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+492,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_angle,0 +493,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_temp,70 +494,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_voltage,90 +495,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_min_voltage,45 +496,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_torque,1000 +497,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_unload_condition,32 +498,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_protect_current,256 +499,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_protect_torque,0 +500,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_protect_time,0 +501,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_overload_torque,0 +502,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_acc,0 +503,ShakeModLiftingSV,kreg_mini_servo_servo_min_angle,20 +504,ShakeModLiftingSV,kreg_mini_servo_servo_max_angle,1003 +505,ShakeModLiftingSV,kreg_mini_servo_servo_max_temp,70 +506,ShakeModLiftingSV,kreg_mini_servo_servo_max_voltage,90 +507,ShakeModLiftingSV,kreg_mini_servo_servo_min_voltage,45 +508,ShakeModLiftingSV,kreg_mini_servo_servo_max_torque,1000 +509,ShakeModLiftingSV,kreg_mini_servo_servo_unload_condition,32 +510,ShakeModLiftingSV,kreg_mini_servo_servo_protect_current,256 +511,ShakeModLiftingSV,kreg_mini_servo_servo_protect_torque,0 +512,ShakeModLiftingSV,kreg_mini_servo_servo_protect_time,0 +513,ShakeModLiftingSV,kreg_mini_servo_servo_overload_torque,0 +514,ShakeModLiftingSV,kreg_mini_servo_servo_acc,0 +515,OptMod,kreg_a8k_opt_f_scan_vdefault,280 +516,OptMod,kreg_a8k_opt_f_scan_vstart,280 +517,OptMod,kreg_a8k_opt_f_scan_a1,280 +518,OptMod,kreg_a8k_opt_f_scan_amax,280 +519,OptMod,kreg_a8k_opt_f_scan_v1,280 +520,OptMod,kreg_a8k_opt_f_scan_dmax,280 +521,OptMod,kreg_a8k_opt_f_scan_d1,280 +522,OptMod,kreg_a8k_opt_f_scan_vstop,280 +523,OptMod,kreg_a8k_opt_f_scan_tzerowait,0 +524,OptMod,kreg_a8k_opt_f_scan_irun,4 +525,OptMod,kreg_a8k_opt_t_scan_vdefault,200 +526,OptMod,kreg_a8k_opt_t_scan_vstart,200 +527,OptMod,kreg_a8k_opt_t_scan_a1,200 +528,OptMod,kreg_a8k_opt_t_scan_amax,200 +529,OptMod,kreg_a8k_opt_t_scan_v1,200 +530,OptMod,kreg_a8k_opt_t_scan_dmax,200 +531,OptMod,kreg_a8k_opt_t_scan_d1,200 +532,OptMod,kreg_a8k_opt_t_scan_vstop,200 +533,OptMod,kreg_a8k_opt_t_scan_tzerowait,0 +534,OptMod,kreg_a8k_opt_t_scan_irun,4 +535,OptMod,kreg_a8k_opt_barcode_scan_vdefault,300 +536,OptMod,kreg_a8k_opt_barcode_scan_vstart,300 +537,OptMod,kreg_a8k_opt_barcode_scan_a1,300 +538,OptMod,kreg_a8k_opt_barcode_scan_amax,300 +539,OptMod,kreg_a8k_opt_barcode_scan_v1,300 +540,OptMod,kreg_a8k_opt_barcode_scan_dmax,300 +541,OptMod,kreg_a8k_opt_barcode_scan_d1,300 +542,OptMod,kreg_a8k_opt_barcode_scan_vstop,300 +543,OptMod,kreg_a8k_opt_barcode_scan_tzerowait,0 +544,OptMod,kreg_a8k_opt_barcode_scan_irun,12 \ No newline at end of file diff --git a/src/main/java/a8k/app/channel/net/BiLisDoubleTrackTcpClient.java b/src/main/java/a8k/app/channel/net/BiLisDoubleTrackTcpClient.java index c014325..275ca24 100644 --- a/src/main/java/a8k/app/channel/net/BiLisDoubleTrackTcpClient.java +++ b/src/main/java/a8k/app/channel/net/BiLisDoubleTrackTcpClient.java @@ -19,8 +19,8 @@ import java.util.concurrent.TimeUnit; @Slf4j @ChannelHandler.Sharable public class BiLisDoubleTrackTcpClient extends ChannelInboundHandlerAdapter { - private final static Integer reconnectDelay = 5; // 重连延迟时间，单位秒 - private final static Integer readIDLETime = 30; // 重连延迟时间，单位秒 + private final static Integer reconnectDelay = 5; // 重连延迟时间， + private final static Integer readIDLETime = 30; // 重连延迟时间， private final static Integer rxBufferSize = 1024; // 