreg_liquid_distribution_arm_pos11_d1(10633), // 位置11 舵机1位置 + kreg_liquid_distribution_arm_pos12_d0(10634), // 位置12 舵机0位置 + kreg_liquid_distribution_arm_pos12_d1(10635), // 位置12 舵机1位置 + kreg_liquid_distribution_arm_pos13_d0(10636), // 位置13 舵机0位置 + kreg_liquid_distribution_arm_pos13_d1(10637), // 位置13 舵机1位置 + kreg_liquid_distribution_arm_pos14_d0(10638), // 位置14 舵机0位置 + kreg_liquid_distribution_arm_pos14_d1(10639), // 位置14 舵机1位置 + kreg_liquid_distribution_arm_pos15_d0(10640), // 位置15 舵机0位置 + kreg_liquid_distribution_arm_pos15_d1(10641), // 位置15 舵机1位置 + kreg_liquid_distribution_arm_pos16_d0(10642), // 位置16 舵机0位置 + kreg_liquid_distribution_arm_pos16_d1(10643), // 位置16 舵机1位置 + + kreg_leisai_servo_is_enable(10702), // 是否使能 + kreg_leisai_servo_has_move_zero(10703), // 是否回零 + kreg_leisai_servo_default_velocity(10704), // 默认速度 + kreg_leisai_servo_low_velocity(10705), // 低速 + kreg_leisai_servo_mid_velocity(10706), // 中速 + kreg_leisai_servo_high_velocity(10707); // 高速 + ; + + public final int index; + public final Boolean trace; + + RegIndex(int regIndex) { + this.index = regIndex; + this.trace = true; + } + + RegIndex(int regIndex, Boolean trace) { + this.index = regIndex; + this.trace = trace; + } + + public static RegIndex valueOf(int val) { + RegIndex[] values = RegIndex.values(); + for (RegIndex regindex : values) { + if (regindex.index == val) { + return regindex; + } + } + return null; + } + + public static RegIndex fromString(String regStr) + { + RegIndex[] values = RegIndex.values(); + for (RegIndex regindex : values) { + if (regindex.toString().equalsIgnoreCase(regStr)) { + return regindex; + } + } + return null; + } +} + diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/DeviceServoId.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/DeviceServoId.java new file mode 100644 index 0000000..b7d0577 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/DeviceServoId.java @@ -0,0 +1,33 @@ +package com.iflytop.sgs.hardware.type.Servo; + +public enum DeviceServoId { + dual_robot_axis1(MiniServoMId.DUAL_ROBOT_AXIS1_MID, "双轴械臂一轴"), + dual_robot_axis2(MiniServoMId.DUAL_ROBOT_AXIS2_MID, "双轴械臂二轴"), + claw(MiniServoMId.CLAW_MID, "夹爪"), + ; + + private MiniServoMId servoMId; + private String description; + + public MiniServoMId getServoMId() { + return servoMId; + } + + public String getDescription() { + return description; + } + + DeviceServoId(MiniServoMId servoMId, String description) { + this.servoMId = servoMId; + this.description = description; + } + + public static DeviceServoId getById(MiniServoMId servoMId) { + for (DeviceServoId deviceServoId : DeviceServoId.values()) { + if (deviceServoId.getServoMId() == servoMId) { + return deviceServoId; + } + } + return null; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiRegIndex.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiRegIndex.java new file mode 100644 index 0000000..974a4cc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiRegIndex.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.RegIndex; + +public enum LeisaiRegIndex { + kreg_leisai_servo_is_enable(RegIndex.kreg_leisai_servo_is_enable), + kreg_leisai_servo_has_move_zero(RegIndex.kreg_leisai_servo_has_move_zero), + kreg_leisai_servo_default_velocity(RegIndex.kreg_leisai_servo_default_velocity), + kreg_leisai_servo_low_velocity(RegIndex.kreg_leisai_servo_low_velocity), + kreg_leisai_servo_mid_velocity(RegIndex.kreg_leisai_servo_mid_velocity), + kreg_leisai_servo_high_velocity(RegIndex.kreg_leisai_servo_high_velocity), + ; + + public final RegIndex regIndex; + + LeisaiRegIndex(RegIndex regIndex) { + this.regIndex = regIndex; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoMId.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoMId.java new file mode 100644 index 0000000..217c163 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoMId.java @@ -0,0 +1,17 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.MId; +import org.springframework.util.Assert; + +public enum LeisaiServoMId { + MainXSV(MId.MainXSV), + MainYSV(MId.MainYSV), + ; + + final public MId mid; + + LeisaiServoMId(MId mid) { + Assert.isTrue(this.name().equals(mid.name()), "LeisaiServoMId Init fail"); + this.mid = mid; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoSpeedLevel.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoSpeedLevel.java new file mode 100644 index 0000000..b3897b2 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LeisaiServoSpeedLevel.java @@ -0,0 +1,9 @@ +package com.iflytop.sgs.hardware.type.Servo; + +public enum LeisaiServoSpeedLevel { + DEFAULT, + LOW, + MID, + HIGH, + ; +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmMId.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmMId.java new file mode 100644 index 0000000..2c8853d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmMId.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.MId; +import org.springframework.util.Assert; + +public enum LiquidArmMId { + LiquidDistributionArm(MId.LiquidDistributionArm),// + ; + + final public MId mid; + + LiquidArmMId(MId mid) { + Assert.isTrue(this.name().equals(mid.name()), "LiquidDistributionArm Init fail"); + this.mid = mid; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmRegIndex.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmRegIndex.java new file mode 100644 index 0000000..149c595 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/LiquidArmRegIndex.java @@ -0,0 +1,47 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.RegIndex; + +public enum LiquidArmRegIndex { + kreg_liquid_distribution_arm_enable(RegIndex.kreg_liquid_distribution_arm_enable), // 电机使能 + kreg_liquid_distribution_arm_pos0_d0(RegIndex.kreg_liquid_distribution_arm_pos0_d0), // 位置0 舵机0位置 + kreg_liquid_distribution_arm_pos0_d1(RegIndex.kreg_liquid_distribution_arm_pos0_d1), // 位置0 舵机1位置 + kreg_liquid_distribution_arm_pos1_d0(RegIndex.kreg_liquid_distribution_arm_pos1_d0), // 位置1 舵机0位置 + kreg_liquid_distribution_arm_pos1_d1(RegIndex.kreg_liquid_distribution_arm_pos1_d1), // 位置1 舵机1位置 + kreg_liquid_distribution_arm_pos2_d0(RegIndex.kreg_liquid_distribution_arm_pos2_d0), // 位置2 舵机0位置 + kreg_liquid_distribution_arm_pos2_d1(RegIndex.kreg_liquid_distribution_arm_pos2_d1), // 位置2 舵机1位置 + kreg_liquid_distribution_arm_pos3_d0(RegIndex.kreg_liquid_distribution_arm_pos3_d0), // 位置3 舵机0位置 + kreg_liquid_distribution_arm_pos3_d1(RegIndex.kreg_liquid_distribution_arm_pos3_d1), // 位置3 舵机1位置 + kreg_liquid_distribution_arm_pos4_d0(RegIndex.kreg_liquid_distribution_arm_pos4_d0), // 位置4 舵机0位置 + kreg_liquid_distribution_arm_pos4_d1(RegIndex.kreg_liquid_distribution_arm_pos4_d1), // 位置4 舵机1位置 + kreg_liquid_distribution_arm_pos5_d0(RegIndex.kreg_liquid_distribution_arm_pos5_d0), // 位置5 舵机0位置 + kreg_liquid_distribution_arm_pos5_d1(RegIndex.kreg_liquid_distribution_arm_pos5_d1), // 位置5 舵机1位置 + kreg_liquid_distribution_arm_pos6_d0(RegIndex.kreg_liquid_distribution_arm_pos6_d0), // 位置6 舵机0位置 + kreg_liquid_distribution_arm_pos6_d1(RegIndex.kreg_liquid_distribution_arm_pos6_d1), // 位置6 舵机1位置 + kreg_liquid_distribution_arm_pos7_d0(RegIndex.kreg_liquid_distribution_arm_pos7_d0), // 位置7 舵机0位置 + kreg_liquid_distribution_arm_pos7_d1(RegIndex.kreg_liquid_distribution_arm_pos7_d1), // 位置7 舵机1位置 + kreg_liquid_distribution_arm_pos8_d0(RegIndex.kreg_liquid_distribution_arm_pos8_d0), // 位置8 舵机0位置 + kreg_liquid_distribution_arm_pos8_d1(RegIndex.kreg_liquid_distribution_arm_pos8_d1), // 位置8 舵机1位置 + kreg_liquid_distribution_arm_pos9_d0(RegIndex.kreg_liquid_distribution_arm_pos9_d0), // 位置9 舵机0位置 + kreg_liquid_distribution_arm_pos9_d1(RegIndex.kreg_liquid_distribution_arm_pos9_d1), // 位置9 舵机1位置 + kreg_liquid_distribution_arm_pos10_d0(RegIndex.kreg_liquid_distribution_arm_pos10_d0), // 位置10 舵机0位置 + kreg_liquid_distribution_arm_pos10_d1(RegIndex.kreg_liquid_distribution_arm_pos10_d1), // 位置10 舵机1位置 + kreg_liquid_distribution_arm_pos11_d0(RegIndex.kreg_liquid_distribution_arm_pos11_d0), // 位置11 舵机0位置 + kreg_liquid_distribution_arm_pos11_d1(RegIndex.kreg_liquid_distribution_arm_pos11_d1), // 位置11 舵机1位置 + kreg_liquid_distribution_arm_pos12_d0(RegIndex.kreg_liquid_distribution_arm_pos12_d0), // 位置12 舵机0位置 + kreg_liquid_distribution_arm_pos12_d1(RegIndex.kreg_liquid_distribution_arm_pos12_d1), // 位置12 舵机1位置 + kreg_liquid_distribution_arm_pos13_d0(RegIndex.kreg_liquid_distribution_arm_pos13_d0), // 位置13 舵机0位置 + kreg_liquid_distribution_arm_pos13_d1(RegIndex.kreg_liquid_distribution_arm_pos13_d1), // 位置13 舵机1位置 + kreg_liquid_distribution_arm_pos14_d0(RegIndex.kreg_liquid_distribution_arm_pos14_d0), // 位置14 舵机0位置 + kreg_liquid_distribution_arm_pos14_d1(RegIndex.kreg_liquid_distribution_arm_pos14_d1), // 位置14 舵机1位置 + kreg_liquid_distribution_arm_pos15_d0(RegIndex.kreg_liquid_distribution_arm_pos15_d0), // 位置15 舵机0位置 + kreg_liquid_distribution_arm_pos15_d1(RegIndex.kreg_liquid_distribution_arm_pos15_d1), // 位置15 舵机1位置 + kreg_liquid_distribution_arm_pos16_d0(RegIndex.kreg_liquid_distribution_arm_pos16_d0), // 位置16 舵机0位置 + kreg_liquid_distribution_arm_pos16_d1(RegIndex.kreg_liquid_distribution_arm_pos16_d1); // 位置16 舵机1位置 + + public final RegIndex regIndex; + + LiquidArmRegIndex(RegIndex regIndex) { + this.regIndex = regIndex; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoMId.