feat:新增x、y、z回原点业务指令并实现，实现推入退出业务指令

sql/init.sql

@@ -101,3 +101,16 @@ VALUES (1, NULL, '玻片位置', 'slide_position', NULL),
        (12, 10, 'y轴速度', 'y_speed', 10),
        (13, 10, 'z轴速度', 'z_speed', 10),
        (14, NULL, '废液桶位置','waste_liquor', '173.08,75,70' );
+
+
+
+-- 位置表，用来存储设备固定点位
+CREATE TABLE IF NOT EXISTS position (
+    id INTEGER PRIMARY KEY AUTOINCREMENT,
+    point_name TEXT NOT NULL,
+    x REAL NOT NULL,
+    y REAL NOT NULL,
+    z REAL NOT NULL,
+    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);

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

@@ -3,6 +3,9 @@ package com.qyft.ms.app.common.command;
 
 import com.qyft.ms.app.model.bo.CMDToDevice;
 
+import java.util.HashMap;
+import java.util.Map;
+
 /**
  * 生成给设备发送的指令
  */
@@ -10,10 +13,10 @@ public class DeviceCommandGenerator {
 
     /**
      * {
-     *   cmdName:'getInfoCmd'
-     *   cmdId:'',
-     *   device:'device',
-     *   action:'get'
+     * cmdName:'getInfoCmd'
+     * cmdId:'',
+     * device:'device',
+     * action:'get'
      * }
      */
     public static CMDToDevice device_status_get() {
@@ -29,10 +32,10 @@ public class DeviceCommandGenerator {
     /**
      * 获取设备当前湿度
      * {
-     *   cmdName:'getInfoCmd'
-     *   cmdId:'',
-     *   device:'temperature',
-     *   action:'get'
+     * cmdName:'getInfoCmd'
+     * cmdId:'',
+     * device:'temperature',
+     * action:'get'
      * }
      */
     public static CMDToDevice humidity_get() {
@@ -48,10 +51,10 @@ public class DeviceCommandGenerator {
     /**
      * 开启除湿阀
      * {
-     *   cmdName:'controlCmd'
-     *   cmdId:'',
-     *   device:'dehumidifier_valve',
-     *   action:'open|close'
+     * cmdName:'controlCmd'
+     * cmdId:'',
+     * device:'dehumidifier_valve',
+     * action:'open|close'
      * }
      */
     public static CMDToDevice dehumidifier_valve_control(String action) {
@@ -97,13 +100,97 @@ public class DeviceCommandGenerator {
         return "matrix_spray_continue";
     }
 
-    public static String slide_tray_in() {
-        return "slide_tray_in";
+    /**
+     * 推入玻片托盘
+     * {
+     * cmdName:'controlMotorCmd'
+     * cmdId:'',
+     * device:'x',
+     * action:'move',
+     *  param:{
+     *  current:'',//电流
+     *  direction:'forward|backward',
+     *  position:'根据坐标计算',
+     *  speed:''//移动速度
+     *  }
+     * }
+     */
+    public static CMDToDevice slide_tray_in(int current, int position, int speed) {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice("y");
+        cmdToDevice.setAction("move");
+        Map<String, Object> params = new HashMap<>();
+        params.put("current",current );
+        params.put("direction", "forward");
+        params.put("position", position);
+        params.put("speed", speed);
+        cmdToDevice.setParam(params);
+        return cmdToDevice;
     }
 
-    public static String slide_tray_out() {
-        return "slide_tray_out";
+    /**
+     * 推入玻片托盘
+     * {
+     * cmdName:'controlMotorCmd'
+     * cmdId:'',
+     * device:'x',
+     * action:'move',
+     *  param:{
+     *  current:'',//电流
+     *  direction:'forward|backward',
+     *  position:'根据坐标计算',
+     *  speed:''//移动速度
+     *  }
+     * }
+     */
+    public static CMDToDevice slide_tray_out(int current, int position, int speed) {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice("y");
+        cmdToDevice.setAction("move");
+        Map<String, Object> params = new HashMap<>();
+        params.put("current",current );
+        params.put("direction", "forward");
+        params.put("position", position);
+        params.put("speed", speed);
+        cmdToDevice.setParam(params);
+        return cmdToDevice;
     }
 
