2025-03-13 佟更新，一个类处理一个前台指令，增加了device类包，增加了一个全局单例DeviceInstance和一些辅助类

src/main/java/com/qyft/ms/app/common/command/CommandFuture.java

@@ -22,6 +22,11 @@ public class CommandFuture {
      */
     private boolean isReceived = false;
 
+    /**
+     * 已收到
+     */
+    private boolean isGetResult = false;
+
     public void waitForContinue() {
         commandWaitController.commandWait();
     }
@@ -29,4 +34,6 @@ public class CommandFuture {
     public void commandContinue() {
         commandWaitController.commandContinue();
     }
+
+
 }

src/main/java/com/qyft/ms/app/common/command/CommandWaitControl.java

@@ -2,38 +2,17 @@ package com.qyft.ms.app.common.command;
 
 public class CommandWaitControl {
 
-    public String commandCallbackJsonStringHolder = "";
-
-    private boolean shouldWait = true;
     public synchronized void commandWait() {
-        while (shouldWait) {
-            try {
-                wait();
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
+        try {
+            wait(3000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
         }
-        // 重置标志，以便下次可以再次等待
-        shouldWait = true;
     }
     public synchronized  void commandContinue() {
-        shouldWait = false;
         notify();
     }
 
-    /**
-     * 获取命令回调值
-     * @return
-     */
-    public String getCommandCallbackValue() {
-        return  commandCallbackJsonStringHolder;
-    }
-    /**
-     * 设置命令回调值
-     * @param commandCallbackJsonString
-     */
-    public void setCommandCallbackValue(String commandCallbackJsonString) {
-        this.commandCallbackJsonStringHolder = commandCallbackJsonString;
-    }
+
 
 }

src/main/java/com/qyft/ms/app/common/command/FrontCommandGenerator.java → src/main/java/com/qyft/ms/app/common/command/DeviceCommandGenerator.java

@@ -6,7 +6,7 @@ import com.qyft.ms.app.model.bo.CMDToDevice;
 /**
  * 生成给设备发送的指令
  */
-public class FrontCommandGenerator {
+public class DeviceCommandGenerator {
 
     /**
      * {
@@ -35,12 +35,12 @@ public class FrontCommandGenerator {
      *   action:'get'
      * }
      */
-    public static CMDToDevice temperature_get() {
+    public static CMDToDevice humidity_get() {
         int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
         CMDToDevice cmdToDevice = new CMDToDevice();
         cmdToDevice.setCmdId(cmdId);
         cmdToDevice.setCmdName("getInfoCmd");
-        cmdToDevice.setDevice("temperature");
+        cmdToDevice.setDevice("humidity");
         cmdToDevice.setAction("get");
         return cmdToDevice;
     }
@@ -54,13 +54,13 @@ public class FrontCommandGenerator {
      *   action:'open|close'
      * }
      */
-    public static CMDToDevice dehumidifier_start() {
+    public static CMDToDevice dehumidifier_valve_control(String action) {
         int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
         CMDToDevice cmdToDevice = new CMDToDevice();
         cmdToDevice.setCmdId(cmdId);
         cmdToDevice.setCmdName("controlCmd");
         cmdToDevice.setDevice("dehumidifier_valve");
-        cmdToDevice.setAction("open");
+        cmdToDevice.setAction(action);
         return cmdToDevice;
     }
 

src/main/java/com/qyft/ms/app/common/command/FrontCommandAck.java

@@ -8,6 +8,7 @@ public class FrontCommandAck {
         JSONObject jsonObject = new JSONObject();
         jsonObject.set("cmdId", cmdId);
         jsonObject.set("cmdName", cmdName);
+        jsonObject.set("success", true);
         jsonObject.set("status", status);
         jsonObject.set("info", info);
         return jsonObject.toString();
@@ -17,6 +18,7 @@ public class FrontCommandAck {
         JSONObject jsonObject = new JSONObject();
         jsonObject.set("cmdId", cmdId);
         jsonObject.set("cmdName", cmdName);
+        jsonObject.set("success", true);
         jsonObject.set("status", "receive");
         return jsonObject.toString();
     }

