注射泵调试代码

src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java

@@ -0,0 +1,111 @@
+package com.qyft.ms.app.handler.debugimpl;
+
+import cn.hutool.json.JSONObject;
+import com.qyft.ms.app.common.annotation.CommandMapping;
+import com.qyft.ms.app.common.command.CommandFuture;
+import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+import com.qyft.ms.app.common.command.DeviceCommandGenerator;
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.handler.CommandHandler;
+import com.qyft.ms.app.model.bo.CMDToDevice;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.client.TcpClient;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.http.MediaType;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.stereotype.Component;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.util.Map;
+
+/**
+ * z轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@Async("asyncExecutor")
+@CommandMapping("syringe_pump_start")//业务指令注解
+public class SyringePumpStart implements CommandHandler {
+    private final TcpClient deviceClient;
+
+    /**
+     * {
+     *  cmdName:'motor_x_move',
+     *  cmdId:'',
+     *  device:'x',
+     *   action:'move',
+     *   param:{
+     *     current:'',//这四个参数可以不同时存在
+     *     direction:'forward|backward',
+     *     position:'',
+     *     speed:''
+     *   }
+     * }
+     * @param cmdForm
+     * @param emitter
+     * @throws Exception
+     */
+    @Override
+    public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        /**
+         * 1.向前端发送接收到指令
+         */
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
+
+        Double speed = (Double) param.get("speed");
+        String direction = (String) param.get("direction");
+
+
+
+
+
+        /**
+         * 5.生成电机移动指令，并发送指令
+         */
+
+        CMDToDevice cmdToDevice = DeviceCommandGenerator.syringe_pump_start(direction,speed);//关闭喷嘴阀
+        CommandFuture cmdToDeviceFuture = new CommandFuture();
+        cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
+        Integer nozzleValveCloseCMDToDeviceCmdId = cmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, cmdToDeviceFuture); // 将指令放入map
+        deviceClient.sendToJSON(cmdToDevice); // 发送指令给设备
+
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动注射泵指令", cmdToDevice), MediaType.APPLICATION_JSON);
+
+        /**
+         * 6.等待
+         */
+        cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈
+
+
+        /**
+         * 7.处理结果
+         */
+        JSONObject cmdToDeviceResult = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令
+
+        if (!cmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动注射泵指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+        }
+        if (cmdToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动注射泵返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+        }
+        Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result");
+        if (!nozzleValveCloseCMDToDeviceResultStatus) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动注射泵执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+        }
+
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动注射泵反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+        emitter.complete();
+    }
+}