1

src/main/java/com/iflytop/digester/underframework/UfActuatorCmdExecutor.java

@@ -1,7 +1,9 @@
 package com.iflytop.digester.underframework;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
 public class UfActuatorCmdExecutor {
-    public static void execute(UfMdbActuatorCmd cmd) {
-        // @TODO : 这里要判断使用那种通讯方式进行执行， 所以待定一下
+    // execute cmd
+    public static String execute(UfMdbActuatorCmd cmd) {
+        var con = UfApplication.getApp().connections.get(cmd.connectionKey);
+        return con.execute(cmd);
     }
 }

src/main/java/com/iflytop/digester/underframework/UfApplication.java

@@ -22,7 +22,7 @@ implements ApplicationContextAware, WebMvcConfigurer {
     private static UfApplication app = null;
 
     @Resource
-    private UfConnectionManager connections;
+    public UfConnectionManager connections;
 
     @Resource
     private Environment env;

src/main/java/com/iflytop/digester/underframework/connection/UfConnection.java

@@ -1,12 +1,14 @@
 package com.iflytop.digester.underframework.connection;
+import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
+
 import java.util.Map;
 public interface UfConnection {
     /**
      * execute command and return result
-     * @param command - command text, like "ls -l"
+     * @param command - command mdele
      * @return result text
      */
-    String execute( String command );
+    String execute( UfMdbActuatorCmd command );
 
     /**
      * connect to target

src/main/java/com/iflytop/digester/underframework/connection/UfConnectionBase.java

@@ -8,6 +8,8 @@ abstract public class UfConnectionBase implements UfConnection {
     public static final Logger LOG = LoggerFactory.getLogger("UfConnection");
     // name
     public String name;
+    // key
+    public String key;
 
     @Override
     public void setProperties(Map<String, Object> properties) {

src/main/java/com/iflytop/digester/underframework/connection/UfConnectionManager.java

@@ -16,19 +16,24 @@ public class UfConnectionManager {
     @PostConstruct
     public void init() {
         this.connections = new HashMap<>();
-//        for ( var option : this.connectionOptionList.connections ) {
-//            String name = (String)option.get("name");
-//            String type = (String)option.get("type");
-//            String className = this.getClass().getPackageName() + ".Uf" + type;
-//            UfConnection con = (UfConnection)UfClassHelper.newInstance(className);
-//            con.setProperties(option);
-//            con.connect();
-//            this.connections.put(name, con);
-//        }
+        for ( var option : this.connectionOptionList.connections ) {
+            String key = (String)option.get("key");
+            String type = (String)option.get("type");
+            String className = this.getClass().getPackageName() + ".Uf" + type;
+            UfConnection con = (UfConnection)UfClassHelper.newInstance(className);
+            con.setProperties(option);
+            con.connect();
+            this.connections.put(key, con);
+        }
     }
 
     // get connection by name
-    public UfConnection get(String name) {
-        return this.connections.get(name);
+    public UfConnection get(String key) {
+        return this.connections.get(key);
+    }
+
+    // get all connections
+    public Map<String, UfConnection> getConnections() {
+        return this.connections;
     }
 }

src/main/java/com/iflytop/digester/underframework/connection/UfModbusRTUOverTCP.java