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoMId.java new file mode 100644 index 0000000..ab772d4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoMId.java @@ -0,0 +1,19 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.MId; + +public enum MiniServoMId { + NotSet(MId.NotSet),// + DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1SV),// + DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2SV), + CLAW_MID(MId.HBotClawSV) + ; + + final public MId mid; + + MiniServoMId(MId mid) { +// Assert.isTrue(this.name().equals(mid.name()),"MiniServoMid Init fail"); + this.mid = mid; + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoRegIndex.java b/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoRegIndex.java new file mode 100644 index 0000000..db15da9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/Servo/MiniServoRegIndex.java @@ -0,0 +1,71 @@ +package com.iflytop.sgs.hardware.type.Servo; + +import com.iflytop.sgs.hardware.type.RegIndex; + +public enum MiniServoRegIndex { + // kreg_module_version(RegIndex.kreg_module_version), // 模块版本 + // kreg_module_type(RegIndex.kreg_module_type), // 模块类型 + // kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error + // kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag + + kreg_mini_servo_pos(RegIndex.kreg_mini_servo_pos), // 位置 + kreg_mini_servo_limit_velocity(RegIndex.kreg_mini_servo_limit_velocity), // 限制速度 + kreg_mini_servo_limit_torque(RegIndex.kreg_mini_servo_limit_torque), // 限制扭矩 + kreg_mini_servo_protective_torque(RegIndex.kreg_mini_servo_protective_torque), // 保护扭矩 + kreg_mini_servo_is_move(RegIndex.kreg_mini_servo_is_move), // 是否在运动 + + + kreg_mini_servo_status(RegIndex.kreg_mini_servo_status), // 舵机状态 + kreg_mini_servo_voltage(RegIndex.kreg_mini_servo_voltage), // 电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_current(RegIndex.kreg_mini_servo_current), // 电流 反馈当前工作电流值,单位为ma + kreg_mini_servo_temperature(RegIndex.kreg_mini_servo_temperature), // 温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_loadvalue(RegIndex.kreg_mini_servo_loadvalue), // 负载值 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_target_pos_tolerance(RegIndex.kreg_mini_servo_target_pos_tolerance), // 目标位置容忍度 + + + kreg_mini_servo_firmware_main_version(RegIndex.kreg_mini_servo_firmware_main_version), // 固件主版本号 + kreg_mini_servo_firmware_sub_version(RegIndex.kreg_mini_servo_firmware_sub_version), // 固件次版本号 + kreg_mini_servo_servo_main_version(RegIndex.kreg_mini_servo_servo_main_version), // 舵机主版本号 + kreg_mini_servo_servo_sub_version(RegIndex.kreg_mini_servo_servo_sub_version), // 舵机次版本号 + kreg_mini_servo_servo_min_angle(RegIndex.kreg_mini_servo_servo_min_angle), // 最小角度限制 + kreg_mini_servo_servo_max_angle(RegIndex.kreg_mini_servo_servo_max_angle), // 最大角度限制 + kreg_mini_servo_servo_max_temp(RegIndex.kreg_mini_servo_servo_max_temp), // 最高温度上限 + kreg_mini_servo_servo_max_voltage(RegIndex.kreg_mini_servo_servo_max_voltage), // 最高输入电压 + kreg_mini_servo_servo_min_voltage(RegIndex.kreg_mini_servo_servo_min_voltage), // 最低输入电压 + kreg_mini_servo_servo_max_torque(RegIndex.kreg_mini_servo_servo_max_torque), // 最大扭矩 + kreg_mini_servo_servo_unload_condition(RegIndex.kreg_mini_servo_servo_unload_condition), // 卸载条件 + kreg_mini_servo_servo_p(RegIndex.kreg_mini_servo_servo_p), // P 比例系 + kreg_mini_servo_servo_d(RegIndex.kreg_mini_servo_servo_d), // D 微分系 + kreg_mini_servo_servo_i(RegIndex.kreg_mini_servo_servo_i), // I + kreg_mini_servo_servo_min_start(RegIndex.kreg_mini_servo_servo_min_start), // 最小启动 + kreg_mini_servo_servo_cw_dead_zone(RegIndex.kreg_mini_servo_servo_cw_dead_zone), // 顺时针不灵敏区 + kreg_mini_servo_servo_ccw_dead_zone(RegIndex.kreg_mini_servo_servo_ccw_dead_zone), // 逆时针不灵敏 + kreg_mini_servo_servo_protect_current(RegIndex.kreg_mini_servo_servo_protect_current), // 保护电流 + kreg_mini_servo_servo_protect_torque(RegIndex.kreg_mini_servo_servo_protect_torque), // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除 + kreg_mini_servo_servo_protect_time(RegIndex.kreg_mini_servo_servo_protect_time), // 保护时间 + kreg_mini_servo_servo_overload_torque(RegIndex.kreg_mini_servo_servo_overload_torque), // 过载扭矩 + kreg_mini_servo_servo_speed_p(RegIndex.kreg_mini_servo_servo_speed_p), // 速度闭环P比例参数 + kreg_mini_servo_servo_overload_time(RegIndex.kreg_mini_servo_servo_overload_time), // 过流保护时间 + kreg_mini_servo_servo_speed_i(RegIndex.kreg_mini_servo_servo_speed_i), // 速度闭环I积分参数 + kreg_mini_servo_servo_torque_switch(RegIndex.kreg_mini_servo_servo_torque_switch), // 扭矩开关 + kreg_mini_servo_servo_acc(RegIndex.kreg_mini_servo_servo_acc), // 加速度 + kreg_mini_servo_servo_target_pos(RegIndex.kreg_mini_servo_servo_target_pos), // 目标位置 + kreg_mini_servo_servo_run_time(RegIndex.kreg_mini_servo_servo_run_time), // 运行时间 + kreg_mini_servo_servo_run_speed(RegIndex.kreg_mini_servo_servo_run_speed), // 运行速度 + kreg_mini_servo_servo_torque_limit(RegIndex.kreg_mini_servo_servo_torque_limit), // 转矩限制 + kreg_mini_servo_servo_lock_flag(RegIndex.kreg_mini_servo_servo_lock_flag), // 锁标志 + kreg_mini_servo_servo_current_pos(RegIndex.kreg_mini_servo_servo_current_pos), // 当前位置 + kreg_mini_servo_servo_current_speed(RegIndex.kreg_mini_servo_servo_current_speed), // 当前速度 + kreg_mini_servo_servo_current_load(RegIndex.kreg_mini_servo_servo_current_load), // 当前负载 bit10为方向位 输出驱动电机的当前占空比电压,单位为0.1%,取值0-1000 + kreg_mini_servo_servo_current_voltage(RegIndex.kreg_mini_servo_servo_current_voltage), // 当前电压 反馈当前舵机工作电压,反馈精度为0.1V,即120*0.1=12V + kreg_mini_servo_servo_current_temp(RegIndex.kreg_mini_servo_servo_current_temp), // 当前温度 反馈当前舵机内部工作温度,反馈精度为1摄氏度 + kreg_mini_servo_servo_status(RegIndex.kreg_mini_servo_servo_status), // 舵机状态 + kreg_mini_servo_servo_move_flag(RegIndex.kreg_mini_servo_servo_move_flag), // 移动标志 + kreg_mini_servo_servo_current_current(RegIndex.kreg_mini_servo_servo_current_current), // 当前电流 反馈当前工作电流值,单位为6.26.5mA,最大可反馈电流为500*6.5mA=3250mA + ; + public final RegIndex regIndex; + + MiniServoRegIndex(RegIndex regIndex) { + this.regIndex = regIndex; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/DeviceStepMotorId.java b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/DeviceStepMotorId.java new file mode 100644 index 0000000..9a46e2a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/DeviceStepMotorId.java @@ -0,0 +1,51 @@ +package com.iflytop.sgs.hardware.type.StepMotor; + + +public enum DeviceStepMotorId { + door(StepMotorMId.DOOR_MOTOR_MID, "门"), + shake_motor(StepMotorMId.SHAKE_MOTOR_MID, "摇匀电机"), + tray_motor(StepMotorMId.TRAY_MOTOR_MID, "托盘电机"), + gantry_x(StepMotorMId.HBOT_X_MOTOR_MID, "龙门架X轴"), + gantry_y(StepMotorMId.HBOT_Y_MOTOR_MID, "龙门架Y轴"), + gantry_z(StepMotorMId.HBOT_Z_MOTOR_MID, "龙门架Z轴"), + heater_motor_1(StepMotorMId.HEATER_1_MOTOR_MID, "加热位顶升电机1"), + heater_motor_2(StepMotorMId.HEATER_2_MOTOR_MID, "加热位顶升电机2"), + heater_motor_3(StepMotorMId.HEATER_3_MOTOR_MID, "加热位顶升电机3"), + heater_motor_4(StepMotorMId.HEATER_4_MOTOR_MID, "加热位顶升电机4"), + heater_motor_5(StepMotorMId.HEATER_5_MOTOR_MID, "加热位顶升电机5"), + heater_motor_6(StepMotorMId.HEATER_6_MOTOR_MID, "加热位顶升电机6"), + acid_pump_1(StepMotorMId.ACID_PUMP_1_MOTOR_MID, "加酸泵电机1"), + acid_pump_2(StepMotorMId.ACID_PUMP_2_MOTOR_MID, "加酸泵电机2"), + acid_pump_3(StepMotorMId.ACID_PUMP_3_MOTOR_MID, "加酸泵电机3"), + acid_pump_4(StepMotorMId.ACID_PUMP_4_MOTOR_MID, "加酸泵电机4"), + acid_pump_5(StepMotorMId.ACID_PUMP_5_MOTOR_MID, "加酸泵电机5"), + acid_pump_6(StepMotorMId.ACID_PUMP_6_MOTOR_MID, "加酸泵电机6"), + acid_pump_7(StepMotorMId.ACID_PUMP_7_MOTOR_MID, "加酸泵电机7"), + acid_pump_8(StepMotorMId.ACID_PUMP_8_MOTOR_MID, "加酸泵电机8"), + ; + + private StepMotorMId stepMotorMId; + private String description; + + public StepMotorMId getStepMotorMId() { + return stepMotorMId; + } + + public String getDescription() { + return description; + } + + DeviceStepMotorId(StepMotorMId stepMotorMId, String description) { + this.stepMotorMId = stepMotorMId; + this.description = description; + } + + public static DeviceStepMotorId getById(StepMotorMId stepMotorMId) { + for (DeviceStepMotorId deviceStepMotorId : DeviceStepMotorId.values()) { + if (deviceStepMotorId.getStepMotorMId() == stepMotorMId) { + return deviceStepMotorId; + } + } + return null; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorDirect.java b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorDirect.java new file mode 100644 index 0000000..17e189b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorDirect.java @@ -0,0 +1,17 @@ +package com.iflytop.sgs.hardware.type.StepMotor; + +public enum StepMotorDirect { + FORWARD(1), // 正转 + BACKWARD(0), // 反转 + ; + + private final int value; + + StepMotorDirect(int value) { + this.value = value; + } + + public int getValue() { + return value; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorMId.java b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorMId.java new file mode 100644 index 0000000..1de3de1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorMId.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.hardware.type.StepMotor; + +import com.iflytop.sgs.hardware.type.MId; + +public enum StepMotorMId { + DOOR_MOTOR_MID(MId.DoorM), + SHAKE_MOTOR_MID(MId.ShakeM), + TRAY_MOTOR_MID(MId.CapStorageM), + HBOT_X_MOTOR_MID(MId.HBotXM), + HBOT_Y_MOTOR_MID(MId.HBotYM), + HBOT_Z_MOTOR_MID(MId.HBotZM), + HEATER_1_MOTOR_MID(MId.Heater1M), + HEATER_2_MOTOR_MID(MId.Heater2M), + HEATER_3_MOTOR_MID(MId.Heater3M), + HEATER_4_MOTOR_MID(MId.Heater4M), + HEATER_5_MOTOR_MID(MId.Heater5M), + HEATER_6_MOTOR_MID(MId.Heater6M), + ACID_PUMP_1_MOTOR_MID(MId.AcidPump1M), + ACID_PUMP_2_MOTOR_MID(MId.AcidPump2M), + ACID_PUMP_3_MOTOR_MID(MId.AcidPump3M), + ACID_PUMP_4_MOTOR_MID(MId.AcidPump4M), + ACID_PUMP_5_MOTOR_MID(MId.AcidPump5M), + ACID_PUMP_6_MOTOR_MID(MId.AcidPump6M), + ACID_PUMP_7_MOTOR_MID(MId.AcidPump7M), + ACID_PUMP_8_MOTOR_MID(MId.AcidPump8M), + ; + final public MId mid; + + StepMotorMId(MId mid) { + this.mid = mid; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorRegIndex.java b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorRegIndex.java new file mode 100644 index 0000000..2c5cbef --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorRegIndex.java @@ -0,0 +1,56 @@ +package com.iflytop.sgs.hardware.type.StepMotor; + +import com.iflytop.sgs.hardware.type.RegIndex; + +public enum StepMotorRegIndex { + // kreg_module_version(RegIndex.kreg_module_version), // 模块版本 + // kreg_module_type(RegIndex.kreg_module_type), // 模块类型 + // kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error + // kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag + /*********************************************************************************************************************** + * step_motor * + ***********************************************************************************************************************/ + kreg_step_motor_pos(RegIndex.kreg_step_motor_pos), // 机器人x坐标 + kreg_step_motor_is_enable(RegIndex.kreg_step_motor_is_enable), // 