1

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

@@ -36,7 +36,7 @@ public class UfModbusRTUOverTCP extends UfConnectionBase {
     }
 
     @Override
-    public String execute(UfMdbActuatorCmd command) {
+    synchronized public String execute(UfMdbActuatorCmd command) {
         return "";
     }
 

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

@@ -1,6 +1,7 @@
 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.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.util.TsByteBuffer;
 import com.iflytop.digester.underframework.util.UfClassHelper;
 import org.java_websocket.client.WebSocketClient;
@@ -19,13 +20,17 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
     // client
     private WebSocketClient client;
     // packet index
-    private int packetIndex = 0;
+    private int packetIndexCounter = 0;
+    // current packet index
+    private int currentPacketIndex = 0;
     // call lock
     private final Object callLock = new Object();
     // response
     private ByteBuffer response;
     // response error
     private String responseError;
+    // timeout timer
+    private Timer timeoutTimer;
 
     @Override
     public void connect() {
@@ -70,6 +75,8 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
             returnValue = (String) UfClassHelper.invokeMethod(this, methodName, List.of(command));
         } catch (NoSuchMethodException e) {
             returnValue = this.executeDeviceCommand(command);
+        } catch (Exception e) {
+            throw new RuntimeException(e);
         }
 
         if ( 1 == command.waitForFinish ) {
@@ -80,18 +87,32 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
 
     // execute device command
     private String executeDeviceCommand( UfMdbActuatorCmd actuatorCmd ) {
-        this.response = null;
-        this.responseError = null;
-        this.sendCommandRequest(actuatorCmd);
-
-        synchronized (this.callLock) {
-            try {
-                this.callLock.wait();
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
+        // 超时重试3次
+        for ( int i=0; i<3; i++ ) {
+            this.response = null;
+            this.responseError = null;
+            // 启动超时定时器
+            this.startTimeoutTimer();
+            // 发送数据
+            this.sendCommandRequest(actuatorCmd);
+            // 等待数据响应或超时
+            synchronized (this.callLock) {
+                try {
+                    this.callLock.wait();
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+            if ( null != this.response ) {
+                break ;
             }
         }
 
+        if ( null == this.response ) {
+            var actuator = UfActiveRecord.findOne(TsMdbActuator.class, actuatorCmd.actuatorId);
+            throw new RuntimeException(String.format("设备 [%s] 响应超时: %s", actuator.name, actuatorCmd.cmdKey));
+        }
+
         if ( null != this.responseError ) {
             throw new RuntimeException(this.responseError);
         }
@@ -112,6 +133,22 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         }
     }
 
+    // start timeout timer
+    private void startTimeoutTimer() {
+        var timerTask = new TimerTask() {
+            @Override
+            public void run() {
+                LOG.info("[Command-Executor] timeout");
+                UfZcancmderWebsocket.this.timeoutTimer = null;
+                synchronized (UfZcancmderWebsocket.this.callLock) {
+                    UfZcancmderWebsocket.this.callLock.notifyAll();
+                }
+            }
+        };
+        this.timeoutTimer = new Timer();
+        this.timeoutTimer.schedule(timerTask, 3000);
+    }
+
     // send command request
     private void sendCommandRequest(UfMdbActuatorCmd actuatorCmd) {
         String cmd = this.buildCommand(actuatorCmd);
@@ -150,7 +187,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * paramList.size(); // PacketIndex - MainCmdId - SubCmdId - CmdType - ModuleId - Parameters
         ByteBuffer buffer = ByteBuffer.allocate(bufferSize);
         buffer.order(ByteOrder.LITTLE_ENDIAN);
-        buffer.putShort((short) this.packetIndex); // PacketIndex
+        buffer.putShort((short) this.packetIndexCounter); // PacketIndex
         buffer.putShort((short) mainCmdId); // MainCmdId
         buffer.put((byte) subCmdId); // SubCmdId
         buffer.put((byte) 0); // CmdType
@@ -160,9 +197,10 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
             buffer.putInt(Integer.parseInt(param));
         }
 
