diff --git a/src/main/java/com/qyft/ms/app/service/CMDService.java b/src/main/java/com/qyft/ms/app/service/CMDService.java index 330c698..0cda5c7 100644 --- a/src/main/java/com/qyft/ms/app/service/CMDService.java +++ b/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 params = form.getParams(); List> 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> cmdList = new ArrayList<>(); Map params = form.getParams(); -double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed")) + + + + Map 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> cmdList = new ArrayList<>(); cmdList.add(deviceTcpCMDService::turnOffSyringePump); - cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false)); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); diff --git a/src/main/java/com/qyft/ms/device/client/TcpClient.java b/src/main/java/com/qyft/ms/device/client/TcpClient.java index b65cd05..0bcda2c 100644 --- a/src/main/java/com/qyft/ms/device/client/TcpClient.java +++ b/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 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 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(); } } diff --git a/src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java b/src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java index 79fd5fe..35d9017 100644 --- a/src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java +++ b/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"; } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/device/config/TcpConfig.java b/src/main/java/com/qyft/ms/device/config/TcpConfig.java index d10cac8..f5a122e 100644 --- a/src/main/java/com/qyft/ms/device/config/TcpConfig.java +++ b/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 */ diff --git a/src/main/java/com/qyft/ms/device/service/DeviceAlarmService.java b/src/main/java/com/qyft/ms/device/service/DeviceAlarmService.java deleted file mode 100644 index 73b0cb8..0000000 --- a/src/main/java/com/qyft/ms/device/service/DeviceAlarmService.java +++ /dev/null @@ -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 { -} diff --git a/src/main/java/com/qyft/ms/device/service/DeviceService.java b/src/main/java/com/qyft/ms/device/service/DeviceService.java deleted file mode 100644 index c84d6a9..0000000 --- a/src/main/java/com/qyft/ms/device/service/DeviceService.java +++ /dev/null @@ -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 { - - -} diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml index 986da8b..a8b1012 100644 --- a/src/main/resources/application.yml +++ b/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 diff --git a/src/test/java/com/qyft/ms/QueueTest.java b/src/test/java/com/qyft/ms/QueueTest.java new file mode 100644 index 0000000..7c95969 --- /dev/null +++ b/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; + } + +} \ No newline at end of file