f

src/main/java/com/iflytop/uf/UfActuator.java

@@ -0,0 +1,6 @@
+package com.iflytop.uf;
+import com.iflytop.uf.model.UfMdbActuatorCmd;
+public interface UfActuator {
+    // execute
+    String execute( UfMdbActuatorCmd command );
+}

src/main/java/com/iflytop/uf/UfActuatorBase.java

@@ -0,0 +1,35 @@
+package com.iflytop.uf;
+import com.iflytop.uf.model.UfMdbActuatorCmd;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import java.util.HashMap;
+import java.util.Map;
+abstract public class UfActuatorBase implements UfActuator {
+    // method map
+    private final Map<String, Method> methodMap;
+
+    // constructor
+    public UfActuatorBase() {
+        this.methodMap = new HashMap<>();
+        for ( var method : this.getClass().getMethods() ) {
+            var annotation = method.getAnnotation(UfActuatorCommand.class);
+            if ( annotation != null ) {
+                methodMap.put(annotation.name(), method);
+            }
+        }
+    }
+
+    @Override
+    public String execute(UfMdbActuatorCmd command) {
+        if ( !methodMap.containsKey(command.cmdKey) ) {
+            return UfActuatorCmdExecutor.getExecutor().sendCommandToConnection(command);
+        }
+
+        var method = methodMap.get(command.cmdKey);
+        try {
+            return (String)method.invoke(this, command);
+        } catch (IllegalAccessException | InvocationTargetException e) {
+            throw new RuntimeException(e);
+        }
+    }
+}

src/main/java/com/iflytop/uf/UfActuatorCmdExecutor.java

@@ -2,6 +2,7 @@ package com.iflytop.uf;
 import com.iflytop.uf.model.UfMdbActuator;
 import com.iflytop.uf.model.UfMdbActuatorCmd;
 import com.iflytop.uf.model.UfMdbNotification;
+import com.iflytop.uf.util.UfClassHelper;
 import com.iflytop.uf.util.UfCommon;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -10,29 +11,98 @@ import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.HashMap;
 import java.util.Map;
-
 public class UfActuatorCmdExecutor {
     // logger
     public static final Logger LOG = LoggerFactory.getLogger(UfActuatorCmdExecutor.class);
+    // executor instance
+    private static UfActuatorCmdExecutor executor = null;
+    // actuator classes
+    private final Map<String, Class<?>> actuatorClasses;
+    // actuators
+    private final Map<String, UfActuator> actuators;
 
-    // emergency stop restore lock
-    private static final Object emergencyStopRestoreLock = new Object();
+    // setup
+    public static void setup() {
+        UfActuatorCmdExecutor.executor = new UfActuatorCmdExecutor();
+        UfActuatorCmdExecutor.executor.loadActuatorHandlers();
+    }
 
-    // execute command
-    public static String emergencyExecute(UfMdbActuatorCmd cmd) {
-        var con = UfApplication.getApp().connections.get(cmd.connectionKey);
-        return con.execute(cmd);
+    // get executor instance
+    public static UfActuatorCmdExecutor getExecutor() {
+        return UfActuatorCmdExecutor.executor;
     }
 