是否使能 + kreg_step_motor_dpos(RegIndex.kreg_step_motor_dpos), // 执行完上一条指令后的相对位移 + kreg_step_motor_has_move_zero(RegIndex.kreg_step_motor_has_move_zero), // 是否已经移动到零点 + kreg_step_motor_shaft(RegIndex.kreg_step_motor_shaft), // x轴是否反转 + kreg_step_motor_one_circle_pulse(RegIndex.kreg_step_motor_one_circle_pulse), // x轴一圈脉冲数 + kreg_step_motor_one_circle_pulse_denominator(RegIndex.kreg_step_motor_one_circle_pulse_denominator), // 设置一圈脉冲数的分母 + kreg_step_motor_default_velocity(RegIndex.kreg_step_motor_default_velocity), // 默认速度 + kreg_step_motor_low_velocity(RegIndex.kreg_step_motor_low_velocity), + kreg_step_motor_mid_velocity(RegIndex.kreg_step_motor_mid_velocity), + kreg_step_motor_high_velocity(RegIndex.kreg_step_motor_high_velocity), + kreg_step_motor_ihold(RegIndex.kreg_step_motor_ihold), // 步进电机电流配置 + kreg_step_motor_irun(RegIndex.kreg_step_motor_irun), // 步进电机电流配置 + kreg_step_motor_iholddelay(RegIndex.kreg_step_motor_iholddelay), // 步进电机电流配置 + kreg_step_motor_iglobalscaler(RegIndex.kreg_step_motor_iglobalscaler), // 步进电机电流配置 + kreg_step_motor_mres(RegIndex.kreg_step_motor_mres), // 步进电机电流配置 + + kreg_step_motor_run_to_zero_speed(RegIndex.kreg_step_motor_run_to_zero_speed), // 回零速度 + kreg_step_motor_look_zero_edge_speed(RegIndex.kreg_step_motor_look_zero_edge_speed), // 找零边缘速度 + kreg_step_motor_max_d(RegIndex.kreg_step_motor_max_d), // 最大限制距离 + kreg_step_motor_min_d(RegIndex.kreg_step_motor_min_d), // 最小限制距离 + kreg_step_motor_in_debug_mode(RegIndex.kreg_step_motor_in_debug_mode), // 驱动器处于调试模式 + kreg_step_motor_vstart(RegIndex.kreg_step_motor_vstart), // a1起作用的速度 + kreg_step_motor_a1(RegIndex.kreg_step_motor_a1), // + kreg_step_motor_amax(RegIndex.kreg_step_motor_amax), // + kreg_step_motor_v1(RegIndex.kreg_step_motor_v1), // + kreg_step_motor_dmax(RegIndex.kreg_step_motor_dmax), // + kreg_step_motor_d1(RegIndex.kreg_step_motor_d1), // + kreg_step_motor_vstop(RegIndex.kreg_step_motor_vstop), // + kreg_step_motor_tzerowait(RegIndex.kreg_step_motor_tzerowait), // + kreg_step_motor_enc_resolution(RegIndex.kreg_step_motor_enc_resolution), // 编码器分辨率 1000,1024,4000,4096,16384 + kreg_step_motor_enable_enc(RegIndex.kreg_step_motor_enable_enc), // + kreg_step_motor_dzero_pos(RegIndex.kreg_step_motor_dzero_pos), // 驱动器处于调试模式 + kret_step_motor_pos_devi_tolerance(RegIndex.kret_step_motor_pos_devi_tolerance), // 位置偏差容忍度 + kret_step_motor_io_trigger_append_distance(RegIndex.kret_step_motor_io_trigger_append_distance), // 移动到io时，附加的距离 + + + ; + public final RegIndex regIndex; + + StepMotorRegIndex(RegIndex regIndex) { + this.regIndex = regIndex; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorSpeedLevel.java b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorSpeedLevel.java new file mode 100644 index 0000000..28cce3b --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/StepMotor/StepMotorSpeedLevel.java @@ -0,0 +1,9 @@ +package com.iflytop.sgs.hardware.type.StepMotor; + +public enum StepMotorSpeedLevel { + DEFAULT, + LOW, + MID, + HIGH, + ; +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/appevent/A8kCanBusOnConnectEvent.java b/src/main/java/com/iflytop/sgs/hardware/type/appevent/A8kCanBusOnConnectEvent.java new file mode 100644 index 0000000..4524528 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/appevent/A8kCanBusOnConnectEvent.java @@ -0,0 +1,7 @@ +package com.iflytop.sgs.hardware.type.appevent; + +public class A8kCanBusOnConnectEvent extends AppEvent { + public A8kCanBusOnConnectEvent() { + super(A8kCanBusOnConnectEvent.class.getSimpleName()); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/appevent/AppEvent.java b/src/main/java/com/iflytop/sgs/hardware/type/appevent/AppEvent.java new file mode 100644 index 0000000..916a27f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/appevent/AppEvent.java @@ -0,0 +1,13 @@ +package com.iflytop.sgs.hardware.type.appevent; + +import java.util.Date; +import java.util.UUID; + +public class AppEvent { + public String typeName; + public Integer timestamp = (int) (new Date().getTime() / 1000); + public String eventId = UUID.randomUUID().toString(); + public AppEvent(String typeName) { + this.typeName = typeName; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/db/SubModuleRegInitialValue.java b/src/main/java/com/iflytop/sgs/hardware/type/db/SubModuleRegInitialValue.java new file mode 100644 index 0000000..23f2737 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/db/SubModuleRegInitialValue.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.hardware.type.db; + + +import com.iflytop.sgs.hardware.type.MId; +import com.iflytop.sgs.hardware.type.RegIndex; + +import java.io.Serializable; + +public class SubModuleRegInitialValue implements Serializable { + public int id = 0; + public MId mid; + public RegIndex regIndex; + public Integer regInitVal; + + public SubModuleRegInitialValue() { + } + + public SubModuleRegInitialValue(MId mid, RegIndex regIndex, Integer regInitVal) { + this.mid = mid; + this.regIndex = regIndex; + this.regInitVal = regInitVal; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/driver/HeaterRodSlavedId.java b/src/main/java/com/iflytop/sgs/hardware/type/driver/HeaterRodSlavedId.java new file mode 100644 index 0000000..0c6b563 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/driver/HeaterRodSlavedId.java @@ -0,0 +1,51 @@ +package com.iflytop.sgs.hardware.type.driver; + +import com.iflytop.sgs.common.enums.cmd.CmdDevice; +import com.iflytop.sgs.hardware.type.MId; + +public enum HeaterRodSlavedId { + HEATER_ROD1_ID(CmdDevice.heat_rod_1, 4, MId.IO1_ADC, 3), + HEATER_ROD2_ID(CmdDevice.heat_rod_2, 5, MId.IO1_ADC, 4), + HEATER_ROD3_ID(CmdDevice.heat_rod_3, 6, MId.IO1_ADC, 5), + HEATER_ROD4_ID(CmdDevice.heat_rod_4, 1, MId.IO1_ADC, 0), + HEATER_ROD5_ID(CmdDevice.heat_rod_5, 2, MId.IO1_ADC, 1), + HEATER_ROD6_ID(CmdDevice.heat_rod_6, 3, MId.IO1_ADC, 2), + ; + + private final CmdDevice cmdDevice; + private final Integer slaveId; + private final MId mid; + private final Integer adcCurrentIndex; // ADC电流索引 + + HeaterRodSlavedId(CmdDevice cmdDevice, Integer slaveId, MId mid, Integer adcCurrentIndex) { + this.cmdDevice = cmdDevice; + this.slaveId = slaveId; + this.mid = mid; + this.adcCurrentIndex = adcCurrentIndex; + } + + public CmdDevice getCmdDevice() { + return cmdDevice; + } + + public Integer getSlaveId() { + return slaveId; + } + + public MId getMid() { + return mid; + } + + public Integer getAdcCurrentIndex() { + return adcCurrentIndex; + } + + static public HeaterRodSlavedId getByCmdDevice(CmdDevice cmdDevice) { + for (HeaterRodSlavedId value : HeaterRodSlavedId.values()) { + if (value.cmdDevice == cmdDevice) { + return value; + } + } + return null; + } +} 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 new file mode 100644 index 0000000..b690487 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/A8kEcode.java @@ -0,0 +1,255 @@ +package com.iflytop.sgs.hardware.type.error; + +import lombok.extern.slf4j.Slf4j; + +/** + * 错误分类 + * 10, + * 为代码错误，代码没有BUG的情况下，这个错误时不会出现的，前端打印出错误，和错误携带的栈信息，方便产品维护时，非程序员能够提供详细的错误的信息。 + * + * + * + * + * + */ +@Slf4j +public enum A8kEcode { + + SUC(0), + // + // 代码错误，代码没有BUG的情况下，前端直接打印错误信息和栈信息即可 + // + CODEERROR(10), //代码错误 + ERROR_WORK_MODE(11), //工作模式错误 + ZAPP_INTERRUPT_EXCEPTION(12), + ERROR_OPERATION(13), //操作错误 + IP_FORMAT_ERROR(14), //IP地址格式错误 + SHUTDOWN_ERROR_DEVICE_IS_WORKING(15), //设备正在工作中，不允许关机 + LOGIN_OUT_ERROR_DEVICE_IS_WORKING(16), //设备正在工作中，不允许退出登录 + DEVICE_IS_BUSY(17), //设备正在工作中，不允许操作 + 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), // + + // + // 参数错误 + // + PE_PARAM_OUT_OF_RANGE(100),//参数超出范围 + // + // 用户错误 + // + USR_ALREADY_EXIST(110),//用户已存在 + USR_NOT_EXIT(111), //用户不存在 + USR_PASSWORD_ERROR(112),//用户密码错误 + USR_PASSWORD_IS_EMPTY(113),//用户密码为空 + USR_OLD_PASSWORD_ERROR(114),//用户旧密码错误 + + // + // ID卡错误 + // + APPE_A8K_ID_CARD_NOT_MOUNTED(120), //ID卡未挂载 + // + // 试管配置管理服务相关错误码 + // + APPE_TUBE_HOLDER_SETTING_IS_LOCKED(130),//试管架设置被锁定,已锁定的,说明当前后台正在使用这个配置，是不允许修改 + APPE_TUBEHOLDER_SETTING_ERROR(131), //试管架配置错误 + + // + // 急诊错误 + // + APPE_EMERGENCY_SAMPLE_IS_PROCESSING(141), //添加急诊样本失败，急诊样本还没有处理完成 （这个错误发生在前端，没有做好状态检测） + APPE_ADD_EMERGENCY_ACTION_IS_NOT_ALLOWED_WHEN_WORKING(142),//添加急诊样本失败，设备正在运行中 （这个错误发生在前端，没有做好状态检测） + // + // 设备操作操作 + // + APPE_DEVICE_IS_IN_FATAL_ERROR(150),//设备处于严重错误,请关机后重启设备进行恢复 + APPE_DEVICE_INIT_CHECK_FAIL(151),//设备初始化检查失败 + + APPE_DO_ACTION_FAIL_DEVICE_IS_WORKING(152),//设备正在工作中，不允许执行操作 + APPE_CONSUMABLES_IS_IN_USE_NOT_ALLOW_UNSTALL(153),//耗材正在使用中，不允许卸载 + + DEVICE_STARTUP_IN_PROGRESS(154), // 设备启动中，请稍后 + // + // 业务流程中的错误 + // 1. 点击开始运行后，设备在运行过程中出现的错误 + // 2. 