@@ -0,0 +1,172 @@
+package com.iflytop.digester.underframework.connection;
+import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
+
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.Socket;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+public class UfModbusRTUOverTCP extends UfConnectionBase {
+    // connection
+    private Socket socket;
+    // writer
+    private DataOutputStream writer;
+    // reader
+    private InputStream reader;
+    // busy
+    private Boolean isBusy = false;
+
+    // connections
+    private static final Map<String, UfModbusRTUOverTCP> connections = new HashMap<>();
+
+    // get connection
+    public static UfModbusRTUOverTCP getConnection(String host, Integer port) {
+        String key = host + ":" + port;
+        if ( connections.containsKey(key) ) {
+            return connections.get(key);
+        }
+
+        UfModbusRTUOverTCP con = new UfModbusRTUOverTCP();
+        con.connect(host, port);
+        connections.put(key, con);
+        return con;
+    }
+
+    @Override
+    public String execute(UfMdbActuatorCmd command) {
+        return "";
+    }
+
+    @Override
+    public void connect() {
+
+    }
+
+    // constructor
+    public UfModbusRTUOverTCP() {
+        this.isBusy = false;
+    }
+
+    // connect
+    public void connect( String host, Integer port ) {
+        try {
+            this.socket = new Socket(host, port);
+            this.writer = new DataOutputStream(this.socket.getOutputStream());
+            this.reader = this.socket.getInputStream();
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    // write holding register
+    public void writeHoldingRegister( Integer slaveId, Integer address, Integer value ) {
+        byte[] cmd = new byte[8];
+        cmd[0] = (byte)(slaveId & 0xFF); // slave id
+        cmd[1] = 0x06; // function code
+        cmd[2] = (byte)(address >> 8); // address high
+        cmd[3] = (byte)(address & 0xFF); // address low
+        cmd[4] = (byte)(value >> 8); // value high
+        cmd[5] = (byte)(value & 0xFF); // value low
+        this.call(cmd);
+    }
+
+    // read holding register
+    public Integer readHoldingRegister( Integer slaveId, Integer address ) {
+        byte[] cmd = new byte[8];
+        cmd[0] = (byte)(slaveId & 0xFF); // slave id
+        cmd[1] = 0x03; // function code
+        cmd[2] = (byte)(address >> 8); // address high
+        cmd[3] = (byte)(address & 0xFF); // address low
+        cmd[4] = 0x00; // value high
+        cmd[5] = 0x01; // value low
+        var response = this.call(cmd);
+        if (response.isEmpty()) {
+            throw new RuntimeException("Modbus RTU over TCP: no response");
+        }
+        return response.get(3) << 8 | response.get(4);
+    }
+
+    // call
+    private List<Integer> call(byte[] cmd) {
+        if ( this.isBusy ) {
+            synchronized ( this ) {
+                try {
+                    this.wait();
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        }
+
+        this.isBusy = true;
+        this.writeCmd(cmd);
+        List<Integer> response = this.readCmdResponse();
+        this.isBusy = false;
+        synchronized ( this ) {
+            this.notify();
+        }
+        return response;
+    }
+
+    // write command
+    private void writeCmd(byte[] cmd) {
+        var size = cmd.length;
+        var crc = this.calculateCRC(cmd, size - 2);
+        cmd[size-2] = (byte)(crc & 0xFF);
+        cmd[size-1] = (byte)(crc >> 8);
+
+        try {
+            this.writer.write(cmd);
+            this.writer.flush();
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+
+        try {
+            Thread.sleep(300);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    // read command response
+    private List<Integer> readCmdResponse ( ) {
+        try {
+            List<Integer> result = new ArrayList<>();
+            while ( 0 < this.reader.available() ) {
+                result.add(this.reader.read());
+            }
+            return result;
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    /**
+     * 计算输入数据的CRC16 (Modbus)
+     * @param data   要计算CRC的字节数组
+     * @param length 数组中需要计算的长度
+     * @return 计算出的CRC16值
+     */
+    public int calculateCRC(byte[] data, int length) {
+        int crc = 0xFFFF; // CRC的初始值
+
+        for (int pos = 0; pos < length; pos++) {
+            crc ^= data[pos] & 0xFF; // 将数据与CRC寄存器异或
+            for (int i = 8; i != 0; i--) { // 循环处理每个位
+                if ((crc & 0x0001) != 0) {
+                    crc >>= 1;
+                    crc ^= 0xA001; // 0xA001是预设的多项式
+                } else {
+                    crc >>= 1;
+                }
+            }
+        }
+
+        // 高低位不交换，直接返回
+        return crc & 0xFFFF;
+    }
+}

src/main/java/com/iflytop/digester/underframework/connection/UfZcancmderWebsocket.java