-        this.packetIndex ++;
-        if ( this.packetIndex > 30000 ) {
-            this.packetIndex = 0;
+        this.currentPacketIndex = this.packetIndexCounter;
+        this.packetIndexCounter++;
+        if ( this.packetIndexCounter > 30000 ) {
+            this.packetIndexCounter = 0;
         }
 
         String cmd = TsByteBuffer.toHex(buffer);
@@ -174,6 +212,16 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
     private void handleOnTextMessage( String text ) {
         ByteBuffer message = TsByteBuffer.fromHex(text);
         message.order(ByteOrder.LITTLE_ENDIAN);
+        short packetIndex = message.getShort(0);
+        if ( packetIndex != this.currentPacketIndex ) {
+            return ; // 可能超时了, 所以忽略掉 ~~~
+        }
+
+        if ( null != this.timeoutTimer ) {
+            this.timeoutTimer.cancel();
+            this.timeoutTimer = null;
+        }
+
         byte messageType = message.get(5);
         if ( 0x01 == messageType ) { // ack message
             this.handleOnTextAckMessage(message);
@@ -229,4 +277,33 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
             }
         } while ( true );
     }
+
+    // cmd motor easy move to
+    public void cmdMotorEasyMoveTo(UfMdbActuatorCmd command) {
+        this.executeDeviceCommand(command);
+        this.waitForActuatorFinish(command);
+
+        var actuator = UfActiveRecord.findOne(TsMdbActuator.class, command.actuatorId);
+        var encoderAvailable = actuator.getProperty("encoderAvailable");
+        if ( null == encoderAvailable || !encoderAvailable.asBoolean() ) {
+            return ;
+        }
+
+        var destValue = Integer.parseInt(command.parameters);
+        var encoderValue = this.getActuatorEncoderValue(command);
+        if ( Math.abs(encoderValue - destValue) > 10 ) {
+            throw new RuntimeException(String.format("电机 [%s] 移动失败，目标位置：%d，当前位置：%d", actuator.name, destValue, encoderValue));
+        }
+    }
+
+    // cmd motor read enc val
+    private Integer getActuatorEncoderValue(UfMdbActuatorCmd srcCmd) {
+        var command = new UfMdbActuatorCmd();
+        command.actuatorId = srcCmd.actuatorId;
+        command.cmdId = "0219";
+        command.cmdKey = "motor_read_enc_val";
+        command.cmdFlags = srcCmd.cmdFlags;
+        String value = this.executeDeviceCommand(command);
+        return Integer.parseInt(value);
+    }
 }

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

@@ -1,4 +1,8 @@
 package com.iflytop.digester.underframework.dao.model;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.JsonNode;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.iflytop.digester.deviceinstance.HeatingTurntableSlotTube;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
 /*
@@ -14,8 +18,23 @@ public class TsMdbActuator extends UfActiveRecord {
     @UfActiveRecordField
     public String name;
 
+    @UfActiveRecordField
+    public String properties = "{}";
+
     // get table name
     public static String getTableName() {
         return "app_actuators";
     }
+
+    // get property
+    public JsonNode getProperty(String key) {
+        ObjectMapper jsonMapper = new ObjectMapper();
+        JsonNode properties = null;
+        try {
+            properties = jsonMapper.readTree(this.properties);
+        } catch (JsonProcessingException e) {
+            throw new RuntimeException(e);
+        }
+        return properties.get(key);
+    }
 }

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

@@ -24,7 +24,7 @@ public class UfMdbActuatorCmd extends UfActiveRecord {
     public String fixedParameters;
 
     @UfActiveRecordField
-    public String parameters;
+    public String parameters = "";
 
     @UfActiveRecordField
     public Integer waitForFinish;

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

@@ -54,8 +54,10 @@ public class UfClassHelper {
             } else {
                 return method.invoke(obj, args.toArray());
             }
-        } catch (IllegalAccessException | InvocationTargetException e) {
+        } catch (IllegalAccessException e) {
             throw new RuntimeException(e);
+        } catch ( InvocationTargetException e ) {
+            throw new RuntimeException(e.getCause().getMessage());
         }
     }