~~~

pom.xml

@@ -7,7 +7,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.dreamworks</groupId>
   <artifactId>boditech</artifactId>
-  <version>0.0.12</version>
+  <version>0.0.13</version>
   <name>boditech</name>
   <description>boditech</description>
 

src/main/java/com/dreamworks/boditech/BoditechApplication.java

@@ -1,12 +1,8 @@
 package com.dreamworks.boditech;
-import com.dreamworks.boditech.driver.connection.ComWebsocketClient;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
 import org.springframework.context.annotation.Bean;
 import org.springframework.web.socket.server.standard.ServerEndpointExporter;
-import java.net.URI;
-import java.net.URISyntaxException;
 
 @SpringBootApplication
 public class BoditechApplication {

src/main/java/com/dreamworks/boditech/driver/Device.java

@@ -6,6 +6,7 @@ import com.dreamworks.boditech.driver.connection.ComWebsocket;
 import com.dreamworks.boditech.driver.connection.ComLisClient;
 import com.dreamworks.boditech.driver.consumable.*;
 import com.dreamworks.boditech.driver.entity.DeviceLogEntry;
+import com.dreamworks.boditech.entity.WebsocketServerMessageErrorEvent;
 import com.dreamworks.boditech.mapper.DeviceLogMapper;
 import com.dreamworks.boditech.service.*;
 import com.dreamworks.boditech.utils.MyByteBuffer;
@@ -44,6 +45,8 @@ public class Device {
     public TestService testService;
     @Resource
     public ComLisClient lis;
+    @Resource
+    public WebsocketServerService websocketServerService;
 
     // consumable : test cards
     public final CsmTestCardManager testCards = new CsmTestCardManager(this);
@@ -177,4 +180,10 @@ public class Device {
         entry.createdAt = now.format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"));
         this.deviceLogMapper.insert(entry);
     }
+
+    public void errorAlert(String code) {
+        WebsocketServerMessageErrorEvent event = new WebsocketServerMessageErrorEvent();
+        event.code = code;
+        this.websocketServerService.send(event);
+    }
 }

src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorBase.java

@@ -2,6 +2,7 @@ package com.dreamworks.boditech.driver.actuator;
 import com.dreamworks.boditech.driver.DeviceCommand;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.service.RuntimeVariableService;
+import com.dreamworks.boditech.utils.MyCommon;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -42,16 +43,13 @@ public class ActuatorBase implements Actuator {
     protected void waitForFinish() {
         Integer status = ActuatorModule.MODULE_STATUS_BUSY;
         do {
-            ByteBuffer response = this.call(DeviceCommand.CMD_MODULE_GET_STATUS);
-            if ( null == response ) {
-                continue ;
-            }
-            status = this.getIntegerFromResponse(response, 0);
             try {
-                Thread.sleep(100);
-            } catch (InterruptedException e) {
-                e.printStackTrace();
+                ByteBuffer response = this.call(DeviceCommand.CMD_MODULE_GET_STATUS);
+                status = this.getIntegerFromResponse(response, 0);
+            } catch ( RuntimeException e ) {
+                continue;
             }
+            MyCommon.easySleep(100);
         } while (!Objects.equals(status, ActuatorModule.MODULE_STATUS_IDLE));
     }
 

src/main/java/com/dreamworks/boditech/driver/connection/ComWebsocketClient.java

@@ -44,6 +44,7 @@ public class ComWebsocketClient extends WebSocketClient {
                     if ( requestItem.isResponseReceived ) {
                         return ;
                     }
