project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

添加模块寄存器初始化服务

tags/v0
zhaohe 1 year ago
parent
3c7e1bc26c
commit
73b205f919
9 changed files with 164 additions and 46 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 32
      src/main/java/a8k/app_eventbus/AppEventBusService.java
  2. 6
      src/main/java/a8k/app_eventbus/appevent/A8kCanBusOnConnectEvent.java
  3. 26
      src/main/java/a8k/canbus/A8kCanBusService.java
  4. 76
      src/main/java/a8k/canbus/A8kModParamInitializer.java
  5. 7
      src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java
  6. 32
      src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java
  7. 4
      src/main/java/a8k/canbus/custom_param_mgr/ModCustomParamId.java
  8. 3
      src/main/java/a8k/canbus/protocol/RegIndex.java

32
src/main/java/a8k/app_eventbus/AppEventBusService.java
View File

@ -5,34 +5,33 @@ import a8k.app_eventbus.appevent.AppEvent;
import jakarta.annotation.PostConstruct;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.context.ApplicationListener;
import org.springframework.context.event.ContextRefreshedEvent;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingQueue;
@Component
public class AppEventBusService {
public class AppEventBusService implements ApplicationListener<ContextRefreshedEvent> {
public static final Logger logger = LoggerFactory.getLogger(AppEventBusService.class);
Thread eventProcessorThread;
BlockingQueue<AppEvent> eventQueue;
List<AppEventListener> listeners;
BlockingQueue<AppEvent> eventQueue = new LinkedBlockingQueue<>();
List<AppEventListener> listeners = new ArrayList<>();
@PostConstruct
public void init() {
eventQueue = new LinkedBlockingQueue<AppEvent>();
eventProcessorThread = new Thread(new Runnable() {
public void run() {
eventBusSchedule();
}
});
}
public void regListener(AppEventListener listener) {
listeners.add(listener);
}
public void pushEvent(AppEvent event) {
logger.info("pushEvent: {}", event);
eventQueue.add(event);
@ -42,6 +41,7 @@ public class AppEventBusService {
while (!Thread.currentThread().isInterrupted()) {
try {
AppEvent event = eventQueue.take();
callOnEvent(event);
} catch (InterruptedException ignored) {
}
}
@ -53,4 +53,18 @@ public class AppEventBusService {
listener.onAppEvent(event);
}
}
@Override
public void onApplicationEvent(ContextRefreshedEvent event) {
logger.info("Spring context refreshed");
if (eventProcessorThread == null) {
eventProcessorThread = new Thread(new Runnable() {
public void run() {
logger.info("Starting event bus schedule");
eventBusSchedule();
}
});
eventProcessorThread.start();
}
}
}

6
src/main/java/a8k/app_eventbus/appevent/A8kCanBusOnConnectEvent.java
View File

@ -0,0 +1,6 @@
package a8k.app_eventbus.appevent;
public class A8kCanBusOnConnectEvent extends AppEvent {
public A8kCanBusOnConnectEvent() {
}
}

26
src/main/java/a8k/canbus/A8kCanBusService.java
View File

@ -1,5 +1,7 @@
package a8k.canbus;
import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
import a8k.canbus.protocol.*;
import a8k.canbus.protocol.MId;
import a8k.appbean.HardwareException;
@ -8,12 +10,12 @@ import a8k.app_eventbus.appevent.A8kHardwareReport;
import a8k.app_eventbus.AppEventBusService;
import a8k.utils.ByteArray;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;
import org.java_websocket.client.WebSocketClient;
import org.java_websocket.enums.ReadyState;
import org.java_websocket.handshake.ServerHandshake;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.net.URI;
@ -53,8 +55,11 @@ public class A8kCanBusService {
*
*/
@Autowired
private AppEventBusService eventBusService;
@Resource
private AppEventBusService eventBus;
@Resource
private A8kModCustomParamMgr customParamMgr;
public String uri; // assign by application.yml
private WebSocketClient client;
@ -89,7 +94,8 @@ public class A8kCanBusService {
client = new WebSocketClient(uri) {
@Override
public void onOpen(ServerHandshake serverHandshake) {
logger.info("onOpen");
logger.info("a8k canbus connect sucess");
eventBus.pushEvent(new A8kCanBusOnConnectEvent());
}
@Override
@ -99,7 +105,7 @@ public class A8kCanBusService {
@Override
public void onClose(int i, String s, boolean b) {
logger.info("onClose");
logger.warn("a8k canbus lost connection...");
}
@Override
@ -118,7 +124,7 @@ public class A8kCanBusService {
client.connect();
} catch (IllegalStateException e) {
}
} else if (client.getReadyState().equals(ReadyState.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) {
} else if (client.getReadyState().equals(ReadyState.CLOSED)) {
client.reconnect();
}
}
@ -126,6 +132,10 @@ public class A8kCanBusService {
}, 0, 1000);
}
public void forceShutdown() {
client.close();
}
private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
int subCmdId = cmdId & 0xFF;
@ -654,9 +664,7 @@ public class A8kCanBusService {
}
if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) {
if (eventBusService != null) {
eventBusService.pushEvent(new A8kHardwareReport(packet));
}
eventBus.pushEvent(new A8kHardwareReport(packet));
}
}