     // execute cmd
     public static String execute(UfMdbActuatorCmd cmd) {
-        if ( UfActuatorCmdExecutor.hasEmergencyStopTriggered() ) {
-            throw new RuntimeException("触发紧急停止");
+        return UfActuatorCmdExecutor.executor.executeCommand(cmd);
+    }
+
+    // constructor
+    public UfActuatorCmdExecutor() {
+        this.actuators = new HashMap<>();
+        this.actuatorClasses = new HashMap<>();
+    }
+
+    // load actuator handlers
+    private void loadActuatorHandlers() {
+        // scan actuator handlers
+        var actuatorClassList = UfClassHelper.getAllClassesInPackage("com.iflytop.uf.actuator");
+        for ( var actuatorClass : actuatorClassList ) {
+            var annotation = actuatorClass.getAnnotation(UfActuatorHandler.class);
+            var name = annotation.name();
+            LOG.info("[Actuator Handler] handler : {}", name);
+            this.actuatorClasses.put(name, actuatorClass);
+        }
+    }
+
+    // execute command
+    public String executeCommand( UfMdbActuatorCmd cmd ) {
+        if ( this.actuators.containsKey(cmd.actuatorId) ) {
+            return this.actuators.get(cmd.actuatorId).execute(cmd);
+        }
+
+        var actuator = UfActiveRecord.findOne(UfMdbActuator.class, Map.of("id", cmd.actuatorId));
+        if ( null == actuator ) {
+            throw new RuntimeException("无效的设备ID ：" + cmd.actuatorId);
+        }
+
+        var handlerClass = this.actuatorClasses.get(actuator.type);
+        if ( null == handlerClass ) {
+            // 如果没有找到对应的处理器，则直接发送命令到连接
+            return this.sendCommandToConnection(cmd);
+        }
+
+        var handler = (UfActuator) UfClassHelper.newInstance(handlerClass);
+        this.actuators.put(cmd.actuatorId, handler);
+        return this.executeCommand(cmd);
+    }
+
+    // send command to connection to execute
+    public String sendCommandToConnection( UfMdbActuatorCmd cmd ) {
+        var con = UfApplication.getApp().connections.get(cmd.connectionKey);
+        return con.execute(cmd);
     }
+
+
+
+
+
+
+
+
+
+
+    // emergency stop restore lock
+    private static final Object emergencyStopRestoreLock = new Object();
+
+    // execute command
+    public static String emergencyExecute(UfMdbActuatorCmd cmd) {
         var con = UfApplication.getApp().connections.get(cmd.connectionKey);
         return con.execute(cmd);
     }
 
+
+
     // execute cmd
     public static String execute(String actuatorKey, String cmdKey, String cmdParams ) {
         var actuator = UfActiveRecord.findOne(UfMdbActuator.class, Map.of("key", actuatorKey));

src/main/java/com/iflytop/uf/UfActuatorCommand.java

@@ -0,0 +1,10 @@
+package com.iflytop.uf;
+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.METHOD})
+public @interface UfActuatorCommand {
+    String name();
+}

src/main/java/com/iflytop/uf/UfActuatorHandler.java

@@ -0,0 +1,10 @@
+package com.iflytop.uf;
+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 UfActuatorHandler {
+    String name();
+}

src/main/java/com/iflytop/uf/UfApplication.java

@@ -4,6 +4,7 @@ import jakarta.annotation.Nonnull;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.springframework.beans.BeansException;
+import org.springframework.boot.ApplicationRunner;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
 import org.springframework.context.ApplicationContext;

src/main/java/com/iflytop/uf/UfApplicationRunner.java

@@ -0,0 +1,14 @@
+package com.iflytop.uf;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.stereotype.Component;
+@Order(1)
+@Component
+public class UfApplicationRunner implements ApplicationRunner {
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        UfApplication.getApp().connections.setup();
+        UfActuatorCmdExecutor.setup();
+    }
+}

src/main/java/com/iflytop/uf/actuator/UfActStepperMotor.java

@@ -0,0 +1,59 @@
+package com.iflytop.uf.actuator;
+import com.iflytop.uf.*;
+import com.iflytop.uf.model.UfMdbActuator;
+import com.iflytop.uf.model.UfMdbActuatorCmd;
+@UfActuatorHandler(name = "stepper-motor")
+public class UfActStepperMotor extends UfActuatorBase {
+    @UfActuatorCommand(name = "motor_easy_move_to_zero")
+    public String easyMoveToZero(UfMdbActuatorCmd cmd) {
+        var executor = UfActuatorCmdExecutor.getExecutor();
+
+        var result = executor.sendCommandToConnection(cmd);
+
+        // wait for finish
+        var waitCmd = new UfMdbActuatorCmd();
+        waitCmd.actuatorId = cmd.actuatorId;
+        waitCmd.cmdId = "0104";
+        waitCmd.cmdKey = "module_get_status";
+        waitCmd.cmdFlags = cmd.cmdFlags;
+        waitCmd.parameters = "";
+        waitCmd.connectionKey = cmd.connectionKey;
+        do {
+            String statusText = executor.sendCommandToConnection(waitCmd);
+            int status = Integer.parseInt(statusText);
+            if ( 0 == status ) {
+                break;
+            }
+        } while ( true );
+        return result;
+    }
+//
+//    // cmd motor easy move to
+//    public void cmdMotorEasyMoveTo(UfMdbActuatorCmd command) {
+//        this.executeDeviceCommand(command);
+//        this.waitForActuatorFinish(command);
+//
+//        var actuator = UfActiveRecord.findOne(UfMdbActuator.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/uf/connection/UfZcancmderWebsocket.java