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

@@ -4,8 +4,16 @@ public class CommandStatus {
     /**
      * 已收到前端指令
      */
+    public static final String SEND = "SEND";
+    /**
+     * 已收到前端指令
+     */
     public static final String RECEIVE = "receive";
     /**
+     * 已收到结果
+     */
+    public static final String RESULT = "result";
+    /**
      * 指令执行发生错误
      */
     public static final String ERROR = "error";

src/main/java/com/qyft/ms/app/controller/FrontCmdController.java

@@ -1,26 +1,16 @@
 package com.qyft.ms.app.controller;
 
-import cn.hutool.json.JSONObject;
-import cn.hutool.json.JSONUtil;
-import com.qyft.ms.app.common.command.CommandFuture;
 import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
-import com.qyft.ms.app.common.command.FrontCommandAck;
-import com.qyft.ms.app.common.command.FrontCommandGenerator;
-import com.qyft.ms.app.common.constant.CommandStatus;
-import com.qyft.ms.app.model.bo.CMDToDevice;
+import com.qyft.ms.app.controller.frontcommandhandle.DehumidifierStart;
 import com.qyft.ms.app.model.form.CMDFormV2;
 import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.http.MediaType;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.io.IOException;
-import java.util.Map;
-
 @Tag(name = "前端调用指令")
 @RestController
 @RequestMapping("/api/device/front")
@@ -34,132 +24,17 @@ public class FrontCmdController {
     @PostMapping("/control")
     public ResponseBodyEmitter controlMethod(@RequestBody CMDFormV2 cmdForm) {
         ResponseBodyEmitter emitter = new ResponseBodyEmitter();
-        String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
-        Map<String, Object> param = cmdForm.getParam();
 
         if ("device_status_get".equals(frontCmdName)) {
 
-            new Thread(() -> {
-
-                try {
-                    //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.TEXT_PLAIN);
-                } catch (IOException e) {
-                    emitter.completeWithError(e);
-                }
-
-                //生成发给设备的指令
-                CMDToDevice cmdToDevice = FrontCommandGenerator.device_status_get();
-                CommandFuture commandFuture = new CommandFuture();
-                commandFuture.setCmdToDevice(cmdToDevice);
-
-                Integer toDeviceCmdId = cmdToDevice.getCmdId();
-
-                //将指令放入map,等待设备返回，然后取出，在调用commandContinue
-                CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, commandFuture);
-
-                //发送指令给设备
-                deviceTcpCMDServiceV2.send(JSONUtil.toJsonStr(cmdToDevice));
-
-                commandFuture.waitForContinue();
-
-                if (commandFuture.isReceived()) {
-                    try {
-                        emitter.send(FrontCommandAck.deviceAck(frontCmdId, frontCmdName), MediaType.TEXT_PLAIN);
-                    } catch (IOException e) {
-                        emitter.completeWithError(e);
-                    }
-                }
-                commandFuture.waitForContinue();
-
-//                JSONObject callbackResult = commandFuture.getCallbackResult();
-
-
-                //对返回结果处理
-
-
-                emitter.complete();
-
-            }).start();
+            DehumidifierStart.handle(deviceTcpCMDServiceV2, emitter, cmdForm);
 