@@ -2,6 +2,7 @@ package com.iflytop.digester.underframework.connection;
 import com.iflytop.digester.underframework.dao.model.TsMdbActuator;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
 import com.iflytop.digester.underframework.util.TsByteBuffer;
+import com.iflytop.digester.underframework.util.UfClassHelper;
 import org.java_websocket.client.WebSocketClient;
 import org.java_websocket.handshake.ServerHandshake;
 import java.net.URI;
@@ -57,42 +58,28 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
     }
 
     @Override
-    public String execute(String command) {
-        return null;
+    synchronized public String execute(UfMdbActuatorCmd command) {
+        var parts = command.cmdKey.split("_");
+        for (int i = 0; i < parts.length; i++) {
+            parts[i] = parts[i].substring(0, 1).toUpperCase() + parts[i].substring(1);
         }
+        String methodName = "cmd" + String.join("", parts);
+        String returnValue = "";
 
-    // execute command
-    synchronized public void execute( UfMdbActuatorCmd actuatorCmd ) {
-        this.executeDeviceCommand(actuatorCmd);
-        if ( 1 == actuatorCmd.waitForFinish ) {
-            this.waitForActuatorFinish(actuatorCmd);
-        }
-    }
-
-    // wait for actuator finish
-    private void waitForActuatorFinish(UfMdbActuatorCmd actuatorCmd) {
-        do {
-            var waitCmd = new UfMdbActuatorCmd();
-            waitCmd.actuatorId = actuatorCmd.actuatorId;
-            waitCmd.cmdId = "0104";
-            waitCmd.cmdKey = "module_get_status";
-            waitCmd.parameters = "";
-            this.executeDeviceCommand(waitCmd);
-            int status = this.response.getInt(8);
-            if ( 0 == status ) {
-                break;
+        try {
+            returnValue = (String) UfClassHelper.invokeMethod(this, methodName, List.of(command));
+        } catch (NoSuchMethodException e) {
+            returnValue = this.executeDeviceCommand(command);
         }
 
-            try {
-                Thread.sleep(100);
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
+        if ( 1 == command.waitForFinish ) {
+            this.waitForActuatorFinish(command);
         }
-        } while ( true );
+        return returnValue;
     }
 
     // execute device command
-    private void executeDeviceCommand( UfMdbActuatorCmd actuatorCmd ) {
+    private String executeDeviceCommand( UfMdbActuatorCmd actuatorCmd ) {
         this.response = null;
         this.responseError = null;
         this.sendCommandRequest(actuatorCmd);
@@ -108,6 +95,21 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         if ( null != this.responseError ) {
             throw new RuntimeException(this.responseError);
         }
+
+        var responseLength = this.response.capacity();
+        if ( 8 == responseLength ) {
+            return "";
+        } else if ( 12 == responseLength ) {
+            int value = this.response.getInt(8);
+            return String.valueOf(value);
+        } else if ( 12 < responseLength ) {
+            byte[] bytes = new byte[this.response.limit() - 8];
+            this.response.position(8);
+            this.response.get(bytes);
+            return java.util.Base64.getEncoder().encodeToString(bytes);
+        } else {
+            throw new RuntimeException("unknown response length: " + this.response.limit());
+        }
     }
 
     // send command request
@@ -139,7 +141,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         }
 
         TsMdbActuator actuator = TsMdbActuator.findOne(TsMdbActuator.class, actuatorCmd.actuatorId);
-        int moduleId = 0; //actuator.aid;
+        int moduleId = Integer.parseInt(actuatorCmd.cmdFlags);
 
         int cmdId = Integer.parseInt(actuatorCmd.cmdId, 16);
         int subCmdId = cmdId & 0xFF;
@@ -199,14 +201,32 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
 
