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@ -1,6 +1,7 @@ |
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package a8k.base_hardware; |
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import a8k.a8k_can_protocol.*; |
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import a8k.a8k_can_protocol.MId; |
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import a8k.appbean.HardwareException; |
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import a8k.appbean.appevent.A8kHardwareReport; |
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import a8k.service.AppEventBusService; |
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@ -52,21 +53,21 @@ public class A8kCanBusService { |
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@Autowired |
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private AppEventBusService eventBusService; |
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public String uri; // assign by application.yml |
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public String uri; // assign by application.yml |
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private WebSocketClient client; |
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// 接收回执上下文 |
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public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<A8kPacket>(); // |
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boolean isWaitingReceipt = false; // |
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int waitingReceiptIndex = 0;// |
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boolean isWaitingReceipt = false; // |
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int waitingReceiptIndex = 0;// |
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// 发送包的packetIndex |
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int packetIndex = 0;// |
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// 调试标志位 |
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boolean debugFlag = true;// |
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boolean debugFlag = true;// |
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// websocket自动重连时间 |
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Timer autoConnectTimer = new Timer();// |
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Timer autoConnectTimer = new Timer();// |
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@PostConstruct |
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public void init() throws URISyntaxException { |
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@ -111,8 +112,7 @@ public class A8kCanBusService { |
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client.connect(); |
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} catch (IllegalStateException e) { |
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} |
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} else if (client.getReadyState().equals(ReadyState.CLOSING) |
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|| client.getReadyState().equals(ReadyState.CLOSED)) { |
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} else if (client.getReadyState().equals(ReadyState.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) { |
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client.reconnect(); |
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} |
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} |
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@ -121,8 +121,8 @@ public class A8kCanBusService { |
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} |
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private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) { |
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int subCmdId = cmdId & 0xFF; |
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int mainCmdId = (cmdId >> 8) & 0xFFFF; |
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int subCmdId = cmdId & 0xFF; |
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int mainCmdId = (cmdId >> 8) & 0xFFFF; |
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int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType - |
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// ModuleId - Parameters |
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ByteBuffer buffer = ByteBuffer.allocate(bufferSize); |
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@ -141,139 +141,139 @@ public class A8kCanBusService { |
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// |
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// module opeation |
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// |
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public void modulePing(int id) throws HardwareException { |
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callcmd(id, CmdId.kmodule_ping); |
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public void modulePing(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmodule_ping); |
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} |
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public void moduleStop(int id) throws HardwareException { |
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callcmd(id, CmdId.kmodule_stop); |
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public void moduleStop(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmodule_stop); |
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} |
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public ModuleStatus getModuleStatus(int id) throws HardwareException { |
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var packet = callcmd(id, CmdId.kmodule_get_status); |
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public ModuleStatus getModuleStatus(MId id) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kmodule_get_status); |
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return ModuleStatus.valueOf(packet.getContentI32(0)); |
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} |
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public void moduleSetReg(int id, RegIndex regindex, int reg) throws HardwareException { |
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callcmd(id, CmdId.kmodule_set_reg, regindex.ordinal(), reg); |
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public void moduleSetReg(MId id, RegIndex regindex, int reg) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmodule_set_reg, regindex.ordinal(), reg); |
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} |
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public int moduleGetReg(int id, RegIndex regindex) throws HardwareException { |
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var packet = callcmd(id, CmdId.kmodule_get_reg, regindex.ordinal()); |
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public int moduleGetReg(MId id, RegIndex regindex) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kmodule_get_reg, regindex.ordinal()); |
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return packet.getContentI32(0); |
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} |
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public int moduleGetError(int id) throws HardwareException { |
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var packet = callcmd(id, CmdId.kmodule_get_error); |
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public int moduleGetError(MId id) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kmodule_get_error); |
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return packet.getContentI32(0); |
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} |
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public void moduleClearError(int id) throws HardwareException { |
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callcmd(id, CmdId.kmodule_clear_error); |
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public void moduleClearError(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmodule_clear_error); |
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} |
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public void moduleActiveCfg(int id) throws HardwareException { |
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callcmd(id, CmdId.kmodule_active_cfg); |
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public void moduleActiveCfg(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmodule_active_cfg); |
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} |
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// |
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// stepMotor |
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// |
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public void stepMotorEnable(int mid, int enable) throws HardwareException { |
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callcmd(mid, CmdId.kstep_motor_enable, enable); |
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public void stepMotorEnable(MId mid, int enable) throws HardwareException { |
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callcmd(mid.toInt(), CmdId.kstep_motor_enable, enable); |