接收数据缓冲区大小，单位字节 @FunctionalInterface @@ -58,7 +58,7 @@ public class BiLisDoubleTrackTcpClient extends ChannelInboundHandlerAdapter { .handler(new ChannelInitializer() { @Override protected void initChannel(SocketChannel ch) { - // 添加空闲状态检测，100ms没有读取就触发 + // 添加空闲状态检测 ch.pipeline().addLast(new IdleStateHandler(readIDLETime, 0, 0, TimeUnit.MILLISECONDS)); ch.pipeline().addLast(BiLisDoubleTrackTcpClient.this); } @@ -100,6 +100,7 @@ public class BiLisDoubleTrackTcpClient extends ChannelInboundHandlerAdapter { log.error("Failed to send data tail,{}", future.cause().getMessage()); } }); + log.debug("TX:{}", ByteArrayUtils.toByteString(data)); } else { log.warn("Channel is not active, cannot send data: {}", data); // 可以考虑在这里实现消息队列，等连接恢复后重发 @@ -122,7 +123,7 @@ public class BiLisDoubleTrackTcpClient extends ChannelInboundHandlerAdapter { // PRIVATE // private void reportRxData(byte[] data) { - log.debug("Received raw data ({} bytes): {}", data.length, ByteArrayUtils.toByteString(data)); + log.debug("RX:({} bytes): {}", data.length, ByteArrayUtils.toByteString(data)); if (onDataReceivedListener != null) { onDataReceivedListener.onDataReceived(data); } else { diff --git a/src/main/java/a8k/app/service/lis/BiLisDoubleTrackChannel.java b/src/main/java/a8k/app/service/lis/BiLisDoubleTrackChannel.java index d099969..d96585b 100644 --- a/src/main/java/a8k/app/service/lis/BiLisDoubleTrackChannel.java +++ b/src/main/java/a8k/app/service/lis/BiLisDoubleTrackChannel.java @@ -2,8 +2,12 @@ package a8k.app.service.lis; import a8k.app.channel.iflytophald.channel.LisUartChannel; import a8k.app.channel.net.BiLisDoubleTrackTcpClient; +import a8k.app.constant.AppConstant; +import a8k.app.factory.BiLisDoubleTrackFrameFactory; import a8k.app.type.lisprotocol.BiLisDoubleTrackFrame; +import a8k.app.utils.ByteArrayUtils; import a8k.app.utils.ThreadUtils; +import a8k.app.utils.ZByteRxBuffer; import io.netty.buffer.ByteBuf; import io.netty.buffer.Unpooled; import lombok.extern.slf4j.Slf4j; @@ -29,8 +33,8 @@ public class BiLisDoubleTrackChannel { ChannelType channelType; - //State - private final ByteBuf rxBuffer = Unpooled.buffer(BiLisDoubleTrackFrame.PACKET_MAX_LENGTH); // 接收数据缓冲区，初始大小为1024字节 + final ZByteRxBuffer rxBuffer = new ZByteRxBuffer(BiLisDoubleTrackFrame.PACKET_MAX_LENGTH); // 接收数据缓冲区，初始大小为1024字节 + boolean connectedState = false; boolean isShuttingDown = false; @@ -48,6 +52,7 @@ public class BiLisDoubleTrackChannel { public void start() { isShuttingDown = false; + switch (channelType) { case TCP -> { biLisDoubleTrackTcpClient.regRxMessageListener(this::onRxFromTCP); @@ -88,39 +93,51 @@ public class BiLisDoubleTrackChannel { * 1. 发送ENQ（0x05）到服务器 * 2. 服务器2秒内回复ACK（0x06）或NAK（0x15） * 3. 如果收到ACK，发送ACK（0x06）作为确认 + * 示意: + * 244 TX->05 + * 358 RX<-06 (回执大概100ms左右) + * 380 TX->04 */ - if (!isChannelReady()) return false; - synchronized (rxBuffer) { - rxBuffer.clear(); - } + + rxBuffer.clear(); txBytes(new byte[]{BiLisDoubleTrackFrame.ENQ}); - boolean rxAckOrNak = ThreadUtils.waitingForSomeCondition("BiLisDoubleTrackChannel.rx", 100, 2000, - () -> { - synchronized (rxBuffer) { - return rxBuffer.readableBytes() == 1 && - (rxBuffer.getByte(0) == BiLisDoubleTrackFrame.ACK || rxBuffer.getByte(0) == BiLisDoubleTrackFrame.NAK); - } - }); - - if (rxAckOrNak) { - txBytes(new byte[]{BiLisDoubleTrackFrame.ACK}); - } + boolean rxAckOrNak = ThreadUtils.waitingForSomeCondition("BiLisDoubleTrackChannel.rx", 30, 2000, + () -> rxBuffer.readableBytes() == 1 && + (rxBuffer.getByte(0) == BiLisDoubleTrackFrame.ACK || rxBuffer.getByte(0) == BiLisDoubleTrackFrame.NAK)); + //无论收到ACK还是NAK，都发送EOT结束 + txBytes(new byte[]{BiLisDoubleTrackFrame.EOT}); return rxAckOrNak; } - // synchronized