Merge branch 'master' of 192.168.1.3:p_graphite_digester_v3/graphite_digester_mirco_utils

src/main/java/iflytop/app/hardware/driver/LeisaiServoDriver.java

@@ -1,9 +1,11 @@
 package iflytop.app.hardware.driver;
 
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import iflytop.app.hardware.channel.A8kCanBusConnection;
 import iflytop.app.hardware.channel.A8kCanBusService;
 import iflytop.app.hardware.type.*;
 import iflytop.app.type.exception.HardwareException;
+import iflytop.app.utils.ZJsonHelper;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -56,4 +58,26 @@ public class LeisaiServoDriver {
         log.info("moveToZero called with id: {}", id);
         canBus.callcmd(id.mid, CmdId.leisai_servo_move_to_zero);
     }
+
+    public void setReg(LeisaiServoMId id, LeisaiRegIndex regindex, int val) throws HardwareException {
+        log.info("setReg called with id: {}, regindex: {}, val: {}", id, regindex, val);
+        canBus.moduleSetReg(id.mid, regindex.regIndex, val);
+    }
+
+
+    public Integer getReg(LeisaiServoMId id, LeisaiRegIndex regindex) throws HardwareException {
+        log.info("getReg called with id: {}, regindex: {}", id, regindex);
+        return canBus.moduleGetReg(id.mid, regindex.regIndex);
+    }
+
+    public Object getAllReg(LeisaiServoMId id) throws HardwareException {
+        log.info("getAllReg called with id: {}", id);
+        ObjectNode node = ZJsonHelper.createObjectNode();
+        for (LeisaiRegIndex regIndex : LeisaiRegIndex.values()) {
+            Integer regVal = getReg(id, regIndex);
+            log.info("read reg {} -> {}", regIndex, regVal);
+            node.put(regIndex.name(), getReg(id, regIndex));
+        }
+        return node;
+    }
 }

src/main/java/iflytop/app/hardware/type/LeisaiRegIndex.java

@@ -1,7 +1,12 @@
 package iflytop.app.hardware.type;
 
 public enum LeisaiRegIndex {
-    kreg_mini_servo_firmware_main_version(RegIndex.kreg_mini_servo_firmware_main_version),
+    kreg_leisai_servo_is_enable(RegIndex.kreg_leisai_servo_is_enable),
+    kreg_leisai_servo_has_move_zero(RegIndex.kreg_leisai_servo_has_move_zero),
+    kreg_leisai_servo_default_velocity(RegIndex.kreg_leisai_servo_default_velocity),
+    kreg_leisai_servo_low_velocity(RegIndex.kreg_leisai_servo_low_velocity),
+    kreg_leisai_servo_mid_velocity(RegIndex.kreg_leisai_servo_mid_velocity),
+    kreg_leisai_servo_high_velocity(RegIndex.kreg_leisai_servo_high_velocity),
     ;
 
     public final RegIndex regIndex;

src/main/java/iflytop/app/hardware/type/LeisaiServoMId.java

@@ -3,8 +3,8 @@ package iflytop.app.hardware.type;
 import org.springframework.util.Assert;
 
 public enum LeisaiServoMId {
-    HBotXLeisaiSV(MId.HBotXLeisaiSV),
-    HBotYLeisaiSV(MId.HBotYLeisaiSV),
+    HBotXLeisaiSV(MId.MainXSV),
+    HBotYLeisaiSV(MId.MainYSV),
     ;
 
     final public MId mid;

src/main/java/iflytop/app/hardware/type/MId.java

@@ -12,8 +12,8 @@ public enum MId {
 	IO1_IO(11, "台面 IO 板模块"),
 	IO1_ADC(12, "台面 ADC 板模块"),
 	LiquidDistributionArm(13, "加液臂"),
-	HBotXLeisaiSV(14, "X轴Leisai舵机"),//
-	HBotYLeisaiSV(15, "Y轴Leisai舵机"),//
+	MainXSV(14, "X轴Leisai舵机"),//
+	MainYSV(15, "Y轴Leisai舵机"),//
 