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} |
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public int stepMotorReadPos(int id) throws HardwareException { |
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A8kPacket packet = callcmd(id, CmdId.kstep_motor_read_pos); |
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public int stepMotorReadPos(MId id) throws HardwareException { |
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A8kPacket packet = callcmd(id.toInt(), CmdId.kstep_motor_read_pos); |
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return packet.getContentI32(0); |
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} |
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public void stepMotorEasyRotate(int id, int direction) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_rotate, direction); |
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public void stepMotorEasyRotate(MId id, int direction) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_rotate, direction); |
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} |
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public void stepMotorEasyMoveBy(int id, int dpos) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_move_by, dpos); |
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public void stepMotorEasyMoveBy(MId id, int dpos) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_move_by, dpos); |
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} |
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public void stepMotorEasyMoveTo(int id, int pos) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_move_to, pos); |
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public void stepMotorEasyMoveTo(MId id, int pos) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to, pos); |
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} |
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public void stepMotorEasyMoveToZero(int id) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_move_to_zero); |
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public void stepMotorEasyMoveToZero(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_zero); |
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} |
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public void stepMotorEasySetCurrentPos(int id, int pos) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_set_current_pos, pos); |
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public void stepMotorEasySetCurrentPos(MId id, int pos) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_set_current_pos, pos); |
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} |
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public void stepMotorEasyMoveToIo(int id, int io) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_move_to_io, io); |
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public void stepMotorEasyMoveToIo(MId id, int io) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_io, io); |
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} |
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public void stepMotorStop(int id) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_stop); |
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public void stepMotorStop(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_stop); |
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} |
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public void stepMotorActiveCfg(int id) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_active_cfg); |
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public void stepMotorActiveCfg(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_active_cfg); |
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} |
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public int stepMotorReadIoState(int id) throws HardwareException { |
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var packet = callcmd(id, CmdId.kstep_motor_read_io_state); |
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public int stepMotorReadIoState(MId id) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kstep_motor_read_io_state); |
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return packet.getContentI32(0); |
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} |
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public void stepMotorEasyMoveToEndPoint(int id) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_move_to_end_point); |
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public void stepMotorEasyMoveToEndPoint(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_move_to_end_point); |
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} |
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public void stepMotorEasyReciprocatingMotion(int id, int startpos, int endpos, int times) throws HardwareException { |
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callcmd(id, CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times); |
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public void stepMotorEasyReciprocatingMotion(MId id, int startpos, int endpos, int times) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kstep_motor_easy_reciprocating_motion, startpos, endpos, times); |
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} |
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// |
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// MINI_SERVO |
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// |
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public void miniServoEnable(int id, int enable) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_enable, enable); |
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public void miniServoEnable(MId id, int enable) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_enable, enable); |
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} |
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public int miniServoReadPos(int id) throws HardwareException { |
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var packet = callcmd(id, CmdId.kmini_servo_read_pos); |
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public int miniServoReadPos(MId id) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_pos); |
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return packet.getContentI32(0); |
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} |
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public void miniServoActiveCfg(int id) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_active_cfg); |
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public void miniServoActiveCfg(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_active_cfg); |
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} |
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public void miniServoStop(int id) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_stop); |
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public void miniServoStop(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_stop); |
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} |
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public void miniServoSetMidPoint(int id) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_set_mid_point); |
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public void miniServoSetMidPoint(MId id) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_set_mid_point); |
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} |
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public int miniServoReadIoState(int id) throws HardwareException { |
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var packet = callcmd(id, CmdId.kmini_servo_read_io_state); |
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public int miniServoReadIoState(MId id) throws HardwareException { |
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var packet = callcmd(id.toInt(), CmdId.kmini_servo_read_io_state); |
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return packet.getContentI32(0); |
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} |
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public void miniServoMoveTo(int id, int pos) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_move_to, pos); |
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public void miniServoMoveTo(MId id, int pos) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_move_to, pos); |
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} |
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public void miniServoRotate(int id, int direction) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_rotate, direction); |
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public void miniServoRotate(MId id, int direction) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_rotate, direction); |
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} |
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public void miniServoRotateWithTorque(int id, int torque) throws HardwareException { |