BiLisDoubleTrackFrame requestSampleInfo(String barcode) { - // /* - // * 请求样本信息协议 - // * TX: FN Q|A5000P|^1111 C1 C2 - // * RX: FN O|A10|123456789||^COVID-19 Ab^^\^COVID-19 nAb^^|1||20211201125654 C1 C2 (2s超时) - // * TX: - // * RX: - // */ - // - // } + synchronized BiLisDoubleTrackFrame requestSampleInfo(String barcode) { + /* + * 请求样本信息协议 + * TX: FN Q|A5000P|^1111 C1 C2 + * RX: FN O|A10|123456789||^COVID-19 Ab^^\^COVID-19 nAb^^|1||20211201125654 C1 C2 (2s超时) + * TX: + * RX: + */ + rxBuffer.clear(); + var cxt = BiLisDoubleTrackFrameFactory.createQFrameBytes(AppConstant.deviceTypeName, barcode); + txBytes(cxt.frameBytes); + + boolean rxAckOrNak = ThreadUtils.waitingForSomeCondition("BiLisDoubleTrackChannel", 30, 2000, + () -> rxBuffer.readableBytes() != 0); + + byte[] rxData = rxBuffer.cpy(); + log.info("RX: {}", ByteArrayUtils.toByteString(rxData)); + + txBytes(new byte[]{BiLisDoubleTrackFrame.ACK}); + + //waiting for EOT + ThreadUtils.waitingForSomeCondition("BiLisDoubleTrackChannel", 30, 2000, + () -> rxBuffer.readableBytes() != 0); + + return null; + } synchronized public boolean isChannelReady() { @@ -141,15 +158,11 @@ public class BiLisDoubleTrackChannel { void onRxFromTCP(byte[] data) { - synchronized (rxBuffer) { - rxBuffer.writeBytes(data); - } + rxBuffer.push(data, data.length); } void onRxFromUART(byte[] data) { - synchronized (rxBuffer) { - rxBuffer.writeBytes(data); - } + rxBuffer.push(data, data.length); } void txBytes(byte[] data) { @@ -162,11 +175,18 @@ public class BiLisDoubleTrackChannel { private void monitorThread() { while (!isShuttingDown) { if (connectedState) { - ThreadUtils.trySleep(PING_PERIOD); + ThreadUtils.trySleep(1000); } else { ThreadUtils.trySleep(1000); } - connectedState = ping(); + boolean state = ping(); + if (state) { + connectedState = true; + } else { + connectedState = false; + log.warn("BiLisDoubleTrackChannel: Ping失败"); + } + } } diff --git a/src/main/java/a8k/app/utils/ThreadUtils.java b/src/main/java/a8k/app/utils/ThreadUtils.java index dbb5bc5..817c9b5 100644 --- a/src/main/java/a8k/app/utils/ThreadUtils.java +++ b/src/main/java/a8k/app/utils/ThreadUtils.java @@ -28,9 +28,13 @@ public class ThreadUtils { static public void forceSleep(long millis) { boolean isInterrupted = false; long startTime = System.currentTimeMillis(); - while (System.currentTimeMillis() - startTime < millis) { + while (true) { + int remainingTime = (int) (millis - (System.currentTimeMillis() - startTime)); + if(remainingTime <= 0) { + break; + } try { - Thread.sleep(100); // 每隔100毫秒检查一次 + Thread.sleep(remainingTime+1); // 每隔100毫秒检查一次 } catch (InterruptedException e) { isInterrupted = true; } @@ -57,9 +61,11 @@ public class ThreadUtils { while (System.currentTimeMillis() - startTime < timeoutMillis) { if (condition.isConditionMet()) return true; // 如果条件满足，直接返回 - log.info("Waiting for condition: {}", conditionName); - forceSleep(100); // 每隔100毫秒重试一次 + log.debug("Waiting for condition: {}", conditionName); + forceSleep(retryIntervalMillis); // 每隔100毫秒重试一次 } + + log.debug("Condition '{}' not met within timeout of {} ms", conditionName, timeoutMillis); return false; } } diff --git a/src/main/java/a8k/app/utils/ZByteRxBuffer.java b/src/main/java/a8k/app/utils/ZByteRxBuffer.java new file mode 100644 index 0000000..93df547 --- /dev/null +++ b/src/main/java/a8k/app/utils/ZByteRxBuffer.java @@ -0,0 +1,74 @@ +package a8k.app.utils; + + +import java.util.concurrent.Semaphore; + +public class ZByteRxBuffer { + + byte[] buff; + int off = 0; + boolean overflowFlag = false; + Semaphore sem = new Semaphore(0); + + public ZByteRxBuffer(int size) { + buff = new byte[size]; + } + + + synchronized public void push(byte[] data, int