 //	IO2Board(25, "台下 IO 板模块"),
 

src/main/java/iflytop/app/hardware/type/RegIndex.java

@@ -110,6 +110,16 @@ public enum RegIndex {
     kreg_mini_servo_servo_current_current(10569),    // 当前电流 反馈当前工作电流值,单位为6.26.5mA,最大可反馈电流为500*6.5mA=3250mA
 
     /***********************************************************************************************************************
+     * leisai_servo *
+     ***********************************************************************************************************************/
+    kreg_leisai_servo_is_enable(10702), // 是否使能
+    kreg_leisai_servo_has_move_zero(10703), // 是否回零
+    kreg_leisai_servo_default_velocity(10704), // 默认速度
+    kreg_leisai_servo_low_velocity(10705), // 低速
+    kreg_leisai_servo_mid_velocity(10706), // 中速
+    kreg_leisai_servo_high_velocity(10707), // 高速
+
+    /***********************************************************************************************************************
      * liquid_distribution_arm *
      ***********************************************************************************************************************/
 
@@ -172,3 +182,4 @@ public enum RegIndex {
         return null;
     }
 }
+

src/main/java/iflytop/app/page/LeisaiServoPage.java

@@ -1,8 +1,11 @@
 package iflytop.app.page;
 
+import com.fasterxml.jackson.databind.JsonNode;
 import iflytop.app.hardware.driver.LeisaiServoDriver;
+import iflytop.app.hardware.type.LeisaiRegIndex;
 import iflytop.app.hardware.type.LeisaiServoMId;
 import iflytop.app.hardware.type.LeisaiServoSpeedLevel;
+import iflytop.app.hardware.type.MiniServoRegIndex;
 import iflytop.app.type.exception.HardwareException;
 import iflytop.app.utils.ZJsonNode;
 import iflytop.extui.mgr.ExtApiPageMgr;
@@ -50,6 +53,11 @@ public class LeisaiServoPage {
         driver.enable(id, 0);
     }
 
+    public void stop() throws Exception {
+        log.info("stop called");
+        driver.moduleStop(id);
+    }
+
     public Integer readPosition() throws Exception {
         log.info("readPosition called");
         return driver.readPosition(id);
@@ -93,6 +101,22 @@ public class LeisaiServoPage {
         return node.get();
     }
 
+    public void setReg(LeisaiRegIndex reg, Integer val) throws HardwareException {
+        driver.setReg(id, reg, val);
+    }
+
+    public JsonNode getAllReg() {
+        ZJsonNode jsonNode = new ZJsonNode();
+        for (LeisaiRegIndex reg : LeisaiRegIndex.values()) {
+            try {
+                jsonNode.get(reg.name()).set(driver.getReg(id, reg));
+            } catch (HardwareException e) {
+                jsonNode.get(reg.name()).set("error");
+            }
+        }    //enable
+        return jsonNode.get();
+    }
+
     @PostConstruct
     void init() {
         var page = extApiPageMgr.newPage(this);
@@ -105,6 +129,7 @@ public class LeisaiServoPage {
         page.addFunction("使能伺服", this::enableServo);
         page.addFunction("失能伺服", this::disableServo);
         page.addFunction("归零", this::moveToZero);
+        page.addFunction("停止", this::stop);
 
         page.newGroup("相对移动");
         page.addFunction("设置相对移动距离", this::setLeisaiServoDpos).setParamVal("dpos", () -> dpos);
@@ -118,6 +143,10 @@ public class LeisaiServoPage {
         page.addFunction("顺时针旋转", this::rotateForward);
         page.addFunction("逆时针旋转", this::rotateBackward);
 
+        page.newGroup("寄存器");
+        page.addFunction("设置寄存器", this::setReg);
+        page.addFunction("读取所有寄存器", this::getAllReg);
+
         page.newGroup("状态");
         page.addFunction("读取位置", this::readPosition);
         page.addFunction("读取IO", this::readIOState);