         } else if ("dehumidifier_start".equals(frontCmdName)) {
             /*
                 除湿，该方法接收Double类型参数 humidity
              */
-            new Thread(() -> {
-                try {
-                    //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.TEXT_PLAIN);
-                    //判断参数是否合法
-                    Integer humidity = (Integer) param.get("humidity");
-                    if (humidity == null) {
-                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 humidity 必填"), MediaType.TEXT_PLAIN);
-                        emitter.complete();
-                        return;
-                    }
-                    //1：先判断当前湿度是否大于设置值
-                    CMDToDevice temperatureCmdToDevice = FrontCommandGenerator.temperature_get();//生成指令 获取当前湿度
-                    CommandFuture temperatureFuture = new CommandFuture();
-                    temperatureFuture.setCmdToDevice(temperatureCmdToDevice);
-                    Integer toDeviceCmdId = temperatureCmdToDevice.getCmdId();
-                    CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, temperatureFuture);//将指令放入map
-                    deviceTcpCMDServiceV2.send(temperatureCmdToDevice); //发送指令给设备
-                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "已向设备发送了指令：" + JSONUtil.toJsonStr(temperatureCmdToDevice)), MediaType.TEXT_PLAIN);
-                    temperatureFuture.waitForContinue();//等待设备的反馈
-                    JSONObject deviceResult = temperatureFuture.getCallbackResult();//拿到设备返回结果
-                    if(temperatureFuture.isReceived()){//直接携带数据的反馈其实不需要判断isReceived，直接判断deviceResult == null
-                        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
-                        //设备已经收到指令并且执行成功
-                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "设备指令反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.TEXT_PLAIN);
-                    }
-                    if (deviceResult == null) {
-                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "未读取到湿度传感器数值"), MediaType.TEXT_PLAIN);
-                        emitter.complete();
-                        return;
-                    }
-                    Double temperature = deviceResult.getDouble("temperature");//拿到设备返回的湿度数值
-                    if (humidity < temperature) {
-                        //2：如果小于设置值，提醒用户不用除湿
-                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设定湿度小于当前湿度，无需除湿。"), MediaType.TEXT_PLAIN);
-                        emitter.complete();
-                        return;
-                    }
-                    //3：如果需要除湿开始调用底层指令"
-                    CMDToDevice cmdToDeviceHumidity = FrontCommandGenerator.dehumidifier_start();//生成指令 开启除湿阀
-                    CommandFuture commandFutureHumidity = new CommandFuture();
-//
-//
-//                    //生成发给设备的指令
-//                    CMDToDevice cmdToDevice = FrontCommandGenerator.device_status_get();
-//                    CommandFuture commandFuture = new CommandFuture();
-//                    commandFuture.setCmdToDevice(cmdToDevice);
-//
-//                    String toDeviceCmdId = cmdToDevice.getCmdId();
-//                    //将指令放入map,等待设备返回，然后取出，在调用commandContinue
-//                    CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, commandFuture);
-//
-//                    //发送指令给设备
-//                    deviceTcpCMDServiceV2.send(JSONUtil.toJsonStr(cmdToDevice));
-//                    commandFuture.waitForContinue();
-//                    if (commandFuture.isReceived()) {
-//
-//                        emitter.send(FrontCommandAck.deviceAck(frontCmdId, frontCmdName), MediaType.TEXT_PLAIN);
-//
-//                    }
-//                    commandFuture.waitForContinue();
-//                    String callbackResult = commandFuture.getCallbackResult();
-
-
-
-                    //对返回结果处理
-                    emitter.complete();
-
-                } catch (IOException e) {
-                    emitter.completeWithError(e);
-                }
-
-            }).start();
+
         } else if ("matrix_prefill".equals(frontCmdName)) {
 
         } else if ("spray_pipeline_wash".equals(frontCmdName)) {
@@ -187,4 +62,9 @@ public class FrontCmdController {
     }
 
 
+    @RequestMapping("/controlTest")
+    public void controlMethodTest(){
+        CurrentSendCmdMapInstance.getInstance().getCommand(1).commandContinue();
+    }
+
 }

