加热盘初始化

src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDevice.java

@@ -148,6 +148,17 @@ public class DiDevice {
         return (String)((Map<String,Object>)config).get(lastKey);
     }
 
+    // get config
+    public <T> T getConfig(String path, Class<T> clazz) {
+        String[] parts = path.split("\\.");
+        Object config = this.config;
+        for ( int i=0; i<parts.length-1; i++ ) {
+            config = ((Map<String,Object>)config).get(parts[i]);
+        }
+        String lastKey = parts[parts.length-1];
+        return clazz.cast(((Map<String,Object>)config).get(lastKey));
+    }
+
     // execute device command
     protected DiCommandResponse call( DiCommand cmd, Integer mid, Object... args ) {
         DiCommandRequest request = null;

src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceRegisterManager.java

@@ -1,8 +1,14 @@
 package com.my.graphiteDigesterBg.diframe;
+import com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 public class DiDeviceRegisterManager {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(DiDeviceRegisterManager.class);
     // device instance
     private final DiDevice device;
     // id => actuator
@@ -40,6 +46,7 @@ public class DiDeviceRegisterManager {
     public void resetAllByModuleId( Integer mid ) {
         for ( DiDeviceRegister register : this.registers.values() ) {
             if ( register.mid.equals(mid) ) {
+                LOG.info("[Register:${}] {}@{} = {}", register.key, register.index, register.mid, register.defaultValue);
                 this.device.call(DiCommand.MODULE_SET_REG, register.mid, register.index, register.defaultValue);
             }
         }
@@ -49,4 +56,10 @@ public class DiDeviceRegisterManager {
     public void get( String id ) {
         this.registers.get(id);
     }
+
+    // get value
+    public Integer getValue(Integer mid, Integer index) {
+        DiCommandResponse response = this.device.call(DiCommand.MODULE_GET_REG, mid, index);
+        return response.readInteger(0);
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/connection/DiConSerialPort.java

@@ -43,12 +43,11 @@ public class DiConSerialPort implements DiDeviceConnection {
 
     @Override
     public void connect() {
-        Environment env = this.device.getEnv();
-        String path = env.getProperty("device.connection.path");
+        String path = this.device.getConfig("connection.path");
         if ( null == path ) {
             throw new RuntimeException("device option 'device.connection.path' is required.");
         }
-        Integer baudRate = env.getProperty("device.connection.baudRate", Integer.class);
+        Integer baudRate = this.device.getConfig("connection.baudRate", Integer.class);
         if ( null == baudRate ) {
             throw new RuntimeException("device option 'device.connection.baudRate' is required.");
         }
@@ -95,7 +94,7 @@ public class DiConSerialPort implements DiDeviceConnection {
             }
         };
         this.receivedDataTimer = new Timer();
-        Integer frameTimeout = this.device.getEnv().getProperty("device.connection.frameTimeout", Integer.class, 1000);
+        Integer frameTimeout = this.device.getConfig("connection.frameTimeout", Integer.class);
         this.receivedDataTimer.schedule(timerTask, frameTimeout);
     }
 
@@ -133,7 +132,7 @@ public class DiConSerialPort implements DiDeviceConnection {
             }
         }
         if ( null == request ) {
-            throw new RuntimeException("unknown message id: " + messageId);
+            return ; // 可能是超时了， 已经被处理掉了 ~~~
         }
         request.response = this.receivedData;
         request.isResponseReceived = true;
@@ -149,6 +148,18 @@ public class DiConSerialPort implements DiDeviceConnection {
         byte[] data = request.parameter.array();
         this.connection.writeBytes(data, data.length);
         LOG.info("Command => {} : [{}]", request.parameterText, DiByteBuffer.toHex(request.parameter));
+
+        // setup timeout timer
+        TimerTask callTimeoutTimerTask = new TimerTask() {
+            @Override
+            public void run() {
+                DiConSerialPort.this.handleCallTimeout(request);
+            }
+        };
+        Timer callTimeoutTimer = new Timer();
+        Integer callTimeout = this.device.getConfig("connection.callTimeout", Integer.class);
+        callTimeoutTimer.schedule(callTimeoutTimerTask, callTimeout);
+
         synchronized ( request ) {
             try {
                 request.wait();
@@ -158,4 +169,23 @@ public class DiConSerialPort implements DiDeviceConnection {
         }
         LOG.info("Command <= {}", DiByteBuffer.toHex(request.response));
     }
+
+    // handle call timeout
+    private void handleCallTimeout(DiCommandRequest request) {
+        if ( request.isResponseReceived ) {
+            return ;
+        }
+        request.timeoutCount ++;
+        if ( request.timeoutCount > 3 ) {
+            synchronized ( request ) {
+                request.errorCode = 8000;
+                request.notify();
+            }
+            return ;
+        }
+
+        byte[] data = request.parameter.array();
+        this.connection.writeBytes(data, data.length);
+        LOG.info("Command (Retry:{}) => {} : [{}]", request.timeoutCount, request.parameterText, DiByteBuffer.toHex(request.parameter));
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java