+                    LOG.info("device -- timeout");
                     requestItem.response = null;
                     requestItem.errorCode = ClientRequest.ERROR_CODE_TIMEOUT;
                     requestItem.notify();
@@ -51,7 +52,7 @@ public class ComWebsocketClient extends WebSocketClient {
             }
         };
         Timer timer = new Timer();
-        timer.schedule(timerTask, 1000);
+        timer.schedule(timerTask, 3000);
 
         synchronized (requestItem) {
             String cmd = MyByteBuffer.toHex(request.parameter);

src/main/java/com/dreamworks/boditech/entity/WebsocketServerMessageErrorEvent.java

@@ -0,0 +1,6 @@
+package com.dreamworks.boditech.entity;
+public class WebsocketServerMessageErrorEvent {
+    public String type = "error";
+    public String code;
+    public String message;
+}

src/main/java/com/dreamworks/boditech/utils/MyWebsocketServer.java → src/main/java/com/dreamworks/boditech/service/WebsocketServerService.java

@@ -1,15 +1,15 @@
-package com.dreamworks.boditech.utils;
+package com.dreamworks.boditech.service;
 import jakarta.websocket.*;
 import jakarta.websocket.server.ServerEndpoint;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import org.springframework.stereotype.Component;
-
-@Component
+import org.springframework.stereotype.Service;
+@Service
 @ServerEndpoint("/ws")
-public class MyWebsocketServer {
-    private static final Logger LOG = LoggerFactory.getLogger(MyWebsocketServer.class);
+public class WebsocketServerService {
+    private static final Logger LOG = LoggerFactory.getLogger(WebsocketServerService.class);
 
+    // only one session is all we need
     private Session session;
 
     @OnOpen
@@ -32,4 +32,13 @@ public class MyWebsocketServer {
     public void onError(Session session, Throwable error) {
         LOG.info("ws server : on error");
     }
+
+    // send message to client
+    public void send(Object message) {
+        try {
+            this.session.getBasicRemote().sendObject(message);
+        } catch (Exception e) {
+            LOG.error("ws server : send error", e);
+        }
+    }
 }

src/main/java/com/dreamworks/boditech/utils/BoditechDeviceCmd.java

@@ -1,61 +0,0 @@
-package com.dreamworks.boditech.utils;
-public class BoditechDeviceCmd {
-    public static final short[] MODULE_PING = {1, 0};
-    public static final short[] MODULE_STOP = {1, 1};
-    public static final short[] MODULE_BREAK = {1, 2};
-    public static final short[] MODULE_GET_LAST_EXEC_STATUS = {1, 3};
-    public static final short[] MODULE_GET_STATUS = {1, 4};
-    public static final short[] MODULE_SET_REG = {1, 5};
-    public static final short[] MODULE_GET_REG = {1, 6};
-    public static final short[] MODULE_READIO = {1, 7};
-    public static final short[] MODULE_WRITEIO = {1, 8};
-    public static final short[] MODULE_READ_ADC = {1, 9};
-    public static final short[] MODULE_GET_ERROR = {1, 10};
-    public static final short[] MODULE_CLEAR_ERROR = {1, 11};
-    public static final short[] MODULE_SET_INITED_FLAG = {1, 12};
-    public static final short[] MODULE_GET_INITED_FLAG = {1, 13};
-    public static final short[] MODULE_FACTORY_RESET = {1, 14};
-    public static final short[] MODULE_FLUSH_CFG = {1, 15};
-    public static final short[] MODULE_ACTIVE_CFG = {1, 16};
-    public static final short[] MODULE_READ_RAW = {1, 19};
-    public static final short[] MODULE_ENABLE = {1, 20};
-    public static final short[] MODULE_START = {1, 21};
-
-    public static final short[] MOTOR_ENABLE = {2, 1};