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/DehumidifierStart.java

@@ -0,0 +1,143 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.app.common.command.CommandFuture;
+import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.command.DeviceCommandGenerator;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.bo.CMDToDevice;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+public class DehumidifierStart {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+                /**
+                 * 1：判断参数是否合法
+                 */
+                Integer frontHumidity = (Integer) param.get("humidity");
+                if (frontHumidity == null) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 humidity 必填"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
+
+
+                /**
+                 * 2：获取设备湿度
+                 */
+
+                CMDToDevice humidityCmdToDevice = DeviceCommandGenerator.humidity_get();//生成指令 获取当前湿度
+                CommandFuture humidityGetFuture = new CommandFuture();
+                humidityGetFuture.setCmdToDevice(humidityCmdToDevice);
+                Integer toDeviceCmdId = humidityCmdToDevice.getCmdId();
+                CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, humidityGetFuture);//将指令放入map
+                deviceTcpCMDServiceV2.send(humidityCmdToDevice); //发送指令给设备
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了获取湿度指令：" + JSONUtil.toJsonStr(humidityCmdToDevice)), MediaType.APPLICATION_JSON);
+
+
+                humidityGetFuture.waitForContinue();//等待设备的反馈
+
+
+
+                /**
+                 * 3：处理返回结果或者没有响应
+                 */
+                JSONObject deviceResult = humidityGetFuture.getCallbackResult();//拿到设备返回结果
+                CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
+
+                if (humidityGetFuture.isReceived()  || humidityGetFuture.isGetResult()) {
+                    //设备已经收到指令并且执行成功
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "设备指令反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+
+                    Double deviceHumidity = deviceResult.getDouble("humidity");//拿到设备返回的湿度数值
+                    if (frontHumidity > deviceHumidity) {
+
+                        //如果小于设置值，提醒用户不用除湿
+                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设定湿度大于当前湿度，无需除湿。"), MediaType.APPLICATION_JSON);
+
+
+                    }
+                    else{
+
+                        /**
+                         * 4：如果大于设置值，开始除湿;打开除湿阀门
+                         */
+
+                        CMDToDevice dehumidifier_valve_control =  DeviceCommandGenerator.dehumidifier_valve_control("open");//生成指令 开启除湿阀
+                        CommandFuture dehumidifier_valve_control_Future = new CommandFuture();
+                        humidityGetFuture.setCmdToDevice(dehumidifier_valve_control);
+                        Integer dehumidifier_valve_control_cmdId = dehumidifier_valve_control.getCmdId();
+                        CurrentSendCmdMapInstance.getInstance().putCommand(dehumidifier_valve_control_cmdId, dehumidifier_valve_control_Future);//将指令放入map
+                        deviceTcpCMDServiceV2.send(dehumidifier_valve_control); //发送指令给设备
+                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启除湿阀指令：" + JSONUtil.toJsonStr(dehumidifier_valve_control)), MediaType.APPLICATION_JSON);
+
+
+                        dehumidifier_valve_control_Future.waitForContinue();//等待设备的反馈
+
+                        /**
+                         * 5：处理打开除湿阀门返回结果
+                         */
+                        JSONObject dehumidifier_valve_control_result = dehumidifier_valve_control_Future.getCallbackResult();//拿到设备返回结果
+                        CurrentSendCmdMapInstance.getInstance().removeCommand(dehumidifier_valve_control_cmdId);//将指令从map中删除
+
+                        if (dehumidifier_valve_control_Future.isReceived()  || dehumidifier_valve_control_Future.isGetResult()) {
+                            //设备已经收到指令并且执行成功
+                            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启除湿阀指令指令设备反馈：" + JSONUtil.toJsonStr(dehumidifier_valve_control_result)), MediaType.APPLICATION_JSON);
+
+                        }
+                        else{
+                            //设备未收到指令或者执行失败
+                            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+
+                        }
+
+
+
+
+
+
+                    }
+
+                }else{
+                    //设备未收到指令或者执行失败
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设备没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+
+
+                }
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/MatrixSprayChangeParam.java

@@ -0,0 +1,46 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.device.DeviceInstance;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 实时修改参数
+ */
+public class MatrixSprayChangeParam {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/MatrixSprayContinue.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 前端继续基质喷涂
+ */
+public class MatrixSprayContinue {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/MatrixSprayPause.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 前端暂停基质喷涂
+ */
+public class MatrixSprayPause {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/MatrixSprayStart.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 前端开始基质喷涂
+ */
+public class MatrixSprayStart {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/MatrixSprayStop.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 前端主动结束基质喷涂
+ */
+public class MatrixSprayStop {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/NozzlePipelinePreFill.java

@@ -0,0 +1,49 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 处理前端喷嘴管路预充指令
+ */
+public class NozzlePipelinePreFill {
+
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/SlideTrayIn.java

@@ -0,0 +1,47 @@
+spackage com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 处理前端推入托盘
+ */
+public class SlideTrayIn {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/SlideTrayOut.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 处理前端推出托盘
+ */
+public class SlideTrayOut {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/SprayPipelineWash.java

