diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveClose.java new file mode 100644 index 0000000..e99f8fb --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveClose.java @@ -0,0 +1,71 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("dehumidifier_valve_close")//业务指令注解 +public class DehumidifierValveClose 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 cmdToDevice = DeviceCommandGenerator.dehumidifier_valve_close();// 关闭除湿阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer cmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(cmdId, cmdToDeviceFuture); + deviceClient.sendToJSON(cmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了关闭除湿阀指令", cmdToDevice), MediaType.APPLICATION_JSON); + cmdToDeviceFuture.waitForContinue(); + JSONObject deviceResult = cmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(cmdId); + if (!cmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令响应超时", deviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (deviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令返回错误", deviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean cmdStatus = deviceResult.getBool("result"); + if (!cmdStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令执行失败", deviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭除湿阀指令反馈", deviceResult), MediaType.APPLICATION_JSON); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveOpen.java new file mode 100644 index 0000000..0f51a4e --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveOpen.java @@ -0,0 +1,69 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("dehumidifier_valve_open")//业务指令注解 +public class DehumidifierValveOpen 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 cmdToDevice = DeviceCommandGenerator.dehumidifier_valve_open(); // 生成开启除湿阀指令 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer dehumidifierValveCmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(dehumidifierValveCmdId, cmdToDeviceFuture); + deviceClient.sendToJSON(cmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启除湿阀指令", cmdToDeviceFuture), MediaType.APPLICATION_JSON); + cmdToDeviceFuture.waitForContinue(); + JSONObject dehumidifierValveResult = cmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(dehumidifierValveCmdId); + if (!cmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令响应超时", dehumidifierValveResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (dehumidifierValveResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令返回错误", dehumidifierValveResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean dehumidifierValveStatus = dehumidifierValveResult.getBool("result"); + if (!dehumidifierValveStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令执行失败", dehumidifierValveResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启除湿阀指令反馈", dehumidifierValveResult), MediaType.APPLICATION_JSON); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageClose.java new file mode 100644 index 0000000..563fa80 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageClose.java @@ -0,0 +1,94 @@ +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("high_voltage_close")//业务指令注解 +public class HighVoltageClose implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + Map param = cmdForm.getParam(); + + Integer power = (Integer) param.get("power"); + + /** + * 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); + /** + * TODO 2.判断指令是否合法 + */ + + + + /** + * 3.生成指令，并发送指令 + */ + + CMDToDevice high_voltage_close_CMDToDevice = DeviceCommandGenerator.high_voltage_close();//关闭喷嘴阀 + CommandFuture high_voltage_close_CMDToDeviceFuture = new CommandFuture(); + high_voltage_close_CMDToDeviceFuture.setCmdToDevice(high_voltage_close_CMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = high_voltage_close_CMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, high_voltage_close_CMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(high_voltage_close_CMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了关闭高压指令", high_voltage_close_CMDToDeviceFuture), MediaType.APPLICATION_JSON); + + /** + * 4.等待 + */ + high_voltage_close_CMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 5.处理结果 + */ + JSONObject laser_control_open_CMDToDeviceResult = high_voltage_close_CMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令 + + if (!high_voltage_close_CMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageOpen.java new file mode 100644 index 0000000..9f49266 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageOpen.java @@ -0,0 +1,94 @@ +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("high_voltage_open")//业务指令注解 +public class HighVoltageOpen implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + Map param = cmdForm.getParam(); + + Integer voltage = (Integer) param.get("voltage"); + + /** + * 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); + /** + * TODO 2.判断指令是否合法 + */ + + + + /** + * 3.生成指令，并发送指令 + */ + + CMDToDevice laser_control_open_CMDToDevice = DeviceCommandGenerator.high_voltage_open(voltage);//关闭喷嘴阀 + CommandFuture nozzleValveCloseCMDToDeviceFuture = new CommandFuture(); + nozzleValveCloseCMDToDeviceFuture.setCmdToDevice(laser_control_open_CMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = laser_control_open_CMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, nozzleValveCloseCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(laser_control_open_CMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开高压指令", laser_control_open_CMDToDevice), MediaType.APPLICATION_JSON); + + /** + * 4.等待 + */ + nozzleValveCloseCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 5.处理结果 + */ + JSONObject laser_control_open_CMDToDeviceResult = nozzleValveCloseCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令 + + if (!nozzleValveCloseCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开高压指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlClose.java new file mode 100644 index 0000000..cb3c48e --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlClose.java @@ -0,0 +1,85 @@ +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("laser_control_close")//业务指令注解 +public class LaserControlClose implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + /** + * 2.生成指令，并发送指令 + */ + CMDToDevice laser_control_close_CMDToDevice = DeviceCommandGenerator.high_voltage_close(); + CommandFuture laser_control_close_CMDToDeviceFuture = new CommandFuture(); + laser_control_close_CMDToDeviceFuture.setCmdToDevice(laser_control_close_CMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = laser_control_close_CMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, laser_control_close_CMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(laser_control_close_CMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了关闭激光指令", laser_control_close_CMDToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + laser_control_close_CMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject nozzleValveCloseCMDToDeviceResult = laser_control_close_CMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令 + + if (!laser_control_close_CMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令响应超时", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (nozzleValveCloseCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令返回错误", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭激光指令指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlOpen.java new file mode 100644 index 0000000..ae324ea --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlOpen.java @@ -0,0 +1,94 @@ +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("laser_control_open")//业务指令注解 +public class LaserControlOpen implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + Map param = cmdForm.getParam(); + + Integer power = (Integer) param.get("power"); + + /** + * 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); + /** + * TODO 2.