下面错误，中文情况下，直接显示注释信息即可 + // + //扫描耗材错误 + APPE_NO_UNINSTALLED_CONSUMABLE(160),//没有未安装的耗材 + + + APPE_TIP_G1_SETTING_NUM_MISMATCH_ERROR(161),//Tip设置数量错误 + APPE_TIP_G2_SETTING_NUM_MISMATCH_ERROR(162),//Tip设置数量错误 + APPE_TIP_G3_SETTING_NUM_MISMATCH_ERROR(163),//Tip设置数量错误 + + APPE_INACTIVE_TUBEHOLDER_SETTING_EXISTS(164),//有试管架配置未激活 + + + //入料阶段错误 + APPE_SCAN_TUBEHOLDER_TYPE_TIMEOUT(200),//扫描试管架类型超时 + APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT(201),//试管架类型不支持 + APPE_INFEED_OVERTIME_FAIL(202),//入料超时失败 + + //样本处理过程中的错误 + APPE_PUT_TIP_FAIL(210),//丢弃Tip失败 + APPE_TAKE_TIP_FAIL(211),//取Tip失败 + APPE_DETECT_SAMPLE_FAIL(212),// 检测样本失败 + APPE_TAKE_LARGE_BUFFER_LIQUID_FAIL(213),//取大瓶缓冲液失败 + APPE_TAKE_SAMPLE_FAIL(214),//取大瓶缓冲液失败 + + + //出料阶段错误 + APPE_EJECT_TUBEHOLDER_TIMEOUT(220),//弹出试管架超时 + APPE_NO_TUBE_IN_HOLDER(221),//试管架中没有试管 + APPE_CONSUME_NOT_ENOUGH(222),//耗材不足 + APPE_TIP_NOT_ENOUGH(223),//tip不足 + + //运行中的公用错误 + APPE_A8K_PROJ_CARD_PARSE_ERROR(300), //ID卡解析错误 + APPE_A8K_PROJ_CARD_EXPIRYED(301), //ID卡过期 + APPE_A8K_PROJ_ID_IS_EMPTY(302), //项目ID为空 + PROJ_CARD_ERROR_WRONG_UNSUPPORTED(303), //项目不支持 + APPE_PULLERM_INIT_POS_ERROR(305), //初始化阶段，拉板电机没有处于零点位置 + APPE_PUSHERM_INIT_POS_ERROR(306), //初始化阶段，推板电机没有处于零点位置 + APPE_PLATE_STUCK_DETECTOR_SENSOR_TRIGGER(307), //卡板检测传感器触发 + APPE_TUBE_X_CHANNEL_IS_NOT_EMPTY(308), //试管架通道有异物 + APPE_PLATE_BOX_NOT_COVER(309), //板夹仓未盖 + APPE_DEVICE_NOT_INITED(310), //设备未初始化 + APPE_SHAKE_MODULE_CLAMPM_NOT_IN_ZERO_POS(311), //摇匀模组夹紧模块没有在零点位置 + APPE_INCUBATION_PLATE_OUTLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER(312), //孵育板出料口卡板检测传感器触发 + APPE_INCUBATION_PLATE_INLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER(313), //孵育板入料口卡板检测传感器触发 + + + // + // ID卡检验错误 + // + PROJ_CARD_ERROR_EXPIRYED(500),//ID卡验证错误，过期 + PROJ_CARD_ERROR_WRONG_FUNCTION_NUM(500),//ID卡验证错误，函数数量错误 + PROJ_CARD_ERROR_WRONG_OPT_NUM(500),//ID卡验证错误，光学数量错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_X_TYPE(500),//ID卡验证错误，公式X类型错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_JUDGE_X_TYPE(500),//ID卡验证错误，公式X类型错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_L_X_TYPE(500),//ID卡验证错误，公式X类型错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_H_X_TYPE(500),//ID卡验证错误，公式X类型错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_X_SCOPE(500),//ID卡验证错误，公式X的范围错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_LIMIT_SCOPE(500),//ID卡验证错误，光学数量错误 + PROJ_CARD_ERROR_WRONG_FUNCTION_TYPE(500),//ID卡验证错误，公式类型错误 + + PROJ_CARD_ERROR_WRONG_RESULT_UNIT_TYPE(500),//ID卡验证错误，Unit类型错误 + PROJ_CARD_ERROR_WRONG_RESULT_UNIT2_COEFFICIENT(500),//ID卡验证错误，Unit2转换系数错误 + PROJ_CARD_ERROR_WRONG_RESULT_UNIT3_COEFFICIENT(500),//ID卡验证错误，Unit3转换系数错误 + + // PROJ_CARD_ERROR_WRONG_UNSUPPORTED(520),//ID卡验证错误，不支持的ID卡 + PROJ_CARD_ERROR_BUILD_IN_PROJ_INFO_ERROR(521),//ID卡验证错误，内置项目信息错误 + PROJ_CARD_ERROR_ID_CARD_VERSION_IS_LOWER_THAN_STORED(522),//ID卡验证错误，ID卡版本低于存储的版本 + + + // + // LowBoard 底层错误，直接打印错误英文 + // + LOW_ERROR_HARDWARE_ERROR_START(1000), + LOW_ERROR_BOARD_COMMON_ERROR(1001), + LOW_ERROR_PARAM_OUT_OF_RANGE(1102), + LOW_ERROR_CMD_NOT_SUPPORT(1103), + LOW_ERROR_DEVICE_IS_BUSY(1104), + LOW_ERROR_DEVICE_IS_OFFLINE(1105), + LOW_ERROR_OVERTIME(1106), + LOW_ERROR_NOACK(1107), + LOW_ERROR_ERRORACK(1108), + LOW_ERROR_DEVICE_OFFLINE(1109), + LOW_ERROR_SUBDEVICE_OVERTIME(1111), + LOW_ERROR_BUFFER_NOT_ENOUGH(1112), + LOW_ERROR_CMD_PARAM_NUM_ERROR(1114), + LOW_ERROR_CHECKCODE_IS_ERROR(1115), + LOW_ERROR_ILLEGAL_OPERATION(1116), + LOW_ERROR_ACTION_OVERTIME(1117), + LOW_ERROR_MODULE_OPEATION_BREAK_BY_USER(1202), + LOW_ERROR_MODULE_NOT_FIND_REG(1207), + LOW_ERROR_XYMOTOR_X_FIND_ZERO_EDGE_FAIL(1306), + LOW_ERROR_XYMOTOR_Y_FIND_ZERO_EDGE_FAIL(1307), + LOW_ERROR_XYMOTOR_NOT_ENABLE(1308), + LOW_ERROR_XYMOTOR_TARGET_POS_OUTOF_RANGE(1309), + LOW_ERROR_XYMOTOR_NOT_MOVE_TO_ZERO(1310), + LOW_ERROR_PIPETTE_ERROR_NO_ERROR(1400), + LOW_ERROR_PIPETTE_ERROR_INIT_FAIL(1401), + LOW_ERROR_PIPETTE_ERROR_INVALID_CMD(1402), + LOW_ERROR_PIPETTE_ERROR_INVALID_ARG(1403), + LOW_ERROR_PIPETTE_ERROR_PRESSURE_SENSOR_ERROR(1404), + LOW_ERROR_PIPETTE_ERROR_OVER_PRESSURE(1405), + LOW_ERROR_PIPETTE_ERROR_LLD_ERROR(1406), //一般为lld时移液枪吸液过快，导致很快到达最大行程 + LOW_ERROR_PIPETTE_ERROR_DEVICE_NOT_INIT(1407), + LOW_ERROR_PIPETTE_ERROR_TIP_POP_ERROR(1408), + LOW_ERROR_PIPETTE_ERROR_PUMP_OVERLOAD(1409), + LOW_ERROR_PIPETTE_ERROR_TIP_DROP(1410), + LOW_ERROR_PIPETTE_ERROR_CAN_BUS_ERROR(1411), + LOW_ERROR_PIPETTE_ERROR_INVALID_CHECKSUM(1412), + LOW_ERROR_PIPETTE_ERROR_EEPROM_ERROR(1413), + LOW_ERROR_PIPETTE_ERROR_CMD_BUFFER_EMPTY(1414), + LOW_ERROR_PIPETTE_ERROR_CMD_BUFFER_OVERFLOW(1415), + LOW_ERROR_PIPETTE_ERROR_TIP_BLOCK(1416), + LOW_ERROR_PIPETTE_ERROR_AIR_SUCTION(1417), + LOW_ERROR_PIPETTE_ERROR_BUBBLE(1418), + LOW_ERROR_PIPETTE_ERROR_VOLUME_ERROR(1419), + LOW_ERROR_PIPETTE_ERROR_TIP_ALREADY_LOAD(1420), + LOW_ERROR_PIPETTE_ERROR_TIP_LOAD_FAIL(1421), + LOW_ERROR_PIPETTE_ERROR_NO_TIP_WHEN_LLD(1422), + LOW_ERROR_PIPETTE_ERROR_UNINITED(1501), + LOW_ERROR_PIPETTE_ERROR_NOT_LLD_PREPARE(1502), + LOW_ERROR_PIPETTE_ERROR_TIPISLOAD_WHEN_LLD_PREPARE(1500), + LOW_ERROR_PIPETTE_ERROR_PUMP_LOAD_VAL_IS_NOT_EMPTY(1503), + + LOW_ERROR_STEP_MOTOR_NOT_FOUND_ZERO_POINT(1600), + LOW_ERROR_STEP_MOTOR_NOT_GO_ZERO(1601), + LOW_ERROR_STEP_MOTOR_OVER_TEMPERATURE(1602), + LOW_ERROR_STEP_MOTOR_OVER_VOLTAGE(1603), + LOW_ERROR_STEP_MOTOR_RUN_OVERTIME(1604), + LOW_ERROR_STEP_MOTOR_NOT_ENABLE(1605), + LOW_ERROR_STEP_MOTOR_IOINDEX_OUT_OF_RANGE(1606), + LOW_ERROR_STEP_MOTOR_SUBIC_RESET(1607), + LOW_ERROR_STEP_MOTOR_DRV_ERR(1608), + LOW_ERROR_STEP_MOTOR_UV_CP(1609), + LOW_ERROR_STEP_MOTOR_NOT_FOUND_POINT_EDGE(1610), + LOW_ERROR_STEP_MOTOR_LOST_STEP(1611), + LOW_ERROR_STEP_MOTOR_NOT_MOVE_TO_ZERO(1612), + LOW_ERROR_STEP_MOTOR_OT(1613), + LOW_ERROR_STEP_MOTOR_OTPW(1614), + LOW_ERROR_STEP_MOTOR_S2GA(1615), + LOW_ERROR_STEP_MOTOR_S2GB(1616), + LOW_ERROR_STEP_MOTOR_OLA(1617), + LOW_ERROR_STEP_MOTOR_OLB(1618), + LOW_ERROR_MINI_SERVO_NOT_ENABLE(1700), + LOW_ERROR_MINI_SERVO_MODE_NOT_SUPPORT(1701), + LOW_ERROR_FAN_HARDWARE_FAULT(1800), + LOW_ERROR_WATER_COOLING_FAN_ERROR(1900), + LOW_ERROR_WATER_COOLING_TEMPERATURE_SENSOR_ERROR(1902), + LOW_ERROR_WATER_COOLING_PUMP_IS_ERROR(1903), + LOW_ERROR_WATER_COOLING_PELTER_IS_ERROR(1904), + // + // 底层扩展错误码，由java定义 + // + LOW_EXT_ERROR_UNKOWN_INDEX_ERROR(5000), //代码错误,未知错误 + LOW_EXT_ERROR_CMD_NOT_SUPPORT(5001), //代码错误,未知错误 + LOW_EXT_ERROR_MOTOR_AT_WRONG_POS(5002),//电机在错误的位置 + ; + + public final int index; + public int rawindex = 0; + + A8kEcode(int index) { + this.index = index; + } + + + static public A8kEcode fromInt(int index) { + for (var e : A8kEcode.values()) { + if (e.index == index) { + return e; + } + } + log.error("未知错误码:{}", index); + A8kEcode.LOW_EXT_ERROR_UNKOWN_INDEX_ERROR.rawindex = index; + return A8kEcode.LOW_EXT_ERROR_UNKOWN_INDEX_ERROR; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/error/AECodeError.java b/src/main/java/com/iflytop/sgs/hardware/type/error/AECodeError.java new file mode 100644 index 0000000..9937096 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/AECodeError.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.hardware.type.error; + +import com.fasterxml.jackson.annotation.JsonIgnore; + +public class AECodeError extends AppError { + @JsonIgnore + public StackTraceElement[] stackTraceElements; + + public AECodeError(String exmsg) { + super(A8kEcode.CODEERROR); + this.exmsg = exmsg; + stackTraceElements = Thread.currentThread().getStackTrace(); + } + + public AECodeError(String fmt, Object... args) { + super(A8kEcode.CODEERROR); + this.exmsg = String.format(fmt, args); + stackTraceElements = Thread.currentThread().getStackTrace(); + } + + public AECodeError(Exception e) { + super(A8kEcode.CODEERROR); + this.exmsg = e.getMessage(); + stackTraceElements = e.getStackTrace(); + } + + + public static void main(String[] args) { + try { + throw new Exception("test"); + } catch (Exception e) { + AECodeError aeCodeError = new AECodeError(e); +// System.out.println(ZJsonHelper.objToPrettyJson(aeCodeError)); + } + + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/error/AEHardwareError.java b/src/main/java/com/iflytop/sgs/hardware/type/error/AEHardwareError.java new file mode 100644 index 0000000..7359b75 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/AEHardwareError.java @@ -0,0 +1,29 @@ +package com.iflytop.sgs.hardware.type.error; + +import com.iflytop.sgs.hardware.type.CmdId; +import com.iflytop.sgs.hardware.type.MId; +import io.swagger.v3.oas.annotations.media.Schema; + +public class AEHardwareError extends AppError { + @Schema(description = "模块id(辅助调试，直接原始显示就行)") + public MId mid; + @Schema(description = "命令id(辅助调试，直接原始显示就行)") + public CmdId cmdId; + + public String rawtxcmd; + public String rawrxcmd; + + public AEHardwareError(A8kEcode errorCode, MId mid, CmdId cmdId, String rawtxcmd, String rawrxcmd) { + super(errorCode); + this.mid = mid; + this.cmdId = cmdId; + this.rawtxcmd = rawtxcmd; + this.rawrxcmd = rawrxcmd; + } + + public AEHardwareError(A8kEcode errorCode, MId mid, CmdId cmdId) { + super(errorCode); + this.mid = mid; + this.cmdId = cmdId; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/type/error/AppError.java b/src/main/java/com/iflytop/sgs/hardware/type/error/AppError.java new file mode 100644 index 0000000..b9ff737 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/AppError.java @@ -0,0 +1,38 @@ +package com.iflytop.sgs.hardware.type.error; + +import cn.hutool.json.JSONUtil; +import io.swagger.v3.oas.annotations.media.Schema; + +import java.io.Serializable; + +public class AppError implements Serializable { + @Schema(description = "错误码") + public A8kEcode code; + public String type; + @Schema(description = "额外信息") + public String exmsg; + + public AppError(A8kEcode errorCode) { + this.code = errorCode; + this.type = this.getClass().getSimpleName(); + } + + public AppError(A8kEcode errorCode, String exmsg, Object... args) { + this.code = errorCode; + this.type = this.getClass().getSimpleName(); + this.exmsg = String.format(exmsg, args); + } + + public String toString() { + return JSONUtil.toJsonStr(this); + } + + public Boolean eq(A8kEcode... ecode) { + for (A8kEcode e : ecode) { + if (e == code) { + return true; + } + } + return false; + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/type/error/AppErrorCode.java b/src/main/java/com/iflytop/sgs/hardware/type/error/AppErrorCode.java new file mode 100644 index 0000000..efdd4d6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/type/error/AppErrorCode.java @@ -0,0 +1,21 @@ +package com.iflytop.sgs.hardware.type.error; + +public enum AppErrorCode { + APP_OK(200, "操作成功"), + FAIL(500, "操作失败"), + PARAM_ERROR(400, "参数错误"); + + private int code; + private String msg; + private AppErrorCode(int code, String msg) { + this.code = code; + this.msg = msg; + } + + public int getCode() { + return code; + } + public String getMsg() { + return msg; + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/CommonPage.java b/src/main/java/com/iflytop/sgs/hardware/utils/CommonPage.java new file mode 100644 index 0000000..04d12c4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/CommonPage.java @@ -0,0 +1,25 @@ +package com.iflytop.sgs.hardware.utils; + +import lombok.Getter; +import lombok.Setter; + +import java.util.List; + +@Getter +@Setter +public class CommonPage { + + private Integer pageNum; //第几页 + private Integer pageSize; //一页展示几条数据 + private Integer totalPage; //总页数 + private long total; //总条数 + private List list; //数据 + + public CommonPage(Integer pageNum, Integer pageSize, Integer totalPage, long total, List list) { + this.pageNum = pageNum; + this.pageSize = pageSize; + this.totalPage = totalPage; + this.total = total; + this.list = list; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/Math/ServoPositionConverter.java b/src/main/java/com/iflytop/sgs/hardware/utils/Math/ServoPositionConverter.java new file mode 100644 index 0000000..0f3410f --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/Math/ServoPositionConverter.java @@ -0,0 +1,84 @@ +package com.iflytop.sgs.hardware.utils.Math; + +import lombok.extern.slf4j.Slf4j; + +@Slf4j +public class ServoPositionConverter { + // 舵机位置相关常量 + private static final double MIN_SERVO_POSITION = 1920; + private static final double MAX_SERVO_POSITION = 3000; + + // 4096量程相关常量 + private static final double MIN_SERVO_4096_POSITION = 0.0; + private static final double MAX_SERVO_4096_POSITION = 4096.0; + + // 3600量程相关常量 + private static final double MIN_SERVO_3600_POSITION = 0.0; + private static final double MAX_SERVO_3600_POSITION = 3600.0; + + /** + * 将0-4096范围内的值映射到1920-3000的舵机位置，再映射到0-3600的目标量程 + * @param value 输入值，范围0-4096 + * @return 对应的3600量程值 + */ + public static double convert4096To3600(double value) { + // 限制输入值在有效范围内 + value = Math.max(MIN_SERVO_4096_POSITION, Math.min(MAX_SERVO_4096_POSITION, value)); + + // 第一步：将0-4096的输入值映射到1920-3000的舵机位置 + double servoPosition = MIN_SERVO_POSITION + + (value - MIN_SERVO_4096_POSITION) * + (MAX_SERVO_POSITION - MIN_SERVO_POSITION) / + (MAX_SERVO_4096_POSITION - MIN_SERVO_4096_POSITION); + + // 第二步：将1920-3000的舵机位置映射到0-3600的目标量程 + double result = MIN_SERVO_3600_POSITION + + (servoPosition - MIN_SERVO_POSITION) * + (MAX_SERVO_3600_POSITION - MIN_SERVO_3600_POSITION) / + (MAX_SERVO_POSITION - MIN_SERVO_POSITION); + + return result; + } + + /** + * 将0-3600范围内的值反向映射回0-4096的原始量程 + * @param value 输入值，范围0-3600 + * @return 对应的4096量程值 + */ + public static double convert3600To4096(double value) { + // 限制输入值在有效范围内 + value = Math.max(MIN_SERVO_3600_POSITION, Math.min(MAX_SERVO_3600_POSITION, value)); + + // 第一步：将0-3600的值反向映射到1920-3000的舵机位置 + double servoPosition = MIN_SERVO_POSITION + + (value - MIN_SERVO_3600_POSITION) * + (MAX_SERVO_POSITION - MIN_SERVO_POSITION) / + (MAX_SERVO_3600_POSITION - MIN_SERVO_3600_POSITION); + + // 第二步：将1920-3000的舵机位置反向映射到0-4096的原始量程 + double result = MIN_SERVO_4096_POSITION + + (servoPosition - MIN_SERVO_POSITION) * + (MAX_SERVO_4096_POSITION - MIN_SERVO_4096_POSITION) / + (MAX_SERVO_POSITION - MIN_SERVO_POSITION); + + return result; + } + + /** + * 测试转换功能的示例方法 + */ + public static void main(String[] args) { + // 测试从4096到3600的转换 + double value4096 = 2048; // 中间值 + double value3600 = convert4096To3600(value4096); + System.out.printf("4096量程的 %.2f 对应3600量程的 %.2f%n", value4096, value3600); + + // 测试反向转换 + double reversedValue = convert3600To4096(value3600); + System.out.printf("3600量程的 %.2f 反向映射回4096量程的 %.2f%n", value3600, reversedValue); + + // 测试边界值 + System.out.printf("4096量程的 0 对应3600量程的 %.2f%n", convert4096To3600(0)); + System.out.printf("4096量程的 4096 对应3600量程的 %.2f%n", convert4096To3600(4096)); + } +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/Math/StepMotorConverter.java b/src/main/java/com/iflytop/sgs/hardware/utils/Math/StepMotorConverter.java new file mode 100644 index 0000000..e7ef363 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/Math/StepMotorConverter.java @@ -0,0 +1,81 @@ +package com.iflytop.sgs.hardware.utils.Math; + +/** + * @author iflytop + * @date 2023/10/12 + * @description 步进电机助手类 + * lead[S](导程): mm + * rps(转速): r/s + * rpm(转速): r/min + * r(转数): r + * + */ +public class StepMotorConverter { + static private final double kScale = 100.0; + + /* **** **** **** **** **** **** **** **** **** **** **** + * 位置转换 + * 1. 用户位置 X + * 2. 用户单位距离 unit_X + * 3. R = X * kScale / motor_scale * motor_lead + * 4. unit_X(1mm/1ml) = R / S = X * kScale / motor_scale * motor_lead / S + * 5. kScale == 10000.0 && motor_lead == 1 + * 6. unit_X(1mm/1ml) = X * kScale / motor_scale / S (X=1, 即 X = unit_X, 保证 kScale / motor_scale / S == 1) + * 7. K = S / motor_scale + * + **** **** **** **** **** **** **** **** **** **** **** */ + + /** + * 用户设置位置转换为控制器需要的位置 + * @param position + * @return + */ + public static int toMotorPosition(double position) + { + return (int)(position * kScale); + } + + /** + * 控制器位置转换为用户设置位置 + * @param motorPosition + * @return + */ + public static double toUserPosition(int motorPosition) + { + return (double)motorPosition / kScale; + } + + /* **** **** **** **** **** **** **** **** **** **** **** + * 速度转换 + * 1. 用户速度 X/s + * 2. 电机速度 R/min + * 3. X/s = rps * S + * 4. rps = X/s / S + * 5. rps = rpm / 60.0 + * 6. rpm = X/s * 60.0 + * 7. rpm = X/s / S * 60.0 + * + **** **** **** **** **** **** **** **** **** **** **** */ + + /** + * 用户设置速度转换为控制器需要的速度 + * 用户速度 U_Speed xx/s + * 控制器速度 rpm + * S 导程 + */ + public static int toMotorSpeed(double speed, double S) + { + return (int)(speed * 60.0 / S); + } + + /** + * 控制器速度转换为用户设置速度 + * 控制器速度 rpm + * 用户速度 U_Speed xx/s + * S 导程 + */ + public static double toUserSpeed(int motorSpeed, double S) + { + return (double)motorSpeed * S / 60.0; + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/OS.java b/src/main/java/com/iflytop/sgs/hardware/utils/OS.java new file mode 100644 index 0000000..ca24e36 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/OS.java @@ -0,0 +1,24 @@ +package com.iflytop.sgs.hardware.utils; + +public class OS { + + public static void hsleep(int ms) { + forceSleep(ms); + } + + public static void forceSleep(Integer mills) { + Long start = System.currentTimeMillis(); + long end = start + mills; + while (System.currentTimeMillis() < end) { + int left = (int) (end - System.currentTimeMillis()); + threadSleep(left); + } + } + + public static void threadSleep(Integer mills) { + try { + Thread.sleep(mills); + } catch (InterruptedException ignored) { + } + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/ZCSVUtils.java b/src/main/java/com/iflytop/sgs/hardware/utils/ZCSVUtils.java new file mode 100644 index 0000000..67d37fa --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/ZCSVUtils.java @@ -0,0 +1,78 @@ +package com.iflytop.sgs.hardware.utils; + + +import cn.hutool.core.io.resource.ResourceUtil; +import cn.hutool.core.text.csv.CsvReader; +import cn.hutool.core.text.csv.CsvUtil; +import cn.hutool.core.text.csv.CsvWriter; +import lombok.extern.slf4j.Slf4j; + +import java.io.File; +import java.nio.charset.StandardCharsets; +import java.util.ArrayList; +import java.util.List; + +@Slf4j +public class ZCSVUtils { + + + public static void writeCSV(String filePath, Class type, List objects) { + File file = new File(filePath); + try ( + CsvWriter csvWriter = CsvUtil.getWriter(file.getAbsoluteFile(), StandardCharsets.UTF_8); + ) { + + List headers = new ArrayList<>(); + var fields = type.getDeclaredFields(); + for (var field : fields) { + headers.add(field.getName()); + } + + String[] headersArray = new String[headers.size()]; + headers.toArray(headersArray); + + + csvWriter.write(headersArray); + + for (var object : objects) { + String[] row = new String[fields.length]; + for (int i = 0; i < fields.length; i++) { + fields[i].setAccessible(true); + row[i] = String.format("%s", fields[i].get(object)); + } + + + // log.info("row: {}", row); + csvWriter.write(row); + } + csvWriter.flush(); + } catch (IllegalAccessException e) { + throw new RuntimeException(e); + } + } + + public static List readCSV(String filePath, Class clazz) { + File file = new File(filePath); + final CsvReader reader = CsvUtil.getReader(); + String csvContent = ResourceUtil.readUtf8Str(file.getAbsolutePath()); + return reader.read(csvContent, clazz); + } + + public static List readCSVContent(String csvContent, Class clazz) { + final CsvReader reader = CsvUtil.getReader(); + return reader.read(csvContent, clazz); + } + + public static List readCSVFromResource(String filePath, Class clazz) { + String csvContent = ResourceUtil.readUtf8Str(filePath); + final CsvReader reader = CsvUtil.getReader(); + return reader.read(csvContent, clazz); + } + + public static Boolean isResourceExist(String filePath) { + var resource = ResourceUtil.getResource(filePath); + return resource != null; + } + + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/ZList.java b/src/main/java/com/iflytop/sgs/hardware/utils/ZList.java new file mode 100644 index 0000000..ce73bb9 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/ZList.java @@ -0,0 +1,11 @@ +package com.iflytop.sgs.hardware.utils; + +import java.util.ArrayList; +import java.util.Arrays; + +public class ZList { + //List.of 方法不支持 removeIf, 代码中尽量全部使用 ZList.of + public static ArrayList of(T... args) { + return new ArrayList<>(Arrays.asList(args)); + } +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/ZSqlite.java b/src/main/java/com/iflytop/sgs/hardware/utils/ZSqlite.java new file mode 100644 index 0000000..57b9fee --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/ZSqlite.java @@ -0,0 +1,209 @@ +package com.iflytop.sgs.hardware.utils; + +import com.iflytop.sgs.hardware.constants.FilePathConstant; +import jakarta.annotation.Nullable; +import lombok.SneakyThrows; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.jdbc.core.JdbcTemplate; + +import java.sql.ResultSet; +import java.util.List; + +public class ZSqlite { + private static final Logger log = LoggerFactory.getLogger(ZSqlite.class); + JdbcTemplate jdbcTemplate; + Class tClass; + public String tableName; + + public ZSqlite() { + } + + public void init(JdbcTemplate jdbcTemplate, String tableName, Class tClass, boolean foreceCreate) { + this.tableName = tableName; + this.tClass = tClass; + this.jdbcTemplate = jdbcTemplate; + if (foreceCreate) { + this.forceDeleteTable(); + } + + if (!this.isTableExist()) { + this.createTable(); + tryInitDBData(); + } + } + + public void init(JdbcTemplate jdbcTemplate, String tableName, Class tClass) { + init(jdbcTemplate, tableName, tClass, false); + } + + + public List