@@ -0,0 +1,52 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+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.model.bo.CMDToDevice;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+/**
+ * 处理前端清洗喷嘴管路
+ */
+public class SprayPipelineWash {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/app/controller/frontcommandhandle/SyringePipelineWash.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.app.controller.frontcommandhandle;
+
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
+import org.springframework.http.MediaType;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+import java.io.IOException;
+import java.util.Map;
+
+/**
+ * 处理前端清洗注射器管路
+ */
+public class SyringePipelineWash {
+    public static void handle(DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2, ResponseBodyEmitter emitter, CMDFormV2 cmdForm) {
+
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+
+        new Thread(() -> {
+            try {
+
+                //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);
+
+
+
+
+
+
+
+
+
+
+            } catch (IOException e) {
+                emitter.completeWithError(e);
+            }
+        }).start();
+
+
+        //对返回结果处理
+        emitter.complete();
+    }
+}

src/main/java/com/qyft/ms/device/device/DeviceInstance.java

@@ -0,0 +1,66 @@
+package com.qyft.ms.device.device;
+
+import com.qyft.ms.device.model.DeviceStatusEnum;
+import lombok.Data;
+
+@Data
+public class DeviceInstance {
+    private static DeviceInstance instance;
+
+    private DeviceInstance() {
+        // private constructor to prevent instantiation
+    }
+
+    public static synchronized DeviceInstance getInstance() {
+        if (instance == null) {
+            instance = new DeviceInstance();
+        }
+        return instance;
+    }
+
+    //设备名称
+    private String deviceName;
+    //序列号
+    private String deviceNumber;
+    //前端版本
+    private String frontVersion;
+    //后端版本
+    private String javaVersion;
+    //嵌入式版本
+    private String linuxVersion;
+    //嵌入式版本
+    private String microVersion;
+    //设备状态
+    private DeviceStatusEnum deviceStatus;
+
+    //喷涂状态
+    private MatrixSprayStatusEnum matrixSprayStatusEnum;
+    //当前任务
+    private String currentTaskCommandName;
+    //上一个任务
+    private String previousTaskCommandName;
+
+    private MotorX motorX;
+    private MotorY motorY;
+    private MotorZ motorZ;
+
+    private void updateMotorPosition(MotorNameEnum motorName, Double position) {
+        if (motorName == MotorNameEnum.X) {
+            motorX.setPosition(position);
+        } else if (motorName == MotorNameEnum.Y) {
+            motorY.setPosition(position);
+        } else if (motorName == MotorNameEnum.Z) {
+            motorZ.setPosition(position);
+        }
+
+    };
+    private void updateMotorOrigin(MotorNameEnum motorName, Boolean isOrigin) {
+        if (motorName == MotorNameEnum.X) {
+            motorX.setIsOrigin(isOrigin);
+        } else if (motorName == MotorNameEnum.Y) {
+            motorY.setIsOrigin(isOrigin);
+        } else if (motorName == MotorNameEnum.Z) {
+            motorZ.setIsOrigin(isOrigin);
+        }
+    };
+}

src/main/java/com/qyft/ms/device/device/DeviceLifeEnum.java

@@ -0,0 +1,34 @@
+package com.qyft.ms.device.device;
+
+public enum DeviceLifeEnum {
+
+    SYNCED("sync", "已经同步信息"),
+    NOSYNC("nosync", "未同步信息"),
+    NEWSTART("newStart", "刚从从新启动"),
+    SLEFCHECKED("slefchecked", "已经自检");
+
+    private String code;
+    private String desc;
+
+    DeviceLifeEnum(String code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public String getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public static DeviceLifeEnum getByCode(String code) {
+        for (DeviceLifeEnum value : values()) {
+            if (value.getCode().equals(code)) {
+                return value;
+            }
+        }
+        return null;
+    }
+}

src/main/java/com/qyft/ms/device/device/MatrixSprayStatusEnum.java

@@ -0,0 +1,32 @@
+package com.qyft.ms.device.device;
+
+public enum MatrixSprayStatusEnum {
+    YES("yes", "是"),
+    NO("no", "否");
+
+
+    private String code;
+    private String desc;
+
+    MatrixSprayStatusEnum(String code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public String getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public static MatrixSprayStatusEnum getByCode(String code) {
+        for (MatrixSprayStatusEnum value : values()) {
+            if (value.getCode().equals(code)) {
+                return value;
+            }
+        }
+        return null;
+    }
+}