@@ -93,10 +93,6 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         } catch (Exception e) {
             throw new RuntimeException(e);
         }
-
-        if ( 1 == command.waitForFinish ) {
-            this.waitForActuatorFinish(command);
-        }
         return returnValue;
     }
 
@@ -307,64 +303,4 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
             this.callLock.notifyAll();
         }
     }
-
-    // wait for actuator finish
-    private void waitForActuatorFinish(UfMdbActuatorCmd actuatorCmd) {
-        do {
-            String filePath = UfApplication.getApp().getEnv().getProperty("app.emergency-stop-file-path");
-            if ( null != filePath ) {
-                try { // read all content from file as string
-                    String state = Files.readString(Path.of(filePath));
-                    if ( "0".equals(state.trim()) ) {
-                        return ; // emergency stop triggered
-                    }
-                } catch (IOException e) {
-                    throw new RuntimeException(e);
-                }
-            }
-
-            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;
-            }
-
-            UfCommon.delay(100);
-        } while ( true );
-    }
-
-    // cmd motor easy move to
-    public void cmdMotorEasyMoveTo(UfMdbActuatorCmd command) {
-        this.executeDeviceCommand(command);
-        this.waitForActuatorFinish(command);
-
-        var actuator = UfActiveRecord.findOne(UfMdbActuator.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/uf/controller/UfApiActuator.java

@@ -27,7 +27,7 @@ public class UfApiActuator extends UfApiControllerBase {
             actuator.isNewRecord = false;
         }
         actuator.save();
-        return success();
+        return success(actuator);
     }
 
     @PostMapping("/api/actuator/delete")

src/main/java/com/iflytop/uf/model/UfMdbActuator.java

@@ -18,6 +18,9 @@ public class UfMdbActuator extends UfActiveRecord {
     public String name;
 
     @UfActiveRecordField
+    public String type;
+
+    @UfActiveRecordField
     public String properties = "{}";
 
     // get table name

src/main/resources/application.yml

@@ -14,3 +14,11 @@ flyway:
   locations: classpath:db/migration
   validate-on-migrate: true
   validateMigrationNaming: true
+
+device :
+  connections:
+    - name : zcancmder
+      key : zcancmder
+      enable : true
+      type : ZcancmderWebsocket
+      uri: ws://127.0.0.1:19005

src/main/resources/db/migration/V1_1__alter_table_actuators_add_column_type.sql

@@ -0,0 +1,17 @@
+-- rename table to backup
+ALTER TABLE app_actuators RENAME TO app_actuators_bk_202405061735;
+
+-- create new table with new columns
+CREATE TABLE app_actuators (
+   "id" text NOT NULL,
+   "moduleId" text NOT NULL,
+   "key" TEXT NOT NULL,
+   "name" TEXT NOT NULL,
+   "type" TEXT NOT NULL,
+   "properties" TEXT NOT NULL DEFAULT "{}",
+   PRIMARY KEY ("id")
+);
+
+-- copy data from backup table to new table
+INSERT INTO app_actuators (id, moduleId, key, name, type, properties)
+SELECT id, moduleId, key, name, '', properties FROM app_actuators_bk_202405061735;

src/main/resources/static/uf/index.html

@@ -1 +1 @@
-<!doctype html><html lang=""><head><meta charset="utf-8"><meta http-equiv="X-UA-Compatible" content="IE=edge"><meta name="viewport" content="width=device-width,initial-scale=1"><link rel="icon" href="/uf/favicon.ico"><title>web</title><script defer="defer" src="/uf/js/chunk-vendors.0f638fda.js"></script><script defer="defer" src="/uf/js/app.66d72d84.js"></script><link href="/uf/css/app.eacba97d.css" rel="stylesheet"></head><body><noscript><strong>We're sorry but web doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id="app"></div></body></html>
+<!doctype html><html lang=""><head><meta charset="utf-8"><meta http-equiv="X-UA-Compatible" content="IE=edge"><meta name="viewport" content="width=device-width,initial-scale=1"><link rel="icon" href="/uf/favicon.ico"><title>web</title><script defer="defer" src="/uf/js/chunk-vendors.0f638fda.js"></script><script defer="defer" src="/uf/js/app.98f78643.js"></script><link href="/uf/css/app.5595db20.css" rel="stylesheet"></head><body><noscript><strong>We're sorry but web doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id="app"></div></body></html>