feat: 设备任务完成推送

src/main/java/com/qyft/ms/app/common/constant/WebSocketMessageType.java

@@ -8,7 +8,7 @@ public class WebSocketMessageType {
     /**
      * 设备报警
      */
-    public static final String ALARM = "alarm";
+    public static final String WARN = "warn";
     /**
      * 设备指令反馈
      */

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

@@ -9,6 +9,9 @@ import com.qyft.ms.app.model.entity.OperationLog;
 import com.qyft.ms.app.model.entity.SysSettings;
 import com.qyft.ms.app.model.form.CMDForm;
 import com.qyft.ms.app.model.vo.ExecutionResult;
+import com.qyft.ms.device.controller.DeviceController;
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import com.qyft.ms.device.service.DeviceStatusService;
 import com.qyft.ms.device.service.DeviceTcpCMDService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -30,6 +33,8 @@ public class CMDService {
     private final OperationLogService operationLogService;
     private final MatrixCraftService matrixCraftService;
     private final ISysSettingsService sysSettingsService;
+    private final DeviceStatusService deviceStatusService;
+    private volatile boolean running = true;
 
 
     private void initExecutorThread(List<Supplier<Boolean>> cmdList, CMDForm form) {
@@ -185,6 +190,24 @@ public class CMDService {
         if (position == null) {
             return "position参数错误";
         }
+
+        // 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(() -> deviceTcpCMDService.setMotorSpeed("y", movementSpeed));
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", 10));
+
+        // 回到原点
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", 5));
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", 5));
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 5));
+
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
+
+
+
         for (int i = 0; i < position.size(); i++) {
             Map<String, Integer> p = position.get(i);
 
@@ -216,12 +239,8 @@ public class CMDService {
             }
 
             // 将三通阀转至喷涂管路
-            cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray);
-            // 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(() -> deviceTcpCMDService.setMotorSpeed("y", movementSpeed));
-            cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", 10));
+            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
+
             // 移动到指定高度(位置)
             int height  = (Integer) params.get("height");
 
@@ -291,15 +310,58 @@ public class CMDService {
         });
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");
+            Map<String, String> result = new HashMap<>();
+            result.put("code", "spray_complete");
+            result.put("msg", "喷涂任务已完成");
+            webSocketService.pushMsg(WebSocketMessageType.WARN, result);
             return true;
         });
-        initExecutorThread(cmdList, form);
+        new Thread(() -> {
+            running = true;
+            ExecutionResult executionResult = new ExecutionResult();
+            executionResult.setCommandId(form.getCommandId());
+            executionResult.setCommandName(form.getCommandName());
+
+            // 执行所有命令
+            for (Supplier<Boolean> command : cmdList) {
+
+                boolean result = command.get();
+                if(!running) {
+                    log.error("指令线程停止: {}", JSONUtil.toJsonStr(form));
+                    executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                    executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                    webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                    return;
+                }
+//            try {
+//                Thread.sleep(5000);
+//            } catch (InterruptedException e) {
+//                throw new RuntimeException(e);
+//            }
+                if (!result) {
+                    log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
+                    executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                    executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                    webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                    return;
+                }
+            }
+            log.info("指令执行成功: {}", JSONUtil.toJsonStr(form));
+            executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
+            executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
+            webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+        }).start();
         return "ok";
     }
 
     // 结束喷涂
     public boolean stopWork(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+
+        cmdList.add(() -> {
+            running = false;
+            return true;
+        });
         // 停止喷涂
         cmdList.add(deviceTcpCMDService::turnOffSyringePump);
         // 关闭高压
@@ -470,6 +532,19 @@ public class CMDService {
         cmdList.add(() -> deviceTcpCMDService.startDehumidify(humidity));
         cmdList.add(() -> {
             sysSettingsService.updateTargetHumidity(humidity);
+            while (true) {
+                double targetHumidity = sysSettingsService.getTargetHumidity();
+                DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
+                if (deviceStatus.getHumidity()<=targetHumidity ) {
+                    deviceTcpCMDService.controlValve("Dehumidification", false);
+                    sysSettingsService.updateWorkStatus("idle");
+                    Map<String, String> result = new HashMap<>();
+                    result.put("code", "dehumidify_complete");
+                    result.put("msg", "已达到目标湿度");
+                    webSocketService.pushMsg(WebSocketMessageType.WARN, result);
+                    break;
+                }
+             }
             return true;
         });
 
@@ -528,11 +603,11 @@ public class CMDService {
         for (Supplier<Boolean> command : cmdList) {
 
             boolean result = command.get();
-            try {
-                Thread.sleep(5000);
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
+//            try {
+//                Thread.sleep(5000);
+//            } catch (InterruptedException e) {
+//                throw new RuntimeException(e);
+//            }
             if (!result) {
                 log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
                 executionResult.setStatus(CMDResultCode.FAILURE.getCode());

src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java

@@ -44,7 +44,7 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             } else if (TcpMessageType.ALARM.equals(jsonRpcResponse.getType())) {//设备报警
                 log.error("设备报警: {}", serverMsg);
                 DeviceAlarm deviceAlarm = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceAlarm.class);
-                webSocketService.pushMsg(WebSocketMessageType.ALARM, deviceAlarm);
+                webSocketService.pushMsg(WebSocketMessageType.WARN, deviceAlarm);
             } else if (TcpMessageType.FEEDBACK.equals(jsonRpcResponse.getType())) {//设备指令反馈
                 DeviceFeedback deviceFeedback = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceFeedback.class);
                 this.handleTcpResponse(deviceFeedback);