76
src/main/java/a8k/canbus/A8kModParamInitializer.java
View File

@ -1,16 +1,90 @@
package a8k.canbus;
import a8k.app_eventbus.AppEventBusService;
import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
import a8k.app_eventbus.appevent.AppEvent;
import a8k.appbean.AppEventListener;
import a8k.appbean.HardwareException;
import a8k.canbus.custom_param_mgr.ModCustomParamId;
import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
import a8k.canbus.protocol.MId;
import a8k.canbus.protocol.RegIndex;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
@Component
public class A8kModParamInitializer {
public class A8kModParamInitializer implements AppEventListener {
static Logger logger = LoggerFactory.getLogger(A8kModParamInitializer.class);
@Resource
AppEventBusService eventBus;
@Resource
A8kCanBusService canBus;
@Resource
A8kModCustomParamMgr customParamMgr;
@PostConstruct
public void init() {
logger.info("A8kModInitializer init");
eventBus.regListener(this);
}
public void initA8kCustcomParams() {
customParamMgr.setCustomParam(MId.FeedingModXM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
customParamMgr.setCustomParam(MId.ShakeModGripperZM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
customParamMgr.setCustomParam(MId.ShakeModClampingM, ModCustomParamId.MOTOR_STANDY_POS_COMPENSATE, -10);
}
public void initA8kModParams() throws HardwareException {
/*
* 设置位置偏差容忍度
* 1.如果电机配置有编码器器，则每次调用moveBy,moveTo都会进行位置检查
* 2.如果电机没有配备编码，则每次调用moveQuickToZeroPoint，都会进行一次位置检查
*/
canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
}
public void forceInitA8kModParams() {
try {
logger.info("forceInitA8kModParams");
initA8kModParams();
} catch (HardwareException e) {
logger.error("init hardware param fail......", e);
//TODO:校验这里的逻辑
canBus.forceShutdown();
}
}
@Override
public void onAppEvent(AppEvent event) {
if (event instanceof A8kCanBusOnConnectEvent) {
forceInitA8kModParams();
}
}
}

7
src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParam.java
View File

@ -1,7 +1,10 @@
package a8k.canbus.custom_param_mgr;
import a8k.canbus.protocol.MId;
public class A8kModCustomParam {
public A8kModCustomParamId id;
public Integer value;
MId mid;
public ModCustomParamId id;
public Integer value;
}

32
src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamMgr.java
View File

@ -1,25 +1,35 @@
package a8k.canbus.custom_param_mgr;
import a8k.canbus.protocol.MId;
import org.springframework.stereotype.Component;
import java.util.Map;
import java.util.Set;
@Component
public class A8kModCustomParamMgr {
Map<A8kModCustomParamId, A8kModCustomParam> customParamMap;
Set<A8kModCustomParam> customParamSet;
public Integer getCustomParam(A8kModCustomParamId id) {
var vaule = customParamMap.get(id);
if (vaule != null) {
return vaule.value;
} else {
return id.defaultVal;
public Integer getCustomParam(MId mid, ModCustomParamId id) {
for (A8kModCustomParam param : customParamSet) {
if (param.mid == mid && param.id == id) {
return param.value;
}
}
return id.defaultVal;
}
public void setCustomParam(A8kModCustomParam param) {
customParamMap.put(param.id, param);
public void setCustomParam(MId mid, ModCustomParamId id, Integer val) {
for (A8kModCustomParam param : customParamSet) {
if (param.mid == mid && param.id == id) {
param.value = val;
return;
}
}
A8kModCustomParam param = new A8kModCustomParam();
param.mid = mid;
param.id = id;
param.value = val;
customParamSet.add(param);
}
}

4
src/main/java/a8k/canbus/custom_param_mgr/A8kModCustomParamId.java → src/main/java/a8k/canbus/custom_param_mgr/ModCustomParamId.java
View File

@ -1,13 +1,13 @@
package a8k.canbus.custom_param_mgr;
public enum A8kModCustomParamId {
public enum ModCustomParamId {
MOTOR_STANDY_POS_COMPENSATE("电机待机位置零点补偿"),//待机位置 = 零点- 零点补偿
;
public final String desc;
public final Integer defaultVal;
A8kModCustomParamId(String desc) {
ModCustomParamId(String desc) {
this.desc = desc;
this.defaultVal = 0;
}

3
src/main/java/a8k/canbus/protocol/RegIndex.java
View File

@ -140,6 +140,9 @@ public enum RegIndex {
kreg_step_motor_enc_resolution(10189), // 编码器分辨率 1000,1024,4000,4096,16384
kreg_step_motor_enable_enc(10190), //
kreg_step_motor_dzero_pos(10191), // 驱动器处于调试模式
kret_step_motor_pos_devi_tolerance(10192), // 位置偏差容忍度
kret_step_motor_io_trigger_append_distance(10193), // 移动到io时，附加的距离
/***********************************************************************************************************************
* step_motor *

Write Preview
Loading…
Cancel
Save