Пример #1
0
  @EventSubscribe
  @MQTTPath(group = MessageGroup.COMMANDS, device = "servos", label = "position")
  public void convert(MQTTMessage mqttMessage) {
    LOG.debug(
        "Executing Servo command from topic: {}", mqttMessage.getMessage(), mqttMessage.getTopic());
    BasicCommand basicCommand = mapFromJson(mqttMessage.getMessage(), BasicCommandImpl.class);

    Robot robot = robotRegistry.getRobot(basicCommand.getControllerId());
    ServoDriver servoDriver = robot.getServoDriver();

    String servoPosition = basicCommand.getProperty("position");
    String servoId = basicCommand.getProperty("servoId");
    String speed = basicCommand.getProperty("speed");
    if (StringUtils.hasText(servoPosition) && StringUtils.hasText(servoId)) {
      LOG.info("Setting servo: {} to position: {}", servoId, servoPosition);

      if (StringUtils.hasText(speed)) {
        servoDriver.setPositionAndSpeed(
            servoId, IntUtils.toInt(speed, DEFAULT_SPEED), IntUtils.toSafeInt(servoPosition));
      } else {
        servoDriver.setTargetPosition(servoId, IntUtils.toSafeInt(servoPosition));
      }
    } else {
      LOG.warn("Received servo command, but no servoId or Position specified");
    }
  }
Пример #2
0
  @EventSubscribe
  @MQTTPath(group = MessageGroup.COMMANDS, device = "servos", label = "torgue")
  public void torgue(MQTTMessage mqttMessage) {
    LOG.debug(
        "Executing Servo command from topic: {}", mqttMessage.getMessage(), mqttMessage.getTopic());
    BasicCommand basicCommand = mapFromJson(mqttMessage.getMessage(), BasicCommandImpl.class);

    Robot robot = robotRegistry.getRobot(basicCommand.getControllerId());
    ServoDriver servoDriver = robot.getServoDriver();

    String servoId = basicCommand.getProperty("servoId");
    boolean torgueEnabled = Boolean.parseBoolean(basicCommand.getProperty("torgue"));
    Optional<Integer> tl = IntUtils.toInt(basicCommand.getProperty("torgueLimit"));
    if (tl.isPresent()) {
      servoDriver.setTorgue(servoId, tl.get());
    } else {
      servoDriver.setTorgue(servoId, torgueEnabled);
    }
  }