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callcmd(id, CmdId.kmini_servo_rotate_with_torque, torque); |
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public void miniServoRotateWithTorque(MId id, int torque) throws HardwareException { |
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callcmd(id.toInt(), CmdId.kmini_servo_rotate_with_torque, torque); |
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} |
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public boolean getIOState(IOId ioid) throws HardwareException { |
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@ -296,51 +296,67 @@ public class A8kCanBusService { |
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} |
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} |
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public void waitForMod(MId mid, Integer acitionOvertime) throws InterruptedException, HardwareException { |
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long startedAt = System.currentTimeMillis(); |
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do { |
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try { |
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var status = getModuleStatus(mid); |
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if (status == ModuleStatus.IDLE) { |
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break; |
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} else if (status == ModuleStatus.ERROR) { |
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throw new HardwareException(mid.toInt(), moduleGetError(mid)); |
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} |
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} catch (HardwareException ignored) { |
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} |
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long now = System.currentTimeMillis(); |
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if (now - startedAt > acitionOvertime) { |
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throw new HardwareException(mid.toInt(), Errorcode.kovertime); |
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} |
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Thread.sleep(100); |
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} while (true); |
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} |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[] {}); |
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return this.callcmd(moduleId, cmdId, new Integer[]{}); |
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} |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[] { p0 }); |
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return this.callcmd(moduleId, cmdId, new Integer[]{p0}); |
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} |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1 }); |
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return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1}); |
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} |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) |
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throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 }); |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2}); |
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} |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) |
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throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 }); |
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public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) throws HardwareException { |
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return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3}); |
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} |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, |
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Integer acitionOvertime) throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 }, acitionOvertime); |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer acitionOvertime) throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3}, acitionOvertime); |
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} |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, |
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Integer acitionOvertime) throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 }, acitionOvertime); |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer acitionOvertime) throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2}, acitionOvertime); |
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} |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) |
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throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1 }, acitionOvertime); |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) throws HardwareException, InterruptedException { |
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this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1}, acitionOvertime); |
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} |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) |
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|
throws HardwareException, InterruptedException { |
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|
this.callblockcmd(moduleId, cmdId, new Integer[] { p0 }, acitionOvertime); |
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|
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) throws HardwareException, InterruptedException { |
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|
this.callblockcmd(moduleId, cmdId, new Integer[]{p0}, acitionOvertime); |
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} |
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public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) |
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|
throws HardwareException, InterruptedException { |
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|
this.callblockcmd(moduleId, cmdId, new Integer[] {}, acitionOvertime); |
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|
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException { |
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|
this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime); |
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} |
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// TODO |
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@ -374,8 +390,7 @@ public class A8kCanBusService { |
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return null; |
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} |
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|
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|
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) |
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|
throws HardwareException, InterruptedException { |
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|
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException { |
|
|
|
var packet = this.packParamsToPacket(moduleId, cmdId, params); |
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|
this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME); |
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|
@ -385,7 +400,7 @@ public class A8kCanBusService { |
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|
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|
long startedAt = System.currentTimeMillis(); |
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|
do { |
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|
|
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[] {}); |
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|
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{}); |
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|
|
var status = pack.getContentI32(0); |
|
|
|
if (0 == status) { |
|
|
|
break; |
|
|
|
@ -403,7 +418,7 @@ public class A8kCanBusService { |
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|
|
private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException { |
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|
|
pack.setPacketIndex(packetIndex); |
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|
|
waitingReceiptIndex = packetIndex; |
|
|
|
packetIndex = packetIndex + 1; |
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|
|
packetIndex = packetIndex + 1; |
|
|
|
if (packetIndex > 10000) { |
|
|
|
packetIndex = 1; |
|
|
|
} |
|
|
|
@ -458,8 +473,7 @@ public class A8kCanBusService { |
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|
|
logger.info("RX {}:({})", packet, rx); |
|
|
|
} |
|
|
|
|
|
|
|
if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK |
|
|
|
|| packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { |
|
|
|
if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { |
|
|
|
if (isWaitingReceipt) { |
|
|
|
if (waitingReceiptIndex == packet.getPacketIndex()) { |
|
|
|
receiptQueue.add(packet); |
|
|
|
|