getAll() { + return jdbcTemplate.query("select * from " + tableName, this::rowMapperList); + } + + public List getAllDesc() { + return jdbcTemplate.query("select * from " + tableName + " order by id desc", this::rowMapperList); + } + + public CommonPage getPageDesc(Integer pageNum, Integer pageSize) { + //倒叙 + String sql = "select * from " + tableName + " order by id desc"; + return queryPage(pageNum, pageSize, sql); + } + + + public CommonPage queryPage(Integer pageNum, Integer pageSize, String sql, @Nullable Object... args) { + sql = sql + " limit " + (pageNum - 1) * pageSize + "," + pageSize; + List list = jdbcTemplate.query(sql, this::rowMapperList, args); + Integer total = jdbcTemplate.queryForObject("select count(*) from " + tableName, Integer.class); + if (total == null) { + total = 0; + } + return new CommonPage<>(pageNum, pageSize, total / pageSize + 1, total, list); + } + + public List getPage(Integer pageNum, Integer pageSize) { + //倒叙 + String sql = "select * from " + tableName + " limit " + (pageNum - 1) * pageSize + "," + pageSize; + List list = jdbcTemplate.query(sql, this::rowMapperList); + //总数 + Integer total = jdbcTemplate.queryForObject("select count(*) from " + tableName, Integer.class); + if (total == null) { + total = 0; + } + return list; + } + + public T findById(int id) { + List list = jdbcTemplate.query("select * from " + tableName + " where id = ?", this::rowMapperList, id); + if (list.isEmpty()) { + return null; + } + return list.get(0); + } + + + @SneakyThrows public T rowMapperList(ResultSet rs, int rowNum) { + var ret = ZSqliteJdbcHelper.rowMapper(rs, tClass); + return tClass.cast(ret); + } + + // @SneakyThrows public T rowMapperOne(ResultSet rs) { + // // return (T) ZSqliteJdbcHelper.rowMapper(rs, tClass); + // return tClass.cast(ZSqliteJdbcHelper.rowMapper(rs, tClass)); + // } + + public Boolean isTableExist() { + return ZSqliteJdbcHelper.isTableExist(jdbcTemplate, tableName); + } + + public void deleteTable() { + ZSqliteJdbcHelper.deleteTable(jdbcTemplate, tableName); + } + + public void forceDeleteTable() { + ZSqliteJdbcHelper.forceDeleteTable(jdbcTemplate, tableName); + } + + public void createTable() { + ZSqliteJdbcHelper.createTable(jdbcTemplate, tableName, tClass); + } + + public void delete(int id) { + ZSqliteJdbcHelper.delete(jdbcTemplate, tableName, id); + } + + public void add(T obj) { + if (obj == null) { + return; + } + ZSqliteJdbcHelper.addObj(jdbcTemplate, tableName, tClass, obj); + } + + public void addAll(List list) { + for (var val : list) { + add(val); + } + } + + public void update(T obj) { + ZSqliteJdbcHelper.updateObj(jdbcTemplate, tableName, tClass, obj); + } + + public void deleteAll() { + ZSqliteJdbcHelper.deleteTable(jdbcTemplate, tableName); + ZSqliteJdbcHelper.createTable(jdbcTemplate, tableName, tClass); + } + + public T queryOne(String sql, @Nullable Object... args) { + List list = jdbcTemplate.query(sql, this::rowMapperList, args); + if (list.isEmpty()) { + return null; + } + return list.get(0); + } + + public List queryList(String sql, @Nullable Object... args) { + return jdbcTemplate.query(sql, this::rowMapperList, args); + } + + public void update(String sql, @Nullable Object... args) { + jdbcTemplate.update(sql, args); + } + + + public void export() { + ZCSVUtils.writeCSV(getExportPATH(), tClass, getAll()); + } + + /** + * 从CSV文件导入数据到数据库 !WARNING: 会删除原有数据 + * @param csvcontent CSV文件内容 + */ + public void importFromCSV(String csvcontent, boolean forceDelete) { + if (forceDelete) { + deleteAll(); + List list = ZCSVUtils.readCSV(csvcontent, tClass); + list.forEach(this::add); + } else { + List list = ZCSVUtils.readCSV(csvcontent, tClass); + for (var val : list) { + var obj = tClass.cast(val); + try { + var id = tClass.getField("id"); + id.setAccessible(true); + int idVal = (int) id.get(obj); + + if (idVal == 0) { + add(obj); + } else { + update(obj); + } + } catch (NoSuchFieldException | IllegalAccessException e) { + throw new RuntimeException(e); + } + } + } + } + + + public String getExportPATH() { + return String.format("%s/%s.csv", FilePathConstant.FILE_DB_EXPORT_PATH, tableName); + } + + + public void resetDBData() { + deleteAll(); + tryInitDBData(); + } + + private void tryInitDBData() { + String csvPath = String.format("db/%s.csv", tableName); + if (ZCSVUtils.isResourceExist(csvPath)) { + var list = ZCSVUtils.readCSVFromResource(String.format("db/%s.csv", tableName), tClass); + addAll(list); + } + } + +} diff --git a/src/main/java/com/iflytop/sgs/hardware/utils/ZSqliteJdbcHelper.java b/src/main/java/com/iflytop/sgs/hardware/utils/ZSqliteJdbcHelper.java new file mode 100644 index 0000000..32322e1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/hardware/utils/ZSqliteJdbcHelper.java @@ -0,0 +1,284 @@ +package com.iflytop.sgs.hardware.utils; + +import com.fasterxml.jackson.annotation.JsonAutoDetect; +import com.fasterxml.jackson.annotation.PropertyAccessor; +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.databind.node.ObjectNode; +import org.slf4j.Logger; +import org.springframework.jdbc.core.JdbcTemplate; + +import java.lang.reflect.InvocationTargetException; +import java.lang.reflect.Method; +import java.lang.reflect.ParameterizedType; +import java.lang.reflect.Type; +import java.sql.ResultSet; +import java.sql.SQLException; +import java.util.ArrayList; +import java.util.Date; +import java.util.List; + +public class ZSqliteJdbcHelper { + static Logger logger = org.slf4j.LoggerFactory.getLogger(ZSqliteJdbcHelper.class); + + static public boolean isTableExist(JdbcTemplate jdbcTemplate, String tableName) { + String sql = "select * from sqlite_master where type = 'table' and name = '" + tableName + "';"; + List result = jdbcTemplate.query(sql, (ResultSet rs, int rowNum) -> { + return rs.toString(); + }); + return !result.isEmpty(); + } + + static public void deleteTable(JdbcTemplate jdbcTemplate, String tableName) { + String sql = "drop table " + tableName + ";"; + jdbcTemplate.execute(sql); + } + + static public void forceDeleteTable(JdbcTemplate jdbcTemplate, String tableName) { + if (isTableExist(jdbcTemplate, tableName)) { + deleteTable(jdbcTemplate, tableName); + } + } + + static public void createTable(JdbcTemplate jdbcTemplate, String tableName, Class tClass) { + StringBuilder sql = new StringBuilder("create table " + tableName + " ("); + Boolean hasId = false; + for (java.lang.reflect.Field field : tClass.getDeclaredFields()) { + if (field.getName().equals("id")) { + hasId = true; + } + sql.append(" '").append(field.getName()).append("' "); + if (field.getType().equals(Integer.class) || field.getType().equals(int.class)) { + sql.append("integer,"); + } else if (field.getType().equals(Double.class) || field.getType().equals(Float.class)) { + sql.append("real,"); + } else if (field.getType().equals(Boolean.class)) { + sql.append("integer,"); + } else if (field.getType().equals(String.class)) { + sql.append("text,"); + } else if (field.getType().equals(Date.class)) { + sql.append("text,"); + } else if (field.getType().isEnum()) { + sql.append("text,"); + } else { + sql.append("text,"); + } + } + if (!hasId) { + throw new RuntimeException("id field not found in class " + tClass.getName()); + } + + sql.append(" PRIMARY KEY ('id' DESC));"); + jdbcTemplate.execute(sql.toString()); + } + + //从数据库中读取数据 + static public Object rowMapper(ResultSet rs, Class tClass) throws SQLException, InstantiationException, IllegalAccessException { + Object obj = tClass.newInstance(); + for (java.lang.reflect.Field field : tClass.getDeclaredFields()) { + + if (!field.getName().equals("id") && rs.getObject(field.getName()) == null) { + field.set(obj, null); + continue; + } + + if (field.getType().equals(Integer.class)) { + + field.set(obj, rs.getInt(field.getName())); + } else if (field.getType().equals(int.class)) { + field.set(obj, rs.getInt(field.getName())); + } else if (field.getType().equals(Float.class)) { + field.set(obj, rs.getFloat(field.getName())); + } else if (field.getType().equals(Double.class)) { + field.set(obj, rs.getDouble(field.getName())); + } else if (field.getType().equals(Boolean.class)) { + field.set(obj, rs.getBoolean(field.getName())); + } else if (field.getType().equals(String.class)) { + field.set(obj, rs.getString(field.getName())); + } else if (field.getType().equals(Date.class)) { + if (rs.getString(field.getName()) == null || rs.getString(field.getName()).isEmpty()) + field.set(obj, null); + else + field.set(obj, new Date(rs.getLong(field.getName()))); + } else if (field.getType().equals(ObjectNode.class)) { + ObjectMapper objectMapper = new ObjectMapper(); + try { + String val = rs.getString(field.getName()); + if (val != null && !val.isEmpty()) { + // logger.info("val: {}", val); + field.set(obj, objectMapper.readTree(val)); + } else { + field.set(obj, null); + } + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + } else if (field.getType().isEnum()) { + Method methodValueOf = null; + try { + methodValueOf = field.getType().getMethod("valueOf", String.class); + if (rs.getString(field.getName()) == null || rs.getString(field.getName()).isEmpty()) + field.set(obj, null); + else { + field.set(obj, methodValueOf.invoke(null, rs.getString(field.getName()))); + } + } catch (NoSuchMethodException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } else { + try { + ObjectMapper objectMapper = new ObjectMapper(); + String json = rs.getString(field.getName()); + if (json == null || json.isEmpty()) { + field.set(obj, null); + } else { + + if (field.getType().equals(List.class)) { + Type type = field.getGenericType(); + if (type instanceof ParameterizedType parameterizedType) { + Type[] actualTypeArguments = parameterizedType.getActualTypeArguments(); + if (actualTypeArguments.length == 1) { + Class clazz = (Class) actualTypeArguments[0]; + field.set(obj, objectMapper.readValue(json, objectMapper.getTypeFactory().constructCollectionType(List.class, clazz))); + } + } + } else { + field.set(obj, objectMapper.readValue(json, field.getType())); + } + + + } + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + } + } + return obj; + } + + //存储数据到数据库 + static public List buildArgs(Class tClass, Object obj) { + // Object[] args = new Object[filedCount]; + List args = new ArrayList<>(); + for (java.lang.reflect.Field field : tClass.getDeclaredFields()) { + try { + if (field.getName().equals("id")) + continue; + + if (field.get(obj) == null) { + args.add(null); + continue; + } + + field.setAccessible(true); + if (field.getType().equals(Integer.class) || field.getType().equals(int.class)) { + // args[i] = field.getInt(obj); + args.add(field.get(obj)); + } else if (field.getType().equals(Double.class) || field.getType().equals(Float.class)) { + // args.add( field.getDouble(obj)); + args.add(field.get(obj)); + } else if (field.getType().equals(Boolean.class)) { + Boolean value = (Boolean) field.get(obj); + args.add(value ? 