fix:添加任务队列

src/main/java/com/qyft/ms/app/service/CMDService.java

@@ -171,8 +171,7 @@ public class CMDService {
                 !params.containsKey("routeType") ||
                 !params.containsKey("movementSpeed") ||
                 !params.containsKey("height") ||
-                !params.containsKey("matrixFlowVelocity") ||
-                !params.containsKey("nitrogenFlowVelocity")
+                !params.containsKey("matrixFlowVelocity")
         ) {
             return "参数错误";
         }
@@ -191,6 +190,10 @@ public class CMDService {
         // 设置指定轴的电机的运行速度
         int movementSpeed = (Integer) params.get("movementSpeed");
         cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("X", movementSpeed));
+        cmdList.add(() -> {
+            sysSettingsService.updateWorkStatus("spraying");
+            return true;
+        });
         cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("Y", movementSpeed));
         cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("Z", 10));
 
@@ -228,7 +231,7 @@ public class CMDService {
                     left, right, top, bottom, space, routeType == 1 ? PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN : PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
             );
             log.info("horizontalPath:{}", JSONUtil.toJsonStr(horizontalPath));
-            if(horizontalPath.isEmpty()) {
+            if (horizontalPath.isEmpty()) {
                 return "路径规划失败";
             }
 
@@ -256,7 +259,11 @@ public class CMDService {
             cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
             // 推注射泵
 
-            int matrixFlowVelocity = (int) params.get("matrixFlowVelocity");
+            double matrixFlowVelocity =Optional.ofNullable(params.get("matrixFlowVelocity"))
+                    .filter(Number.class::isInstance)
+                    .map(Number.class::cast)
+                    .map(Number::doubleValue)
+                    .orElse(0.0);
             cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(matrixFlowVelocity));
 
             // 插入日志
@@ -264,15 +271,17 @@ public class CMDService {
                 cmdList.add( () -> {
                     OperationLog operationLog = new OperationLog();
                     operationLog.setStatus(0);
-                    operationLog.setMatrixId((Long) params.get("matrixCraftId"));
+                    Long matrixCraftId = Long.valueOf(Optional.ofNullable(params.get("matrixCraftId"))
+                            .filter(Number.class::isInstance)
+                            .map(Number.class::cast)
+                            .map(Number::intValue)
+                            .orElse(0));
+                    operationLog.setMatrixId(matrixCraftId);
                     operationLog.setMatrixInfo(JSON.toJSONString(params));
                     operationLogService.add(operationLog);
                     return true;
                 });
-                cmdList.add(() -> {
-                    sysSettingsService.updateWorkStatus("spraying");
-                    return true;
-                });
+
             }
             double currentX = left;
             double currentY = top;
@@ -301,7 +310,7 @@ public class CMDService {
         // 关闭高压
         cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         // 回到原点
-        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+//        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
 
@@ -377,9 +386,9 @@ public class CMDService {
         // 关闭高压
         cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         // 关闭喷嘴阀
-        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
         // 回到原点
-        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+//        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
 
@@ -416,6 +425,10 @@ public class CMDService {
         String type = (String) params.get("type");
 
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        cmdList.add(() -> {
+            sysSettingsService.updateWorkStatus("washing");
+            return true;
+        });
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
 
@@ -424,19 +437,16 @@ public class CMDService {
         cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", wasteLiquorPosition.get("x")));
         cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", wasteLiquorPosition.get("z")));
 
-//        type: "injector" | "nozzle"
-        if(Objects.equals(type, "injector")) {
-            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
+//        type: "injector"注射器 | "nozzle"喷涂
+        if(Objects.equals(type, "nozzle")) { // ON_C
+            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_nozzle"));
             cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(1000));
-        } else if (Objects.equals(type, "nozzle")) {
+        } else if (Objects.equals(type, "injector")) { // OFF_C
 
-            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_nozzle"));
+            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
             cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true));
         }
-        cmdList.add(() -> {
-            sysSettingsService.updateWorkStatus("washing");
-            return true;
-        });
+
         initExecutorThread(cmdList, form);
         return true;
     }
@@ -448,6 +458,9 @@ public class CMDService {
         cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", false));
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
         cmdList.add(deviceTcpCMDService::turnOffSyringePump);
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");
             return true;
@@ -465,7 +478,7 @@ public class CMDService {
     public boolean turnOnLightPanel(CMDForm form) {
         Map<String, Object> params = form.getParams();
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.turnOnLightPanel());
+        cmdList.add(deviceTcpCMDService::turnOnLightPanel);
         initExecutorThread(cmdList, form);
         return true;
     }
@@ -484,19 +497,28 @@ public class CMDService {
     public boolean startPrefill(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         Map<String, Object> params = form.getParams();
-double rotationSpeed =  Optional.ofNullable(params.get("rotationSpeed"))
+
+
+
+        Map<String, Double> wasteLiquorPosition = sysSettingsService.getWasteLiquorPosition();
+
+
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", wasteLiquorPosition.get("x")));
+        cmdList.add(() -> {
+            sysSettingsService.updateWorkStatus("prefilling");
+            return true;
+        });
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", wasteLiquorPosition.get("z")));
+
+        double rotationSpeed =  Optional.ofNullable(params.get("rotationSpeed"))
                 .filter(Number.class::isInstance)
                 .map(Number.class::cast)
                 .map(Number::doubleValue)
                 .orElse(0.0);
         cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
 
