project_boditech_vidas_a8000_v3
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a8k_app
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update

tags/v0
zhaohe 1 year ago
parent
d2be6c8092
commit
9ce45c7fe5
2 changed files with 76 additions and 56 deletions
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  1. 88
      src/main/java/a8k/base_hardware/A8kCanBusService.java
  2. 2
      src/main/java/a8k/service/hardware/CommonHardwareOpeartion.java

88
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.MId;
import a8k.appbean.HardwareException;
import a8k.appbean.Pos2d;
import a8k.appbean.appevent.A8kHardwareReport;
import a8k.service.AppEventBusService;
import a8k.utils.ByteArray;
@ -112,8 +113,7 @@ 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.CLOSING) || client.getReadyState().equals(ReadyState.CLOSED)) {
client.reconnect();
}
}
@ -140,9 +140,6 @@ public class A8kCanBusService {
}
//
// module opeation
//
@ -182,24 +179,54 @@ public class A8kCanBusService {
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 {
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);
}
//
@ -355,38 +382,31 @@ public class A8kCanBusService {
return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1});
}
public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2)
throws HardwareException {
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 {
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 {
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 {
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 {
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 {
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 {
public void callblockcmd(Integer moduleId, Integer cmdId, Integer acitionOvertime) throws HardwareException, InterruptedException {
this.callblockcmd(moduleId, cmdId, new Integer[]{}, acitionOvertime);
}
@ -413,7 +433,9 @@ public class A8kCanBusService {
try {
return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
} catch (HardwareException e) {
if (e.getErrorCode() != A8kEcode.Overtime.toInt()); {
if (e.getErrorCode() != A8kEcode.Overtime.toInt())
;
{
throw e;
}
}
@ -421,8 +443,7 @@ public class A8kCanBusService {
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);
this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
@ -505,8 +526,7 @@ public class A8kCanBusService {
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);

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) {}
//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) {}
//转盘归零

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