src/main/java/com/qyft/ms/device/device/MotorNameEnum.java

@@ -0,0 +1,32 @@
+package com.qyft.ms.device.device;
+
+public enum MotorNameEnum {
+    X("x", "X轴"),
+    Y("y", "Y轴"),
+    Z("z", "Z轴");
+
+    private String code;
+    private String desc;
+
+    MotorNameEnum(String code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public String getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public static MotorNameEnum getByCode(String code) {
+        for (MotorNameEnum value : values()) {
+            if (value.getCode().equals(code)) {
+                return value;
+            }
+        }
+        return null;
+    }
+}

src/main/java/com/qyft/ms/device/device/MotorX.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.device.device;
+
+import lombok.Data;
+
+@Data
+public class MotorX {
+    private Boolean isOrigin;
+    private Double position;
+    private String name = MotorNameEnum.X.getCode();
+}

src/main/java/com/qyft/ms/device/device/MotorY.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.device.device;
+
+import lombok.Data;
+
+@Data
+public class MotorY {
+    private Boolean isOrigin;
+    private Double position;
+    private String name = MotorNameEnum.Y.getCode();
+}

src/main/java/com/qyft/ms/device/device/MotorZ.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.device.device;
+
+import lombok.Data;
+
+@Data
+public class MotorZ {
+    private Boolean isOrigin;
+    private Double position;
+    private String name = MotorNameEnum.Z.getCode();
+}

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

@@ -52,26 +52,44 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             String tag = deviceResult.get("tag").toString();
             if ("event".equals(tag)) {
                 //设备上报事件
+
+
+
+
             } else if ("ack".equals(tag)) {
+
+
+
                 //设备指令反馈
                 Integer cmdId = payload.getInt("cmdId");
-                JSONObject error = payload.getJSONObject("error");
                 CommandFuture commandFuture = CurrentSendCmdMapInstance.getInstance().getCommand(cmdId);
-                if (error != null) {
-                    //指令执行错误，将错误放到CallbackResult中
-                    commandFuture.setCallbackResult(error);
-                }
-                Object result = payload.get("result");
-                if (result instanceof Boolean) {
-                    //ack 没携带数据
-                } else if (result instanceof JSONObject) {
-                    //ack 携带了数据，将数据放到了CallbackResult中
-                    commandFuture.setCallbackResult((JSONObject) result);
-                } else {
-                    //TODO 没有定义的类型
+
+                if(commandFuture!=null){
+                    commandFuture.setReceived(true);
+                    commandFuture.setCallbackResult(payload);
+                    commandFuture.commandContinue();
                 }
-                commandFuture.setReceived(true);//已收到设备反馈
-                commandFuture.commandContinue();
+//
+//                if (error != null) {
+//                    //指令执行错误，将错误放到CallbackResult中
+//                    commandFuture.setCallbackResult(error);
+//                }
+//                Object result = payload.get("result");
+//                if (result instanceof Boolean) {
+//                    //ack 没携带数据
+//                } else if (result instanceof JSONObject) {
+//                    //ack 携带了数据，将数据放到了CallbackResult中
+//                    commandFuture.setCallbackResult((JSONObject) result);
+//                } else {
+//                    //TODO 没有定义的类型
+//                }
+//                commandFuture.setReceived(true);//已收到设备反馈
+//                commandFuture.commandContinue();
+
+
+
+
+
             } else if ("status".equals(tag)) {
                 //设备上报状态
             }

src/main/java/com/qyft/ms/device/model/DeviceStatusEnum.java

@@ -0,0 +1,39 @@
+package com.qyft.ms.device.model;
+
+/**
+ * 设备状态枚举
+ */
+public enum DeviceStatusEnum {
+    FREE("free", "闲"),
+    BUSY("busy", "忙"),
+    ONLINE("online", "在线"),
+    OFFLINE("offline", "离线"),
+    FAULT("fault", "故障"),
+    MAINTENANCE("maintenance", "维护"),
+    UNKNOWN("unknown", "未知");
+
+    private String code;
+    private String desc;
+
+    DeviceStatusEnum(String code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public String getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public static DeviceStatusEnum getByCode(String code) {
+        for (DeviceStatusEnum value : values()) {
+            if (value.getCode().equals(code)) {
+                return value;
+            }
+        }
+        return null;
+    }
+}