-        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
         cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed));
-        cmdList.add(() -> {
-            sysSettingsService.updateWorkStatus("prefilling");
-            return true;
-        });
+
         initExecutorThread(cmdList, form);
         return true;
     }
@@ -504,7 +526,6 @@ double rotationSpeed =  Optional.ofNullable(params.get("rotationSpeed"))
     public boolean stopPrefill(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(deviceTcpCMDService::turnOffSyringePump);
-        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
 
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");

src/main/java/com/qyft/ms/device/client/TcpClient.java

@@ -38,7 +38,7 @@ public class TcpClient {
     private Channel channel;
     private Bootstrap bootstrap;
 
-
+    // 初始化方法，在Spring容器启动后调用
     @PostConstruct
     public void init() {
         if (tcpConfig.isEnable()) {
@@ -46,8 +46,10 @@ public class TcpClient {
         }
     }
 
+    // 连接到TCP服务器的方法
     public void connect() {
         try {
+            // 如果Bootstrap对象为空，则初始化它
             if (bootstrap == null) {
                 bootstrap = new Bootstrap();
                 bootstrap.group(group)
@@ -56,55 +58,70 @@ public class TcpClient {
                         .handler(new ChannelInitializer<>() {
                             @Override
                             protected void initChannel(Channel ch) {
+                                // 添加JSON对象解码器到ChannelPipeline
                                 ch.pipeline().addLast(new JsonObjectDecoder());
+                                // 添加设备消息处理器到ChannelPipeline
                                 ch.pipeline().addLast(deviceMessageHandler);
+                                // 添加TCP连接处理器到ChannelPipeline
                                 ch.pipeline().addLast(new TcpConnectionHandler());
                             }
                         });
             }
 
+            // 记录尝试连接到TCP服务器的日志
             log.info("尝试连接到TCP服务 {}:{}", tcpConfig.getHost(), tcpConfig.getPort());
             ChannelFuture future = bootstrap.connect(new InetSocketAddress(tcpConfig.getHost(), tcpConfig.getPort()));
 
+            // 添加连接监听器
             future.addListener((ChannelFutureListener) f -> {
                 if (f.isSuccess()) {
+                    // 连接成功，记录日志并设置channel
                     channel = f.channel();
                     log.info("已链接到TCP服务");
                 } else {
+                    // 连接失败，记录日志并安排重试
                     log.error("无法连接到TCP服务. {}ms后重试...", tcpConfig.getReconnect());
                     f.channel().eventLoop().schedule(this::connect, tcpConfig.getReconnect(), TimeUnit.MILLISECONDS);
                 }
             });
 
         } catch (Exception e) {
+            // 捕获并记录连接过程中发生的异常
             log.error("尝试连接到TCP服务发生意外错误: {}", e.getMessage(), e);
         }
     }
 
+    // 定时检查TCP连接的方法
     @Scheduled(fixedRateString = "${tcp.reconnect}")
     public void checkConnection() {
         if (channel == null || !channel.isActive()) {
+            // 如果连接丢失，记录日志并尝试重新连接
             log.error("TCP服务链接丢失");
             connect();
         }
     }
 
+    // 发送字符串请求到TCP服务器的方法
     public boolean send(String request) {
         if (channel != null && channel.isActive()) {
+            // 如果连接有效，发送请求并返回true
             channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8));
             return true;
         } else {
+            // 如果连接无效，记录日志并返回false
             log.error("TCP服务未连接，无法发送请求: {}", request);
             return false;
         }
     }
 
+    // 发送JSON-RPC命令到TCP服务器的方法，仅包含方法名
     public DeviceFeedback sendCommand(String method) {
         JsonRpcRequest request = new JsonRpcRequest();
         request.setMethod(method);
         return this.sendCommand(request);
     }
 
+    // 发送JSON-RPC命令到TCP服务器的方法，包含方法名和参数
     public DeviceFeedback sendCommand(String method, Map<String, Object> params) {
         JsonRpcRequest request = new JsonRpcRequest();
         request.setMethod(method);
@@ -112,47 +129,61 @@ public class TcpClient {
         return this.sendCommand(request);
     }
 