-    public static final short[] MOTOR_ROTATE = {2, 2};
-    public static final short[] MOTOR_MOVE_BY = {2, 3};
-    public static final short[] MOTOR_MOVE_TO = {2, 4};
-    public static final short[] MOTOR_ROTATE_ACCTIME = {2, 5};
-    public static final short[] MOTOR_MOVE_BY_ACCTIME = {2, 6};
-    public static final short[] MOTOR_MOVE_TO_ACCTIME = {2, 7};
-    public static final short[] MOTOR_ROTATE_WITH_TORQUE = {2, 8};
-    public static final short[] MOTOR_MOVE_TO_ZERO_FORWARD = {2, 9};
-    public static final short[] MOTOR_MOVE_TO_ZERO_BACKWARD = {2, 10};
-    public static final short[] MOTOR_READ_POS = {2, 11};
-    public static final short[] MOTOR_SET_CURRENT_POS_BY_CHANGE_SHIFT = {2, 12};
-    public static final short[] MOTOR_MOVE_TO_ZERO_FORWARD_AND_CALCULATED_SHIFT = {2, 13};
-    public static final short[] MOTOR_MOVE_TO_ZERO_BACKWARD_AND_CALCULATED_SHIFT = {2, 14};
-    public static final short[] MOTOR_MOVE_TO_TORQUE = {2, 15};
-    public static final short[] MOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO = {2, 16};
-    public static final short[] MOTOR_EASY_ROTATE = {2, 17};
-    public static final short[] MOTOR_EASY_MOVE_BY = {2, 18};
-    public static final short[] MOTOR_EASY_MOVE_TO = {2, 19};
-    public static final short[] MOTOR_EASY_MOVE_TO_ZERO = {2, 20};
-    public static final short[] MOTOR_EASY_SET_CURRENT_POS = {2, 21};
-
-    public static final short[] XYMOTOR_ENABLE = {3, 1};
-    public static final short[] XYMOTOR_MOVE_BY = {3, 2};
-    public static final short[] XYMOTOR_MOVE_TO = {3, 3};
-    public static final short[] XYMOTOR_MOVE_TO_ZERO = {3, 4};
-    public static final short[] XYMOTOR_MOVE_TO_ZERO_AND_CALCULATED_SHIFT = {3, 5};
-    public static final short[] XYMOTOR_READ_POS = {3, 6};
-    public static final short[] XYMOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO = {3, 7};
-
-    public static final short[] CODE_SCANER_START_SCAN = {4, 1};
-    public static final short[] CODE_SCANER_STOP_SCAN = {4, 2};
-    public static final short[] CODE_SCANER_READ_SCANER_RESULT = {4, 3};
-
-    public static final short[] PIPETTE_CTRL_INIT_DEVICE = {5, 1};
-    public static final short[] PIPETTE_CTRL_PUT_TIP = {5, 2};
-    public static final short[] PIPETTE_CTRL_MOVE_TO_UL = {5, 3};
-}

src/main/resources/application-dev.yml

@@ -0,0 +1,17 @@
+spring:
+  datasource:
+    url: jdbc:mysql://localhost:3306/boditech
+    username : root
+    password: 123456
+    driver-class-name: com.mysql.cj.jdbc.Driver
+
+app:
+  device:
+    debug : true
+    connectionType : WebSocket # SerialPort, WebSocket
+    path : COM3
+    baudrate : 921600
+    wsuri : ws://192.168.8.10:19005
+
+  websocket:
+    port : 19006

src/main/resources/application-test.yml

@@ -0,0 +1,17 @@
+spring:
+  datasource:
+    url: jdbc:mysql://localhost:3306/boditech
+    username : root
+    password: o0SXPBiWbtIGXOb3lfpJ9sVcG8ELNcha
+    driver-class-name: com.mysql.cj.jdbc.Driver
+
+app:
+  device:
+    debug : true
+    connectionType : WebSocket # SerialPort, WebSocket
+    path : COM3
+    baudrate : 921600
+    wsuri : ws://192.168.8.10:19005
+
+  websocket:
+    port : 19006

src/main/resources/application.yml

@@ -1,14 +1,3 @@
 spring:
-  datasource:
-    url: jdbc:mysql://localhost:3306/boditech
-    username : root
-    password: 123456
-    driver-class-name: com.mysql.cj.jdbc.Driver
-
-app:
-  device:
-    debug : true
-    connectionType : WebSocket # SerialPort, WebSocket
-    path : COM3
-    baudrate : 921600
-    wsuri : ws://192.168.8.10:19005
+  profiles:
+    active: dev