1 : 0); + } else if (field.getType().equals(String.class)) { + args.add(field.get(obj)); + } else if (field.getType().equals(Date.class)) { + Date date = (Date) field.get(obj); + // 按照 yyyy-MM-dd HH:mm:ss 存储 + // SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss"); + if (date == null) + args.add(""); + else + args.add(date.getTime()); + } else if (field.getType().isEnum()) { + args.add(field.get(obj).toString()); + } else if (field.getType().equals(ObjectNode.class)) { + ObjectMapper objectMapper = new ObjectMapper(); + objectMapper.setVisibility(PropertyAccessor.FIELD, JsonAutoDetect.Visibility.ANY); + objectMapper.setVisibility(PropertyAccessor.GETTER, JsonAutoDetect.Visibility.NONE); + objectMapper.setVisibility(PropertyAccessor.SETTER, JsonAutoDetect.Visibility.NONE); + args.add(objectMapper.writeValueAsString(field.get(obj))); + } else { + ObjectMapper objectMapper = new ObjectMapper(); + objectMapper.setVisibility(PropertyAccessor.FIELD, JsonAutoDetect.Visibility.ANY); + objectMapper.setVisibility(PropertyAccessor.GETTER, JsonAutoDetect.Visibility.NONE); + objectMapper.setVisibility(PropertyAccessor.SETTER, JsonAutoDetect.Visibility.NONE); + args.add(objectMapper.writeValueAsString(field.get(obj))); + } + } catch (IllegalAccessException | JsonProcessingException e) { + logger.error("", e); + args.add(null); + } + } + return args; + } + + public static void delete(JdbcTemplate jdbcTemplate, String tableName, int id) { + jdbcTemplate.update("delete from " + tableName + " where id = ?", id); + } + + public static void addObj(JdbcTemplate jdbcTemplate, String tableName, Class tClass, Object obj) { + StringBuilder sql = new StringBuilder("insert into " + tableName + "("); + StringBuilder values = new StringBuilder(" values("); + + int idval = 0; + + for (java.lang.reflect.Field field : tClass.getDeclaredFields()) { + if (field.getName().equals("id")) { + if (field.getType().equals(Integer.class) || field.getType().equals(int.class)) { + field.setAccessible(true); + try { + idval = field.getInt(obj); + } catch (IllegalAccessException e) { + throw new RuntimeException(e); + } + } + continue; + } + sql.append(field.getName()).append(","); + values.append("?,"); + } + if (idval != 0) { + sql.append("id,"); + values.append("?,"); + } + + sql.deleteCharAt(sql.length() - 1).append(")"); + values.deleteCharAt(values.length() - 1).append(")"); + sql.append(values); + + var args = buildArgs(tClass, obj); + if (idval != 0) + args.add(idval); + + jdbcTemplate.update(sql.toString(), args.toArray()); + } + + public static void updateObj(JdbcTemplate jdbcTemplate, String tableName, Class tClass, Object obj) { + StringBuilder sql = new StringBuilder("update " + tableName + " set "); + int id = 0; + + for (java.lang.reflect.Field field : tClass.getDeclaredFields()) { + if (field.getName().equals("id")) { + field.setAccessible(true); + try { + id = field.getInt(obj); + } catch (IllegalAccessException e) { + throw new RuntimeException(e); + } + continue; + } + sql.append(field.getName()).append(" = ?,"); + } + sql.deleteCharAt(sql.length() - 1).append(" where id = ?"); + List args = buildArgs(tClass, obj); + args.add(id); + + // System.out.println(sql); + // System.out.println(args); + + jdbcTemplate.update(sql.toString(), args.toArray()); + } + + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/monitor/collect/d.txt b/src/main/java/com/iflytop/sgs/monitor/collect/d.txt new file mode 100644 index 0000000..758a991 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/monitor/collect/d.txt @@ -0,0 +1 @@ +采集器 \ No newline at end of file diff --git a/src/main/java/com/iflytop/sgs/monitor/controller/CraftsMonitorController.java b/src/main/java/com/iflytop/sgs/monitor/controller/CraftsMonitorController.java new file mode 100644 index 0000000..841338e --- /dev/null +++ b/src/main/java/com/iflytop/sgs/monitor/controller/CraftsMonitorController.java @@ -0,0 +1,46 @@ +package com.iflytop.sgs.monitor.controller; + +import com.iflytop.sgs.app.model.vo.CraftStatusVO; +import com.iflytop.sgs.app.service.CraftsService; +import com.iflytop.sgs.common.result.Result; +import com.iflytop.sgs.common.result.ResultCode; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import jakarta.validation.constraints.NotNull; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PathVariable; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import java.util.List; + +@Tag(name = "工艺监控") +@RestController +@RequestMapping("/api/monitor/crafts") +@RequiredArgsConstructor +@Slf4j +@Validated +public class CraftsMonitorController { + private final CraftsService craftsService; + + @Operation(summary = "获取某个加热区工艺状态") + @GetMapping("/status/{heatId}") + public Result getStatus( + @NotNull @PathVariable String heatId) { + CraftStatusVO vo = craftsService.getStatus(heatId); + if (vo == null) { + return Result.failed(ResultCode.NOT_FOUND, "未找到执行任务"); + } + return Result.success(vo); + } + + @Operation(summary = "获取所有加热区工艺状态列表") + @GetMapping("/status") + public Result> getAllStatuses() { + List list = craftsService.getAllStatuses(); + return Result.success(list); + } +} diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml new file mode 100644 index 0000000..fd90bfd --- /dev/null +++ b/src/main/resources/application-dev.yml @@ -0,0 +1,51 @@ +server: + servlet: + context-path: / + port: 8080 + +spring: + application: + name: separate_gold_service + datasource: + url: jdbc:sqlite:db/app.db + driver-class-name: org.sqlite.JDBC + sql: + init: + #always embedded never + mode: always + schema-locations: classpath:/sql/init.sql + +mybatis-plus: + configuration: + # 开启 SQL 日志输出（可选） + log-impl: org.apache.ibatis.logging.stdout.StdOutImpl + # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations： + mapper-locations: classpath*:mapper/*.xml + +#开启 SQL 打印，调试时方便查看 +logging: + level: + root: INFO + org.mybatis: DEBUG + +springdoc: + default-flat-param-object: true + +command_bus: + +device.enableCanBus: true + +iflytophald: + ip: 192.168.8.168 + cmdch.port: 19004 + datach.port: 19005 + +#window config +#modbus: +# port: COM18 +# baudrate: 9600 + +#工控机 config +modbus: + port: ttyS1 + baudrate: 9600 diff --git a/src/main/resources/application-test.yml b/src/main/resources/application-test.yml new file mode 100644 index 0000000..3a960f9 --- /dev/null +++ b/src/main/resources/application-test.yml @@ -0,0 +1,41 @@ +server: + servlet: + context-path: / + port: 8080 + +spring: + application: + name: separate_gold_service + datasource: + url: jdbc:sqlite:db/app.db + driver-class-name: org.sqlite.JDBC + sql: + init: + #always embedded never + mode: always + schema-locations: classpath:/sql/init.sql + +mybatis-plus: + configuration: + # 开启 SQL 日志输出（可选） + log-impl: org.apache.ibatis.logging.stdout.StdOutImpl + # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations： + mapper-locations: classpath*:mapper/*.xml + +#开启 SQL 打印，调试时方便查看 +logging: + level: + root: INFO + org.mybatis: DEBUG + +springdoc: + default-flat-param-object: true + +command_bus: + +device.enableCanBus: true + +iflytophald: + ip: 192.168.8.168 + cmdch.port: 19004 + datach.port: 19005 \ No newline at end of file diff --git a/src/main/resources/application.properties b/src/main/resources/application.properties deleted file mode 100644 index 7c883f8..0000000 --- a/src/main/resources/application.properties +++ /dev/null @@ -1 +0,0 @@ -spring.application.name=separate-gold-service diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml new file mode 100644 index 0000000..caf4dfc --- /dev/null +++ b/src/main/resources/application.yml @@ -0,0 +1,3 @@ +spring: + profiles: + active: dev \ No newline at end of file diff --git a/src/main/resources/init/zapp_sub_module_reg_initial_value.csv b/src/main/resources/init/zapp_sub_module_reg_initial_value.csv new file mode 100644 index 0000000..dd53432 --- /dev/null +++ b/src/main/resources/init/zapp_sub_module_reg_initial_value.csv @@ -0,0 +1,691 @@ +id,mid,regIndex,regInitVal +1,HBotClawSV,kreg_mini_servo_limit_velocity,10000 +2,HBotClawSV,kreg_mini_servo_limit_torque,300 +3,HBotClawSV,kreg_mini_servo_protective_torque,800 +4,HBotClawSV,kreg_mini_servo_target_pos_tolerance,15 +5,HBotClawSV,kreg_mini_servo_servo_min_angle,0 +6,HBotClawSV,kreg_mini_servo_servo_max_angle,4095 +7,HBotClawSV,kreg_mini_servo_servo_max_temp,70 +8,HBotClawSV,kreg_mini_servo_servo_max_voltage,254 +9,HBotClawSV,kreg_mini_servo_servo_min_voltage,90 +10,HBotClawSV,kreg_mini_servo_servo_max_torque,1000 +11,HBotClawSV,kreg_mini_servo_servo_unload_condition,44 +12,HBotClawSV,kreg_mini_servo_servo_protect_current,500 +13,HBotClawSV,kreg_mini_servo_servo_protect_torque,40 +14,HBotClawSV,kreg_mini_servo_servo_protect_time,200 +15,HBotClawSV,kreg_mini_servo_servo_overload_torque,40 +16,HBotClawSV,kreg_mini_servo_servo_acc,0 +17,DualRobotAxis1SV,kreg_mini_servo_limit_velocity,10000 +18,DualRobotAxis1SV,kreg_mini_servo_limit_torque,300 +19,DualRobotAxis1SV,kreg_mini_servo_protective_torque,800 +20,DualRobotAxis1SV,kreg_mini_servo_target_pos_tolerance,15 +21,DualRobotAxis1SV,kreg_mini_servo_servo_min_angle,0 +22,DualRobotAxis1SV,kreg_mini_servo_servo_max_angle,4095 +23,DualRobotAxis1SV,kreg_mini_servo_servo_max_temp,70 +24,DualRobotAxis1SV,kreg_mini_servo_servo_max_voltage,254 +25,DualRobotAxis1SV,kreg_mini_servo_servo_min_voltage,90 +26,DualRobotAxis1SV,kreg_mini_servo_servo_max_torque,1000 +27,DualRobotAxis1SV,kreg_mini_servo_servo_unload_condition,44 +28,DualRobotAxis1SV,kreg_mini_servo_servo_protect_current,500 +29,DualRobotAxis1SV,kreg_mini_servo_servo_protect_torque,20 +30,DualRobotAxis1SV,kreg_mini_servo_servo_protect_time,200 +31,DualRobotAxis1SV,kreg_mini_servo_servo_overload_torque,80 +32,DualRobotAxis1SV,kreg_mini_servo_servo_acc,0 +33,DualRobotAxis2SV,kreg_mini_servo_limit_velocity,10000 +34,DualRobotAxis2SV,kreg_mini_servo_limit_torque,300 +35,DualRobotAxis2SV,kreg_mini_servo_protective_torque,800 +36,DualRobotAxis2SV,kreg_mini_servo_target_pos_tolerance,15 +37,DualRobotAxis2SV,kreg_mini_servo_servo_min_angle,0 +38,DualRobotAxis2SV,kreg_mini_servo_servo_max_angle,4095 +39,DualRobotAxis2SV,kreg_mini_servo_servo_max_temp,70 +40,DualRobotAxis2SV,kreg_mini_servo_servo_max_voltage,254 +41,DualRobotAxis2SV,kreg_mini_servo_servo_min_voltage,90 +42,DualRobotAxis2SV,kreg_mini_servo_servo_max_torque,1000 +43,DualRobotAxis2SV,kreg_mini_servo_servo_unload_condition,44 +44,DualRobotAxis2SV,kreg_mini_servo_servo_protect_current,500 +45,DualRobotAxis2SV,kreg_mini_servo_servo_protect_torque,30 +46,DualRobotAxis2SV,kreg_mini_servo_servo_protect_time,200 +47,DualRobotAxis2SV,kreg_mini_servo_servo_overload_torque,80 +48,DualRobotAxis2SV,kreg_mini_servo_servo_acc,0 +50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,411 +51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,1062 +52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,627 +53,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d1,621 +54,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d0,851 +55,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d1,848 +56,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d0,1079 +57,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d1,1118 +58,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d0,1442 +59,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d1,1609 +60,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d0,881 +61,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d1,548 +62,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d0,1013 +63,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d1,770 +64,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d0,1186 +65,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d1,1030 +66,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d0,1479 +67,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d1,1466 +68,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d0,1170 +69,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d1,543 +70,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d0,1236 +71,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d1,776 +72,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d0,1376 +73,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d1,1046 +74,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d0,1643 +75,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d1,1473 +76,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d0,1485 +77,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d1,626 +78,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d0,1490 +79,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d1,845 +80,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d0,1600 +81,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d1,1127 +82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,1956 +83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,1731 +84,DoorM,kreg_step_motor_shaft,0 +85,DoorM,kreg_step_motor_one_circle_pulse,7200 +86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1 +87,DoorM,kreg_step_motor_default_velocity,30 +88,DoorM,kreg_step_motor_low_velocity,30 +89,DoorM,kreg_step_motor_mid_velocity,30 +90,DoorM,kreg_step_motor_high_velocity,30 +91,DoorM,kreg_step_motor_ihold,1 +92,DoorM,kreg_step_motor_irun,31 +93,DoorM,kreg_step_motor_iholddelay,10 +94,DoorM,kreg_step_motor_iglobalscaler,72 +95,DoorM,kreg_step_motor_mres,0 +96,DoorM,kreg_step_motor_run_to_zero_speed,10 +97,DoorM,kreg_step_motor_look_zero_edge_speed,30 +98,DoorM,kreg_step_motor_max_d,0 +99,DoorM,kreg_step_motor_min_d,0 +100,DoorM,kreg_step_motor_in_debug_mode,0 +101,DoorM,kreg_step_motor_vstart,10 +102,DoorM,kreg_step_motor_a1,1 +103,DoorM,kreg_step_motor_amax,2 +104,DoorM,kreg_step_motor_v1,5 +105,DoorM,kreg_step_motor_dmax,2 +106,DoorM,kreg_step_motor_d1,1 +107,DoorM,kreg_step_motor_vstop,10 +108,DoorM,kreg_step_motor_tzerowait,0 +109,DoorM,kreg_step_motor_enc_resolution,0 +110,DoorM,kreg_step_motor_enable_enc,0 +111,DoorM,kreg_step_motor_dzero_pos,0 +112,DoorM,kret_step_motor_pos_devi_tolerance,0 +113,DoorM,kret_step_motor_io_trigger_append_distance,0 +114,ShakeM,kreg_step_motor_shaft,1 +115,ShakeM,kreg_step_motor_one_circle_pulse,100 +116,ShakeM,kreg_step_motor_one_circle_pulse_denominator,1 +117,ShakeM,kreg_step_motor_default_velocity,250 +118,ShakeM,kreg_step_motor_low_velocity,0 +119,ShakeM,kreg_step_motor_mid_velocity,0 +120,ShakeM,kreg_step_motor_high_velocity,0 +121,ShakeM,kreg_step_motor_ihold,6 +122,ShakeM,kreg_step_motor_irun,8 +123,ShakeM,kreg_step_motor_iholddelay,10 +124,ShakeM,kreg_step_motor_iglobalscaler,0 +125,ShakeM,kreg_step_motor_mres,0 +126,ShakeM,kreg_step_motor_run_to_zero_speed,10 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0000000..0e6c853 --- /dev/null +++ b/src/main/resources/logback.xml @@ -0,0 +1,58 @@ + + + + + + + + + + ${LOG_PATTERN} + + + + + + ${LOG_PATH}/sys-info.log + + ${LOG_PATH}/history/info/sys-info.%d{yyyy-MM-dd}.%i.log.zip + 20MB + 7 + 200MB + + + ${LOG_PATTERN} + + + INFO + + + + + + ${LOG_PATH}/sys-error.log + + ${LOG_PATH}/history/error/sys-error.%d{yyyy-MM-dd}.%i.log.zip + 20MB + 7 + 200MB + + + ${LOG_PATTERN} + + + ERROR + + + + + + + + + + + + + + diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql new file mode 100644 index 0000000..1b168a7 --- /dev/null +++ b/src/main/resources/sql/init.sql @@ -0,0 +1,164 @@ +-- 用户 表 +CREATE TABLE IF NOT EXISTS user +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + username TEXT UNIQUE, + nickname TEXT, + password TEXT, + role TEXT, + fixed_user TEXT, + deleted TEXT, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +INSERT OR IGNORE INTO user (username, nickname, password, role, fixed_user, deleted) +VALUES ('admin', 'Admin', '123456', 'ADMIN', 'ENABLE', 'DISABLE'), + ('test', 'test', '123456', 'ADMIN', 'ENABLE', 'DISABLE'); + + +-- ores 矿石 表 +CREATE TABLE IF NOT EXISTS ores +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name VARCHAR NOT NULL, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + + +-- crafts 工艺 表 +CREATE TABLE IF NOT EXISTS crafts +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name VARCHAR NOT NULL, + steps TEXT, + ores_id INTEGER, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + + +-- container 容器 表 +CREATE TABLE IF NOT EXISTS container +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + type INTEGER, + code TEXT, + solution_id INTEGER, + pump_id TEXT, + capacity_total INTEGER, + capacity_used INTEGER, + filled REAL, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, capacity_total, capacity_used) +VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 5000, 0), + (2, 0, 'container_02', 2, 'acid_pump_02', 5000, 2500), + (3, 0, 'container_03', 3, 'acid_pump_03', 5000, 2600), + (4, 0, 'container_04', 4, 'acid_pump_04', 5000, 4000), + (5, 0, 'container_05', 5, 'acid_pump_05', 5000, 2400), + (6, 0, 'container_06', 6, 'acid_pump_06', 5000, 4500), + (7, 0, 'container_07', 7, 'acid_pump_07', 5000, 4900), + (8, 0, 'container_08', 3, 'acid_pump_08', 5000, 100), + (9, 1, 'container_09', NULL, null, 5000, 0); + + +-- solutions 溶液 表 +CREATE TABLE IF NOT EXISTS solutions +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name VARCHAR NOT NULL, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +INSERT OR IGNORE INTO solutions (id, name, create_time, update_time) +VALUES (1, '硫酸', '2025-02-18 02:44:07', '2025-02-18 02:44:07'), + (2, '盐酸', '2025-02-18 02:44:07', '2025-02-18 02:44:07'), + (3, '硝酸', '2025-02-18 02:44:07', '2025-02-18 02:44:07'), + (4, '氢氟酸', '2025-02-18 02:46:23', '2025-02-18 02:46:23'), + (5, '过氧酸', '2025-02-18 02:46:35', '2025-02-18 02:46:35'), + (6, '磷酸', '2025-02-18 02:46:43', '2025-02-18 02:46:43'), + (7, '纯水', '2025-02-18 02:46:50', '2025-02-18 02:46:50'); + +-- 设备配置 表 +CREATE TABLE IF NOT EXISTS device_config +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + device TEXT, + regIndex TEXT, + valueType TEXT, + value TEXT, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +-- 设备位置 表 +CREATE TABLE IF NOT EXISTS device_position +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name TEXT, + code TEXT, + type TEXT, + position TEXT, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +-- 系统配置 表 +CREATE TABLE IF NOT EXISTS system_config +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + key TEXT NOT NULL UNIQUE, + value TEXT, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +-- 系统日志 表 +CREATE TABLE IF NOT EXISTS system_log +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + title TEXT NOT NULL, + content TEXT NOT NULL, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +-- 实验 表 +CREATE TABLE IF NOT EXISTS tasks +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name VARCHAR NOT NULL, + start_time TIMESTAMP, + end_time TIMESTAMP, + status INTEGER, + create_user INTEGER, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP, + is_deleted INTEGER +); + +-- 实验步骤记录 表 +CREATE TABLE IF NOT EXISTS task_steps +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + task_id INTEGER, + step_description TEXT, + create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP +); + +-- 设备参数 表 +CREATE TABLE IF NOT EXISTS device_param_config +( + id INTEGER PRIMARY KEY AUTOINCREMENT, + mid 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