+    // 发送JSON-RPC命令到TCP服务器的方法，包含完整的JsonRpcRequest对象
     public DeviceFeedback sendCommand(JsonRpcRequest request) {
         if (request.getId() == null) {
+            // 如果请求ID为空，则生成一个新的UUID作为ID
             request.setId(UUID.randomUUID().toString());
         }
         CompletableFuture<DeviceFeedback> future = new CompletableFuture<>();
         deviceMessageHandler.responseMap.put(request.getId(), future);
         try {
             if (request.getParams() == null) {
+                // 如果请求参数为空，则初始化一个空的HashMap
                 request.setParams(new HashMap<>());
             }
+            // 将请求对象转换为JSON字符串
             String requestJsonStr = JSONUtil.toJsonStr(request);
             log.info("发送TCP指令（同步） {}", requestJsonStr);
+            // 发送请求到服务器，并等待响应
             if (this.send(requestJsonStr)) {
                 return future.get(tcpConfig.getFeedbackTimeout(), TimeUnit.MILLISECONDS); // 等待 FEEDBACK 响应
             } else {
                 return null;
             }
         } catch (Exception e) {
+            // 捕获并记录发送过程中发生的异常
             log.error("发送TCP指令错误（同步） {}", JSONUtil.toJsonStr(request), e);
         } finally {
-            deviceMessageHandler.responseMap.remove(request.getId()); //确保完成后移除
+            // 确保请求完成后从responseMap中移除对应的Future
+            deviceMessageHandler.responseMap.remove(request.getId());
         }
         return null;
     }
 
+    // 内部类，处理TCP连接事件
     private class TcpConnectionHandler extends ChannelInboundHandlerAdapter {
 
+        // 处理连接断开事件
         @Override
         public void channelInactive(ChannelHandlerContext ctx) throws Exception {
-            // 连接断开时的处理逻辑
+            // 记录连接断开的日志
             log.error("TCP连接丢失，准备重新连接...");
             if (channel != null) {
+                // 关闭当前channel
                 channel.close();
             }
+            // 尝试重新连接
             connect();
             super.channelInactive(ctx);
         }
 
+        // 处理异常事件
         @Override
         public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
+            // 记录异常日志
             log.error("TCP连接发生异常: {}", cause.getMessage(), cause);
+            // 关闭当前channel
             ctx.close();
         }
     }

src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java

@@ -28,12 +28,8 @@ public class DeviceCommands {
     // 停止注射泵
     public static final String TURN_OFF_SYRINGE_PUMP = "turnOffSyringePump";
 
-
-    public static final String SYRINGE_PUMP_MOVE_AT_SPEED = "syringePumpMoveAtSpeed";
-    public static final String SYRINGE_PUMP_STOP = "syringePumpStop";
-    public static final String SYRINGE_PUMP_START = "syringePumpStart";
     public static final String STOP_MOTOR = "stopMotor";
-    public static final String START_DEHUMIDIFY = "startDehumidify";
+
     public static final String SWITCH_THREE_WAY_VALVE = "switchThreeWayValve";
 
 }

src/main/java/com/qyft/ms/device/config/TcpConfig.java

@@ -12,6 +12,11 @@ public class TcpConfig {
      * 是否启用 TCP 连接
      */
     private boolean enable;
+
+    /**
+     * 是否开启本地tcp服务器
+     */
+    private boolean serverEnable;
     /**
      * TCP 链接地址
      */

src/main/java/com/qyft/ms/device/service/DeviceAlarmService.java

@@ -1,12 +0,0 @@
-package com.qyft.ms.device.service;
-
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Service;
-
-/**
- * 设备报警服务
- */
-@Service
-@RequiredArgsConstructor
-public class DeviceAlarmService {
-}

src/main/java/com/qyft/ms/device/service/DeviceService.java

@@ -1,14 +0,0 @@
-package com.qyft.ms.device.service;
-
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Service;
-
-/**
- * 设备操作
- */
-@Service
-@RequiredArgsConstructor
-public class DeviceService {
-
-
-}

src/main/resources/application.yml

@@ -35,6 +35,7 @@ jwt:
 #与设备TCP链接
 tcp:
   enable: true    # 是否开启 TCP 连接
+  server-enable: true    # 是否开启 TCP 连接
   host: 127.0.0.1
 #  host: 192.168.1.140
   port: 9080

src/test/java/com/qyft/ms/QueueTest.java

@@ -0,0 +1,40 @@
+package com.qyft.ms;
+
+import com.qyft.ms.device.service.TaskQueueManager;
+
+public class QueueTest {
+    public static void main(String[] args) {
+        TaskQueueManager taskQueueManager = new TaskQueueManager();
+
+        // 添加几个任务到队列中
+        taskQueueManager.addTask(() -> test(10000,1));
+        taskQueueManager.addTask(() -> test(10000,2));
+        taskQueueManager.addTask(() ->test(10000,3));
+
+        // 开始执行任务
+        taskQueueManager.start();
+
+        try {
+            Thread.sleep(15000);
+            taskQueueManager.pause();
+            System.out.println("暂停");
+            taskQueueManager.addTask(0, () -> test(10000,4));
+            taskQueueManager.resume();
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+        }
+    }
+
+    public static Runnable test(int time, int num) {
+            try {
+                System.out.println("任务"+num+"开始执行");
+                Thread.sleep(time); // 模拟耗时操作
+                System.out.println("任务"+num+"执行完成");
+            } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+            }
+
+        return null;
+    }
+    
+}