@@ -37,6 +37,35 @@ public class TaskStartReset extends DiTaskBase {
             slot.coverOpen();
         }
 
+        // 搬运机械臂左右移动初始化
+        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        transLrMotor.setEnable(true);
+        registers.resetAllByModuleId(transLrMotor.getMid());
+        transLrMotor.activeConfig();
+        transLrMotor.reset();
+
+        // 搬运机械臂上下移动初始化
+        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        transUdMotor.setEnable(true);
+        registers.resetAllByModuleId(transUdMotor.getMid());
+        transUdMotor.activeConfig();
+        transUdMotor.reset();
+
+        // 加液转盘
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        liquidPlateMotor.setEnable(true);
+        registers.resetAllByModuleId(liquidPlateMotor.getMid());
+        liquidPlateMotor.activeConfig();
+        liquidPlateMotor.reset();
+
+        // 加热盘转盘
+        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+        heatPlateMotor.setEnable(true);
+        registers.resetAllByModuleId(heatPlateMotor.getMid());
+        heatPlateMotor.activeConfig();
+        heatPlateMotor.reset();
+
+        //
         this.setStatus(TaskStatus.FINISHED);
     }
 }

src/src/main/resources/device.yml

@@ -2,7 +2,8 @@ connection :
   class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort
   path : COM7
   baudRate : 921600
-  frameTimeout : 1000
+  frameTimeout : 200
+  callTimeout : 5000
   mode : binary # text | hex | binary
 # device registers
 registers :
@@ -17,6 +18,60 @@ registers :
   - {key: "LiquidMotorRunToZeroDec" , mid : 41, index : 1074, defaultValue : 30}
   - {key: "LiquidMotorLookZeroEdgeSpeed" , mid : 41, index : 1075, defaultValue : 25}
   - {key: "LiquidMotorLookZeroEdgeDec" , mid : 41, index : 1076, defaultValue : 30}
+  - {key: "LiquidMotorStepMotorIHold" , mid: 41, index: 1058, defaultValue: 1 }
+  - {key: "LiquidMotorStepMotorIRun" , mid: 41, index: 1059, defaultValue: 2 }
   # 加热盘 Slot Cover
   - {key: "HeatingPlateSlot1CoverServeMotorDefaultVelocity" , mid : 12, index : 1054, defaultValue : 150}
-  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}
+  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}
+  # 搬运机械臂左右
+  - {key: "TransferArmLRMotorShaft" , mid : 31, index : 1051, defaultValue : 1}
+  - {key: "TransferArmLRMotorOneCirclePulse" , mid : 31, index : 1052, defaultValue : 10000}
+  - {key: "TransferArmLRMotorOneCirclePulseDenominator" , mid : 31, index : 1053, defaultValue : 18}
+  - {key: "TransferArmLRMotorDefaultVelocity" , mid : 31, index : 1054, defaultValue : 40}
+  - {key: "TransferArmLRMotorDefaultAcc" , mid : 31, index : 1055, defaultValue : 1}
+  - {key: "TransferArmLRMotorDefaultDec" , mid : 31, index : 1056, defaultValue : 1}
+  - {key: "TransferArmLRMotorRunToZeroSpeed" , mid : 31, index : 1073, defaultValue : 50}
+  - {key: "TransferArmLRMotorRunToZeroDec" , mid : 31, index : 1074, defaultValue : 30}
+  - {key: "TransferArmLRMotorLookZeroEdgeSpeed" , mid : 31, index : 1075, defaultValue : 25}
+  - {key: "TransferArmLRMotorLookZeroEdgeDec" , mid : 31, index : 1076, defaultValue : 30}
+  - {key: "TransferArmLRMotorStepMotorIHold" , mid : 31, index : 1058, defaultValue : 1}
+  - {key: "TransferArmLRMotorStepMotorIRun" , mid : 31, index : 1059, defaultValue : 2}
