注册执行器组件

src/src/main/java/com/my/graphiteDigesterBg/GraphiteDigesterBgApplication.java → src/src/main/java/com/my/graphiteDigesterBg/MyApplication.java

@@ -2,8 +2,8 @@ package com.my.graphiteDigesterBg;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
 @SpringBootApplication
-public class GraphiteDigesterBgApplication {
+public class MyApplication {
 	public static void main(String[] args) {
-		SpringApplication.run(GraphiteDigesterBgApplication.class, args);
+		SpringApplication.run(MyApplication.class, args);
 	}
 }

src/src/main/java/com/my/graphiteDigesterBg/MyApplicationRunner.java

@@ -0,0 +1,49 @@
+package com.my.graphiteDigesterBg;
+import com.my.graphiteDigesterBg.diframe.DiDevice;
+import com.my.graphiteDigesterBg.diframe.DiDeviceActuatorManager;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+import jakarta.annotation.Resource;
+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 MyApplicationRunner implements ApplicationRunner {
+    @Resource
+    private DiDevice device;
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        this.setupActuators();
+    }
+
+    // setup actuators
+    private void setupActuators() {
+        DiDeviceActuatorManager actuators = this.device.getActuators();
+        actuators.register(MyDevice.ACT_HEAT_PLATE_MOTOR, new DiActMotor(){{
+            id = 11;
+        }});
+        actuators.register(MyDevice.ACT_HEAT_SLOT_01_COVER_SERVO, new DiActMotor(){{
+            id = 12;
+        }});
+        actuators.register(MyDevice.ACT_TRANSFER_UD_MOTOR, new DiActMotor(){{
+            id = 21;
+        }});
+        actuators.register(MyDevice.ACT_TRANSFER_CLIP_SERVO, new DiActMotor(){{
+            id = 22;
+        }});
+        actuators.register(MyDevice.ACT_TRANSFER_LR_MOTOR, new DiActMotor(){{
+            id = 31;
+        }});
+        actuators.register(MyDevice.ACT_LIQUID_MOTOR, new DiActMotor(){{
+            id = 41;
+        }});
+        actuators.register(MyDevice.ACT_LIQUID_PLATE_MOTOR, new DiActMotor(){{
+            id = 51;
+        }});
+        actuators.register(MyDevice.ACT_LIQUID_PERISTALTIC_PUMP, new DiActMotor(){{
+            id = 61;
+        }});
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/MyDevice.java

@@ -0,0 +1,12 @@
+package com.my.graphiteDigesterBg;
+import com.my.graphiteDigesterBg.diframe.DiDevice;
+public class MyDevice extends DiDevice {
+    public static String ACT_HEAT_PLATE_MOTOR = "heatPlateMotor";
+    public static String ACT_HEAT_SLOT_01_COVER_SERVO = "heatSlot01CoverServo";
+    public static String ACT_TRANSFER_LR_MOTOR = "transferLeftRightMotor";
+    public static String ACT_TRANSFER_UD_MOTOR = "transferUpDownMotor";
+    public static String ACT_TRANSFER_CLIP_SERVO = "transferClipServo";
+    public static String ACT_LIQUID_MOTOR = "liquidMotor";
+    public static String ACT_LIQUID_PLATE_MOTOR = "liquidPlateMotor";
+    public static String ACT_LIQUID_PERISTALTIC_PUMP = "liquidPeristalticPump";
+}

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

@@ -0,0 +1,19 @@
+package com.my.graphiteDigesterBg.diframe;
+import jakarta.annotation.PostConstruct;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DiDevice {
+    // actuator manager
+    private DiDeviceActuatorManager actuators;
+
+    @PostConstruct
+    public void init() {
+        this.actuators = new DiDeviceActuatorManager(this);
+    }
+
+    // get actuator manager
+    public DiDeviceActuatorManager getActuators() {
+        return this.actuators;
+    }
+}

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

@@ -0,0 +1,26 @@
+package com.my.graphiteDigesterBg.diframe;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActuator;
+import java.util.HashMap;
+import java.util.Map;
+public class DiDeviceActuatorManager {
+    // device instance
+    private final DiDevice device;
+    // id => actuator
+    private final Map<String, DiActuator> actuators;
+
+    // constructor
+    public DiDeviceActuatorManager(DiDevice device ) {
+        this.device = device;
+        this.actuators = new HashMap<String, DiActuator>();
+    }
+
+    // register actuator
+    public void register( String id, DiActuator actuator ) {
+        this.actuators.put( id, actuator );
+    }
+
+    // get actuator
+    public void get( String id ) {
+        this.actuators.get( id );
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java

@@ -1,4 +1,8 @@
 package com.my.graphiteDigesterBg.diframe.actuator;
-public class DiActMotor {
-
+public class DiActMotor extends DiActuatorBase {
+    public void moveTo( Integer pos ) {}
+    public void moveBy( Integer delta ) {}
+    public void rotate( Integer direction ) {}
+    public void stop() {}
+    public void reset() {}
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActPeristalticPump.java

@@ -0,0 +1,3 @@
+package com.my.graphiteDigesterBg.diframe.actuator;
+public class DiActPeristalticPump extends DiActuatorBase {
+}

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java

@@ -0,0 +1,3 @@
+package com.my.graphiteDigesterBg.diframe.actuator;
+public class DiActServo extends DiActuatorBase {
+}

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActuatorBase.java

@@ -1,4 +1,5 @@
 package com.my.graphiteDigesterBg.diframe.actuator;
-
-public class DiActuatorBase {
+abstract public class DiActuatorBase implements DiActuator {
+    // id
+    protected Integer id;
 }