project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 1 year ago
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d2be6c8092
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9ce45c7fe5
2 changed files with 76 additions and 56 deletions
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  1. 130
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  2. 2
      src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java

130
src/main/java/a8k/base_hardware/A8kCanBusService.java
View File

@ -3,6 +3,7 @@ package a8k.base_hardware;
import a8k.a8k_can_protocol.*; import a8k.a8k_can_protocol.*;
import a8k.a8k_can_protocol.MId; import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException; import a8k.appbean.HardwareException;
import a8k.appbean.Pos2d;
import a8k.appbean.appevent.A8kHardwareReport; import a8k.appbean.appevent.A8kHardwareReport;
import a8k.service.AppEventBusService; import a8k.service.AppEventBusService;
import a8k.utils.ByteArray; import a8k.utils.ByteArray;
@ -53,21 +54,21 @@ public class A8kCanBusService {
@Autowired @Autowired
private AppEventBusService eventBusService; private AppEventBusService eventBusService;
public String uri; // assign by application.yml
public String uri; // assign by application.yml
private WebSocketClient client; private WebSocketClient client;
// 接收回执上下文 // 接收回执上下文
public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<A8kPacket>(); // public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<A8kPacket>(); //
boolean isWaitingReceipt = false; //
int waitingReceiptIndex = 0;//
boolean isWaitingReceipt = false; //
int waitingReceiptIndex = 0;//
// 发送包的packetIndex // 发送包的packetIndex
int packetIndex = 0;// int packetIndex = 0;//
// 调试标志位 // 调试标志位
boolean debugFlag = true;//
boolean debugFlag = true;//
// websocket自动重连时间 // websocket自动重连时间
Timer autoConnectTimer = new Timer();//
Timer autoConnectTimer = new Timer();//
@PostConstruct @PostConstruct
public void init() throws URISyntaxException { public void init() throws URISyntaxException {
@ -112,8 +113,7 @@ public class A8kCanBusService {
client.connect(); client.connect();
} catch (IllegalStateException e) { } catch (IllegalStateException e) {
} }
} else if (client.getReadyState().equals(ReadyState.CLOSING)
|| client.getReadyState().equals(ReadyState.CLOSED)) {
} else if (client.getReadyState().equals(ReadyState.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) {
client.reconnect(); client.reconnect();
} }
} }
@ -122,8 +122,8 @@ public class A8kCanBusService {
} }
private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) { private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
int subCmdId = cmdId & 0xFF;
int mainCmdId = (cmdId >> 8) & 0xFFFF;
int subCmdId = cmdId & 0xFF;
int mainCmdId = (cmdId >> 8) & 0xFFFF;
int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType - int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType -
// ModuleId - Parameters // ModuleId - Parameters
ByteBuffer buffer = ByteBuffer.allocate(bufferSize); ByteBuffer buffer = ByteBuffer.allocate(bufferSize);
@ -140,9 +140,6 @@ public class A8kCanBusService {
} }
// //
// module opeation // module opeation
// //
@ -182,24 +179,54 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.kmodule_active_cfg); callcmd(id.toInt(), CmdId.kmodule_active_cfg);
} }
// public static final int kxymotor_enable = 0x0301;
// public static final int kxymotor_move_by = 0x0302;
// public static final int kxymotor_move_to = 0x0303;
// public static final int kxymotor_move_to_zero = 0x0304;
// public static final int kxymotor_read_pos = 0x0306;
// public static final int kxymotor_read_inio_index_in_stm32 = 0x0307;
// public static final int kxymotor_read_inio = 0x0308;
// public static final int kxymotor_set_pos = 0x0309;
// public static final int kxymotor_motor_move_by_direct = 0x030a;
// public static final int kxymotor_read_enc_direct = 0x030b;
public void hbotEnable(MId mid, int enable) throws HardwareException { public void hbotEnable(MId mid, int enable) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_enable, enable); callcmd(mid.toInt(), CmdId.kxymotor_enable, enable);
} }
public void hbotMoveBy(MId mid, int x, int y) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_move_by, x, y);
}
public void hbotMoveTo(MId mid, int x, int y) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_move_to, x, y);
}
public void hbotMoveToZero(MId mid) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_move_to_zero);
}
public Pos2d hbotReadPos(MId mid) throws HardwareException {
Pos2d pos = new Pos2d(0, 0);
var packet = callcmd(mid.toInt(), CmdId.kxymotor_read_pos);
pos.x = packet.getContentI32(0);
pos.y = packet.getContentI32(1);
return pos;
}
public int hbotReadInio(MId mid) throws HardwareException {
var packet = callcmd(mid.toInt(), CmdId.kxymotor_read_inio);
return packet.getContentI32(0);
}
public void hbotSetPos(MId mid, int x, int y) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_set_pos, x, y);