     // handle on data timeout for binary mode ack message
     private void handleOnTextAckMessage(ByteBuffer message) {
-        try {
-            Thread.sleep(1000);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
         this.response = message;
         synchronized (this.callLock) {
             this.callLock.notifyAll();
         }
     }
+
+    // wait for actuator finish
+    private void waitForActuatorFinish(UfMdbActuatorCmd actuatorCmd) {
+        do {
+            var waitCmd = new UfMdbActuatorCmd();
+            waitCmd.actuatorId = actuatorCmd.actuatorId;
+            waitCmd.cmdId = "0104";
+            waitCmd.cmdKey = "module_get_status";
+            waitCmd.cmdFlags = actuatorCmd.cmdFlags;
+            waitCmd.parameters = "";
+            String statusText = this.executeDeviceCommand(waitCmd);
+            int status = Integer.parseInt(statusText);
+            if ( 0 == status ) {
+                break;
+            }
+
+            try {
+                Thread.sleep(100);
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        } while ( true );
+    }
 }

src/main/java/com/iflytop/digester/underframework/dao/model/UfMdbActuatorCmd.java

@@ -6,6 +6,9 @@ public class UfMdbActuatorCmd extends UfActiveRecord {
     public String actuatorId;
 
     @UfActiveRecordField
+    public String connectionKey;
+
+    @UfActiveRecordField
     public String name;
 
     @UfActiveRecordField
@@ -15,6 +18,9 @@ public class UfMdbActuatorCmd extends UfActiveRecord {
     public String cmdKey;
 
     @UfActiveRecordField
+    public String cmdFlags;
+
+    @UfActiveRecordField
     public String fixedParameters;
 
     @UfActiveRecordField

src/main/java/com/iflytop/digester/underframework/util/UfClassHelper.java

@@ -20,6 +20,7 @@ public class UfClassHelper {
         }
     }
 
+    // new instance
     public static Object newInstance(String className) {
         try {
             return Class.forName(className).getDeclaredConstructor().newInstance();
@@ -28,6 +29,16 @@ public class UfClassHelper {
         }
     }
 
+    // check method exist
+    public static Boolean isMethodExist(Object obj, String methodName) {
+        try {
+            obj.getClass().getMethod(methodName);
+            return true;
+        } catch (NoSuchMethodException e) {
+            return false;
+        }
+    }
+
     // invoke method
     public static Object invokeMethod(Object obj, String methodName, List<Object> args) throws NoSuchMethodException {
         try {

src/main/java/com/iflytop/digester/underframework/web/api/TsApiActuatorCommand.java

@@ -1,4 +1,6 @@
 package com.iflytop.digester.underframework.web.api;
+import com.iflytop.digester.underframework.UfActuatorCmdExecutor;
+import com.iflytop.digester.underframework.UfApplication;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordCriteria;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
@@ -40,10 +42,17 @@ public class TsApiActuatorCommand extends UfApiControllerBase {
     @ResponseBody
     public UfApiResponse execute(@RequestBody UfMdbActuatorCmd actuatorCmd ) {
         try {
-//            UfApplication.getApp().commandExecutor.execute(actuatorCmd);
+            UfActuatorCmdExecutor.execute(actuatorCmd);
         } catch ( Exception e ) {
             return error(e.getMessage());
         }
         return success();
     }
+
+    @PostMapping("/api/actuator-cmd/connection-list")
+    @ResponseBody
+    public UfApiResponse connectionList() {
+        var connections = UfApplication.getApp().connections;
+        return success(connections.getConnections());
+    }
 }

src/main/resources/application.yml

@@ -12,8 +12,14 @@ device:
   snippet-execute-log-enable : false
   connections:
     - name : zcancmder
+      key : zcancmder
       type : ZcancmderWebsocket
       uri: ws://192.168.8.10:19005
+    - name : modbus
+      key : modbus
+      type : ModbusRTUOverTCP
+      host: 182.168.8.10
+      port: 502
 
 mqtt-broker:
   uri: tcp://broker.emqx.io:1883

web

@@ -1 +1 @@
-Subproject commit 6bacffe10495394dfa5cf3a793d2aa7a60ef164c
+Subproject commit 54eb4327c3a74e6aae926d4752b18439f62091f0