len) { + if (len + off > buff.length) { + overflowFlag = true; + return; + } + System.arraycopy(data, 0, buff, off, len); + off += len; + sem.release(); + } + + public void waitData() { + try { + sem.acquire(); + } catch (InterruptedException ignored) { + } + } + + public synchronized int readableBytes() { + return off; + } + + public synchronized byte getByte(int index) { + if (index < 0 || index >= off) { + return 0; + } + return buff[index]; + } + + + synchronized public void clear() { + off = 0; + overflowFlag = false; + } + + synchronized public boolean isOverflow() { + return overflowFlag; + } + + synchronized public byte[] cpy() { + byte[] ret = new byte[off]; + System.arraycopy(buff, 0, ret, 0, off); + return ret; + } + + synchronized public void pop(int rmlen) { + if (rmlen >= off) { + off = 0; + return; + } + byte[] tmp = new byte[buff.length]; + System.arraycopy(buff, rmlen, tmp, 0, off - rmlen); + off -= rmlen; + System.arraycopy(tmp, 0, buff, 0, off); + + } + +} \ No newline at end of file diff --git a/src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java b/src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java index 57e33fb..4960648 100644 --- a/src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java +++ b/src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java @@ -3,6 +3,7 @@ package a8k.extui.mgr; import a8k.app.utils.ZList; import a8k.extui.page.apptest.LisTestPage; import a8k.extui.page.apptest.PrinterDebugPage; +import a8k.extui.page.codetest.BiLisDoubleTrackChannelTestPage; import a8k.extui.page.debug.*; import a8k.extui.page.driver.*; import a8k.extui.page.driver.pipette_module.*; @@ -207,7 +208,8 @@ public class ExtApiPageGroupCfgMgr { )), new Menu("代码测试", ZList.of( new Menu(OptFormulaTestPageV2.class, "光学公式测试1"), - new Menu(OptFormulaTestPage.class, "光学公式测试2") + new Menu(OptFormulaTestPage.class, "光学公式测试2"), + new Menu(BiLisDoubleTrackChannelTestPage.class, "BiLis双通道测试") )), new Menu("前端测试助手", ZList.of( new Menu(FakeReactionRecordGeneratorPage.class, "虚拟反应记录生成"), diff --git a/src/main/java/a8k/extui/page/codetest/BiLisDoubleTrackChannelTestPage.java b/src/main/java/a8k/extui/page/codetest/BiLisDoubleTrackChannelTestPage.java new file mode 100644 index 0000000..fee2062 --- /dev/null +++ b/src/main/java/a8k/extui/page/codetest/BiLisDoubleTrackChannelTestPage.java @@ -0,0 +1,50 @@ +package a8k.extui.page.codetest; + +import a8k.app.service.lis.BiLisDoubleTrackChannel; +import a8k.extui.mgr.ExtApiPageMgr; +import jakarta.annotation.PostConstruct; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +@Component +@Slf4j +@RequiredArgsConstructor +public class BiLisDoubleTrackChannelTestPage { + + private final ExtApiPageMgr extApiPageMgr; + private String serverip = "127.0.0.1"; + private String serverPort = "9973"; + + BiLisDoubleTrackChannel biLisDoubleTrackChannel; + + + synchronized public void setServeripAndPort(String serverip, String serverPort) { + this.serverip = serverip; + this.serverPort = serverPort; + } + + synchronized public void newConnect() { + biLisDoubleTrackChannel = new BiLisDoubleTrackChannel(serverip, Integer.parseInt(serverPort)); + biLisDoubleTrackChannel.start(); + log.info("新建连接: {}:{}", serverip, serverPort); + } + + synchronized public void execPing() { + biLisDoubleTrackChannel.ping(); + } + + @PostConstruct + public void init() { + var page = extApiPageMgr.newPage(this); + page.addFunction("设置服务器IP和端口", this::setServeripAndPort) + .setParamVal("serverip", () -> serverip) + .setParamVal("serverPort", () -> serverPort); + page.addFunction("新建连接", this::newConnect); + page.addFunction("执行Ping", this::execPing); + + extApiPageMgr.addPage(page); + } + + +}