}
public void hbotMoveByDirect(MId mid, int motor1_dpos, int motor2_dpos) throws HardwareException {
callcmd(mid.toInt(), CmdId.kxymotor_motor_move_by_direct, motor1_dpos, motor2_dpos);
}
public int hbotReadEncDirect(MId mid) throws HardwareException {
var packet = callcmd(mid.toInt(), CmdId.kxymotor_read_enc_direct);
return packet.getContentI32(0);
}
public int hbotReadInioIndexInStm32(MId mid, int ioIndex) throws HardwareException {
var packet = callcmd(mid.toInt(), CmdId.kxymotor_read_inio_index_in_stm32, ioIndex);
return packet.getContentI32(0);
}
// //
@ -344,50 +371,43 @@ public class A8kCanBusService {
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] {});
return this.callcmd(moduleId, cmdId, new Integer[]{});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0 });
return this.callcmd(moduleId, cmdId, new Integer[]{p0});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException { public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1 });
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2)
throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 });
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2});
} }
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3)
throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 });
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) throws HardwareException {
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3});
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3,
Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2, p3 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2,
Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1, p2 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1, p2}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0, p1 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0, p1}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] { p0 }, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer p0, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{p0}, acitionOvertime);
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime)
throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[] {}, acitionOvertime);
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime);
} }
// TODO // TODO
@ -413,7 +433,9 @@ public class A8kCanBusService {
try { try {
return this.sendCmd(pack, A8kPacket.CMD_OVERTIME); return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
} catch (HardwareException e) { } catch (HardwareException e) {
if (e.getErrorCode() != A8kEcode.Overtime.toInt()); {
if (e.getErrorCode() != A8kEcode.Overtime.toInt())
;
{
throw e; throw e;
} }
} }
@ -421,8 +443,7 @@ public class A8kCanBusService {
return null; return null;
} }
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime)
throws HardwareException, InterruptedException {
public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {
var packet = this.packParamsToPacket(moduleId, cmdId, params); var packet = this.packParamsToPacket(moduleId, cmdId, params);
this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME); this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
@ -432,7 +453,7 @@ public class A8kCanBusService {
long startedAt = System.currentTimeMillis(); long startedAt = System.currentTimeMillis();
do { do {
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[] {});
var pack = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{});
var status = pack.getContentI32(0); var status = pack.getContentI32(0);
if (0 == status) { if (0 == status) {
break; break;
@ -450,7 +471,7 @@ public class A8kCanBusService {
private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException { private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException {
pack.setPacketIndex(packetIndex); pack.setPacketIndex(packetIndex);
waitingReceiptIndex = packetIndex; waitingReceiptIndex = packetIndex;
packetIndex = packetIndex + 1;
packetIndex = packetIndex + 1;
if (packetIndex > 10000) { if (packetIndex > 10000) {
packetIndex = 1; packetIndex = 1;
} }
@ -505,8 +526,7 @@ public class A8kCanBusService {
logger.info("RX {}:({})", packet, rx); 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 (isWaitingReceipt) {
if (waitingReceiptIndex == packet.getPacketIndex()) { if (waitingReceiptIndex == packet.getPacketIndex()) {
receiptQueue.add(packet); receiptQueue.add(packet);

2
src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java
View File

@ -147,7 +147,7 @@ public class CommonHardwareOpeartion {
try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {} try {canBus.stepMotorEnable(MId.OptModScannerM, 0);} catch (HardwareException ignored) {}
//HBot初始化 //HBot初始化
// try {canBus.stepMotorEnable(MId.HbotM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.HbotM, 0);} catch (HardwareException ignored) {}
try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {} try {canBus.stepMotorEnable(MId.PipetteModZM, 0);} catch (HardwareException ignored) {}
//转盘归零 //转盘归零

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