 
+    public static CMDToDevice motor_x_to_home() {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice("x");
+        cmdToDevice.setAction("origin");
+        return cmdToDevice;
+    }
+
+    public static CMDToDevice motor_y_to_home() {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice("y");
+        cmdToDevice.setAction("origin");
+        return cmdToDevice;
+    }
+
+    public static CMDToDevice motor_z_to_home() {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice("z");
+        cmdToDevice.setAction("origin");
+        return cmdToDevice;
+    }
+
 }

src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java

@@ -0,0 +1,59 @@
+package com.qyft.ms.app.handler.impl;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+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;
+
+/**
+ * x轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@Async("asyncExecutor")
+@CommandMapping("motor_x_to_home")//业务指令注解
+public class MotorXToHome implements CommandHandler {
+    private final TcpClient deviceClient;
+
+    @Override
+    public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        //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);
+        CMDToDevice motorXToHomeCmdToDevice = DeviceCommandGenerator.motor_x_to_home();//生成指令 回原点
+
+        CommandFuture motorXToHomeCmdToDeviceFuture = new CommandFuture();
+        motorXToHomeCmdToDeviceFuture.setCmdToDevice(motorXToHomeCmdToDevice);
+        Integer toDeviceCmdId = motorXToHomeCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, motorXToHomeCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorXToHomeCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了x轴回原点指令：" + JSONUtil.toJsonStr(motorXToHomeCmdToDevice)), MediaType.APPLICATION_JSON);
+
+        motorXToHomeCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+
+        JSONObject deviceResult = motorXToHomeCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
+
+        if (motorXToHomeCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴回原点指令设备反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        } else {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }
+    }
+}

src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java

@@ -0,0 +1,59 @@
+package com.qyft.ms.app.handler.impl;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+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;
+
+/**
+ * z轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@Async("asyncExecutor")
+@CommandMapping("motor_y_to_home")//业务指令注解
+public class MotorYToHome implements CommandHandler {
+    private final TcpClient deviceClient;
+
+    @Override
+    public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        //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);
+        CMDToDevice motorYToHomeCmdToDevice = DeviceCommandGenerator.motor_y_to_home();//生成指令 回原点
+
+        CommandFuture motorYToHomeCmdToDeviceFuture = new CommandFuture();
+        motorYToHomeCmdToDeviceFuture.setCmdToDevice(motorYToHomeCmdToDevice);
+        Integer toDeviceCmdId = motorYToHomeCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, motorYToHomeCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorYToHomeCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了y轴回原点指令：" + JSONUtil.toJsonStr(motorYToHomeCmdToDevice)), MediaType.APPLICATION_JSON);
+
+        motorYToHomeCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+
+        JSONObject deviceResult = motorYToHomeCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
+
+        if (motorYToHomeCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴回原点指令设备反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        } else {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }
+    }
+}

src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java

@@ -0,0 +1,59 @@
+package com.qyft.ms.app.handler.impl;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+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;
+
+/**
+ * z轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@Async("asyncExecutor")
+@CommandMapping("motor_z_to_home")//业务指令注解
+public class MotorZToHome implements CommandHandler {
+    private final TcpClient deviceClient;
+
+    @Override
+    public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        //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);
+        CMDToDevice motorZToHomeCmdToDevice = DeviceCommandGenerator.motor_z_to_home();//生成指令 回原点
+
+        CommandFuture motorZToHomeCmdToDeviceFuture = new CommandFuture();
+        motorZToHomeCmdToDeviceFuture.setCmdToDevice(motorZToHomeCmdToDevice);
+        Integer toDeviceCmdId = motorZToHomeCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, motorZToHomeCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorZToHomeCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了z轴回原点指令：" + JSONUtil.toJsonStr(motorZToHomeCmdToDevice)), MediaType.APPLICATION_JSON);
+
+        motorZToHomeCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+
+        JSONObject deviceResult = motorZToHomeCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
+
+        if (motorZToHomeCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴回原点指令设备反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        } else {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }
+    }
+}

src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java

@@ -26,6 +26,12 @@ public class NozzlePipelinePreFill implements CommandHandler {
 
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        Map<String, Object> param = cmdForm.getParam();
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+
+
 
