f

pom.xml

@@ -10,7 +10,7 @@
     </parent>
     <groupId>com.iflytop</groupId>
     <artifactId>uf</artifactId>
-    <version>0.0.12</version>
+    <version>0.0.19</version>
     <name>uf</name>
     <description>uf</description>
     <properties>

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

@@ -19,6 +19,30 @@ abstract public class UfActuatorBase implements UfActuator {
         }
     }
 
+    // execute and wait for finish
+    protected String executeAndWaitForFinish( 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;
+    }
+
     @Override
     public String execute(UfMdbActuatorCmd command) {
         if ( !methodMap.containsKey(command.cmdKey) ) {

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

@@ -0,0 +1,22 @@
+package com.iflytop.uf.actuator;
+import com.iflytop.uf.UfActuatorBase;
+import com.iflytop.uf.UfActuatorCommand;
+import com.iflytop.uf.UfActuatorHandler;
+import com.iflytop.uf.model.UfMdbActuatorCmd;
+@UfActuatorHandler(name = "arm-hbot")
+public class UfActArmHbot extends UfActuatorBase {
+    @UfActuatorCommand(name = "xymotor_move_to_zero")
+    public String moveToZero(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
+    }
+
+    @UfActuatorCommand(name = "xymotor_move_by")
+    public String moveBy(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
+    }
+
+    @UfActuatorCommand(name = "xymotor_move_to")
+    public String moveTo(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
+    }
+}

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

@@ -0,0 +1,12 @@
+package com.iflytop.uf.actuator;
+import com.iflytop.uf.UfActuatorBase;
+import com.iflytop.uf.UfActuatorCommand;
+import com.iflytop.uf.UfActuatorHandler;
+import com.iflytop.uf.model.UfMdbActuatorCmd;
+@UfActuatorHandler(name = "pipette")
+public class UfActPipette extends UfActuatorBase {
+    @UfActuatorCommand(name = "pipette_ctrl_put_tip")
+    public String ctrlPutTip(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
+    }
+}

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

@@ -1,59 +1,25 @@
 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();
+        return this.executeAndWaitForFinish(cmd);
+    }
+
+    @UfActuatorCommand(name = "motor_easy_move_to")
+    public String easyMoveTo(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
+    }
 
-        var result = executor.sendCommandToConnection(cmd);
+    @UfActuatorCommand(name = "motor_easy_move_by")
+    public String easyMoveBy(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(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;
+    @UfActuatorCommand(name = "motor_easy_move_to_io")
+    public String easyMoveToIo(UfMdbActuatorCmd cmd) {
+        return this.executeAndWaitForFinish(cmd);
     }
-//
-//    // 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

@@ -285,6 +285,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         Integer errorCode = message.getInt(8);
         String errorMessage = switch (errorCode) {
             case 3 -> "操作不支持（koperation_not_support）";
+            case 6 -> "超时(kovertime)";
             case 11 -> "子设备超时（ksubdevice_overtime）";
             case 14 -> "参数数量不匹配（kcmd_param_num_error）";
             default -> "未知";

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.40311b7f.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>
+<!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.842430c2.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>