+  # 搬运机械臂上下
+  - {key: "TransferArmUDMotorShaft" , mid : 21, index : 1051, defaultValue : 0}
+  - {key: "TransferArmUDMotorOneCirclePulse" , mid : 21, index : 1052, defaultValue : 40}
+  - {key: "TransferArmUDMotorOneCirclePulseDenominator" , mid : 21, index : 1053, defaultValue : 1}
+  - {key: "TransferArmUDMotorDefaultVelocity" , mid : 21, index : 1054, defaultValue : 300}
+  - {key: "TransferArmUDMotorDefaultAcc" , mid : 21, index : 1055, defaultValue : 100}
+  - {key: "TransferArmUDMotorDefaultDec" , mid : 21, index : 1056, defaultValue : 100}
+  - {key: "TransferArmUDMotorRunToZeroSpeed" , mid : 21, index : 1073, defaultValue : 50}
+  - {key: "TransferArmUDMotorRunToZeroDec" , mid : 21, index : 1074, defaultValue : 100}
+  - {key: "TransferArmUDMotorLookZeroEdgeSpeed" , mid : 21, index : 1075, defaultValue : 25}
+  - {key: "TransferArmUDMotorLookZeroEdgeDec" , mid : 21, index : 1076, defaultValue : 100}
+  - {key: "TransferArmUDMotorStepMotorIHold" , mid : 21, index : 1058, defaultValue : 1}
+  - {key: "TransferArmUDMotorStepMotorIRun" , mid : 21, index : 1059, defaultValue : 5}
+  # 加液转盘
+  - {key: "LiquidPlateMotorShaft" , mid : 51, index : 1051, defaultValue : 1}
+  - {key: "LiquidPlateMotorOneCirclePulse" , mid : 51, index : 1052, defaultValue : 10000}
+  - {key: "LiquidPlateMotorOneCirclePulseDenominator" , mid : 51, index : 1053, defaultValue : 18}
+  - {key: "LiquidPlateMotorDefaultVelocity" , mid : 51, index : 1054, defaultValue : 40}
+  - {key: "LiquidPlateMotorDefaultAcc" , mid : 51, index : 1055, defaultValue : 2}
+  - {key: "LiquidPlateMotorDefaultDec" , mid : 51, index : 1056, defaultValue : 2}
+  - {key: "LiquidPlateMotorRunToZeroSpeed" , mid : 51, index : 1073, defaultValue : 50}
+  - {key: "LiquidPlateMotorRunToZeroDec" , mid : 51, index : 1074, defaultValue : 30}
+  - {key: "LiquidPlateMotorLookZeroEdgeSpeed" , mid : 51, index : 1075, defaultValue : 25}
+  - {key: "LiquidPlateMotorLookZeroEdgeDec" , mid : 51, index : 1076, defaultValue : 30}
+  - {key: "LiquidPlateMotorStepMotorIHold" , mid : 51, index : 1058, defaultValue : 1}
+  - {key: "LiquidPlateMotorStepMotorIRun" , mid : 51, index : 1059, defaultValue : 2}
+ # 加热盘
+  - {key: "HeatingPlateMotorShaft" , mid : 11, index : 1051, defaultValue : 0}
+  - {key: "HeatingPlateMotorOneCirclePulse" , mid : 11, index : 1052, defaultValue : 10000}
+  - {key: "HeatingPlateMotorOneCirclePulseDenominator" , mid : 11, index : 1053, defaultValue : 30}
+  - {key: "HeatingPlateMotorDefaultVelocity" , mid : 11, index : 1054, defaultValue : 150}
+  - {key: "HeatingPlateMotorDefaultAcc" , mid : 11, index : 1055, defaultValue : 10}
+  - {key: "HeatingPlateMotorDefaultDec" , mid : 11, index : 1056, defaultValue : 10}
+  - {key: "HeatingPlateMotorRunToZeroSpeed" , mid : 11, index : 1073, defaultValue : 50}
+  - {key: "HeatingPlateMotorRunToZeroDec" , mid : 11, index : 1074, defaultValue : 30}
+  - {key: "HeatingPlateMotorLookZeroEdgeSpeed" , mid : 11, index : 1075, defaultValue : 25}
+  - {key: "HeatingPlateMotorLookZeroEdgeDec" , mid : 11, index : 1076, defaultValue : 30}
+  - {key: "HeatingPlateMotorStepMotorIHold" , mid : 11, index : 1058, defaultValue : 0}
+  - {key: "HeatingPlateMotorStepMotorIRun" , mid : 11, index : 1059, defaultValue : 15}