     }
 }

src/main/java/com/qyft/ms/app/handler/impl/SprayPipelineWash.java → src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java

@@ -1,19 +1,13 @@
 package com.qyft.ms.app.handler.impl;
 
 import com.qyft.ms.app.common.annotation.CommandMapping;
-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.form.CMDFormV2;
-import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 import lombok.RequiredArgsConstructor;
-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.io.IOException;
-import java.util.Map;
 /**
  * 处理前端清洗喷嘴管路
  */
@@ -21,7 +15,7 @@ import java.util.Map;
 @RequiredArgsConstructor
 @Async("asyncExecutor")
 @CommandMapping("nozzle_pipeline_wash")//业务指令注解
-public class SprayPipelineWash implements CommandHandler {
+public class NozzlePipelineWash implements CommandHandler {
 
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {

src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java

@@ -1,18 +1,23 @@
 package com.qyft.ms.app.handler.impl;
 
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
 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.service.DeviceTcpCMDServiceV2;
+import com.qyft.ms.device.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 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.io.IOException;
 import java.util.Map;
 
 /**
@@ -23,9 +28,36 @@ import java.util.Map;
 @Async("asyncExecutor")
 @CommandMapping("slide_tray_in")//业务指令注解
 public class SlideTrayIn implements CommandHandler {
+    /**
+     * 设备通信client
+     */
+    private final TcpClient deviceClient;
+
 
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        //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);
+        CMDToDevice slideTrayInCmdToDevice = DeviceCommandGenerator.slide_tray_in(5, 0, 2);//生成指令 推入玻片托盘
+
+        CommandFuture slideTrayInCmdToDeviceFuture = new CommandFuture();
+        slideTrayInCmdToDeviceFuture.setCmdToDevice(slideTrayInCmdToDevice);
+        Integer toDeviceCmdId = slideTrayInCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayInCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(slideTrayInCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推入玻片托盘指令：" + JSONUtil.toJsonStr(slideTrayInCmdToDevice)), MediaType.APPLICATION_JSON);
+
+        slideTrayInCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+
+        JSONObject deviceResult = slideTrayInCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
 
+        if (slideTrayInCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推入玻片托盘指令设备反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }else{
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }
     }
 }

src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java

@@ -1,10 +1,17 @@
 package com.qyft.ms.app.handler.impl;
 
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
 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 com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
@@ -23,9 +30,36 @@ import java.util.Map;
 @Async("asyncExecutor")
 @CommandMapping("slide_tray_out")//业务指令注解
 public class SlideTrayOut implements CommandHandler {
+    /**
+     * 设备通信client
+     */
+    private final TcpClient deviceClient;
 
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        String frontCmdId = cmdForm.getCmdId();
+        String frontCmdName = cmdForm.getCmdName();
+        //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);
+        //TODO 数值应该从数据库中获取
+        CMDToDevice slideTrayOutCmdToDevice = DeviceCommandGenerator.slide_tray_out(5, 20, 2);//生成指令 推出玻片托盘
 
+        CommandFuture slideTrayOutCmdToDeviceFuture = new CommandFuture();
+        slideTrayOutCmdToDeviceFuture.setCmdToDevice(slideTrayOutCmdToDevice);
+        Integer toDeviceCmdId = slideTrayOutCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayOutCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(slideTrayOutCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推出玻片托盘指令：" + JSONUtil.toJsonStr(slideTrayOutCmdToDevice)), MediaType.APPLICATION_JSON);
+
+        slideTrayOutCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+
+        JSONObject deviceResult = slideTrayOutCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
+
+        if (slideTrayOutCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推出玻片托盘指令设备反馈：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }else{
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令没有响应：" + JSONUtil.toJsonStr(deviceResult)), MediaType.APPLICATION_JSON);
+        }
     }
 }

src/main/java/com/qyft/ms/app/model/entity/Position.java

@@ -0,0 +1,16 @@
+package com.qyft.ms.app.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "位置信息")
+@TableName("position")
+@Data
+public class Position extends BaseEntity {
+
+
+}

src/main/resources/application.yml

@@ -37,7 +37,7 @@ 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
+  host: 192.168.1.168
   port: 9080
   reconnect: 5000  # 断线重连间隔（单位：毫秒）
   timeout: 10000   # 连接超时时间（单位：毫秒）