判断指令是否合法 + */ + + + + /** + * 3.生成指令，并发送指令 + */ + + CMDToDevice laser_control_open_CMDToDevice = DeviceCommandGenerator.laser_control_open(power);//关闭喷嘴阀 + CommandFuture nozzleValveCloseCMDToDeviceFuture = new CommandFuture(); + nozzleValveCloseCMDToDeviceFuture.setCmdToDevice(laser_control_open_CMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = laser_control_open_CMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, nozzleValveCloseCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(laser_control_open_CMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开激光指令", laser_control_open_CMDToDevice), MediaType.APPLICATION_JSON); + + /** + * 4.等待 + */ + nozzleValveCloseCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 5.处理结果 + */ + JSONObject laser_control_open_CMDToDeviceResult = nozzleValveCloseCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令 + + if (!nozzleValveCloseCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开激光指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelClose.java new file mode 100644 index 0000000..9fc4395 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelClose.java @@ -0,0 +1,83 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("lighting_panel_close")//业务指令注解 +public class LightingPanelClose 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); + + + /** + * 1.生成指令，并发送指令 + */ + CMDToDevice lightingPanelCloseCMDToDevice = DeviceCommandGenerator.lighting_panel_close();//生成指令 开启喷嘴阀 + CommandFuture lightingPanelCMDToDeviceFuture = new CommandFuture(); + lightingPanelCMDToDeviceFuture.setCmdToDevice(lightingPanelCloseCMDToDevice); + Integer nozzleValveOpenCMDToDeviceCmdId = lightingPanelCloseCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveOpenCMDToDeviceCmdId, lightingPanelCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(lightingPanelCloseCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启照明灯指令", lightingPanelCloseCMDToDevice), MediaType.APPLICATION_JSON); + + /** + * 2.等待 + */ + lightingPanelCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 3.处理结果 + */ + JSONObject lightingPanelOpenCMDToDeviceResult = lightingPanelCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveOpenCMDToDeviceCmdId); // 将指令从map中删除 + + if (!lightingPanelCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭照明灯指令响应超时", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + if (lightingPanelOpenCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭照明灯指令返回错误", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + Boolean nozzleValveOpenCMDToDeviceResultStatus = lightingPanelOpenCMDToDeviceResult.getBool("result"); + if (!nozzleValveOpenCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭照明灯指令反馈", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelOpen.java new file mode 100644 index 0000000..000a138 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelOpen.java @@ -0,0 +1,79 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("lighting_panel_open")//业务指令注解 +public class LightingPanelOpen 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 lightingPanelOpenCMDToDevice = DeviceCommandGenerator.lighting_panel_open();//生成指令 开启喷嘴阀 + CommandFuture lightingPanelCMDToDeviceFuture = new CommandFuture(); + lightingPanelCMDToDeviceFuture.setCmdToDevice(lightingPanelOpenCMDToDevice); + Integer nozzleValveOpenCMDToDeviceCmdId = lightingPanelOpenCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveOpenCMDToDeviceCmdId, lightingPanelCMDToDeviceFuture); // 将指令放入map + + deviceClient.sendToJSON(lightingPanelOpenCMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启照明灯指令", lightingPanelOpenCMDToDevice), MediaType.APPLICATION_JSON); + + lightingPanelCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + JSONObject lightingPanelOpenCMDToDeviceResult = lightingPanelCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveOpenCMDToDeviceCmdId); // 将指令从map中删除 + + if (!lightingPanelCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启照明灯指令响应超时", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + if (lightingPanelOpenCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启照明灯指令返回错误", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + Boolean nozzleValveOpenCMDToDeviceResultStatus = lightingPanelOpenCMDToDeviceResult.getBool("result"); + if (!nozzleValveOpenCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启照明灯指令反馈", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXMove.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXMove.java new file mode 100644 index 0000000..1b0cd3a --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXMove.java @@ -0,0 +1,167 @@ +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("motor_x_move")//业务指令注解 +public class MotorXMove 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 param = cmdForm.getParam(); + Double position = (Double) param.get("position"); + String direction = (String) param.get("direction"); + + + /** + * 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); + + + /** + * 2.获取电机X的位置 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//关闭喷嘴阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer cmdToDeviceCmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(cmdToDeviceCmdId, 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XYZ获取位置指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + /** + * "{ + * ""tag"": ""ack"", + * ""payload"": { + * ""cmdId"": """", + * ""result"": { + * // 双精度浮点型，X 轴电机当前位置 + * ""xAxisPosition"": 0.0, + * // 双精度浮点型，Y 轴电机当前位置 + * ""yAxisPosition"": 0.0, + * // 双精度浮点型，Z 轴电机当前位置 + * ""zAxisPosition"": 0.0, + * } + * } + * }" + */ + /** + * 4.处理电机位置结果 + */ + JSONObject resultObject = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(cmdToDeviceCmdId); // 从map中删除该指令 + + + JSONObject cmdToDeviceResult = resultObject.getJSONObject("result"); + Double xAxisPosition = cmdToDeviceResult.getDouble("xAxisPosition"); + + Double finalPosition = 0.0; + + + if("forward".equals(direction)){ + finalPosition+=xAxisPosition+position; + } + if("backward".equals(direction)){ + finalPosition-=xAxisPosition-position; + + if(finalPosition<0){ + finalPosition = 0.0; + } + } + + + /** + * 5.生成电机移动指令，并发送指令 + */ + + cmdToDevice = DeviceCommandGenerator.motor_x_position_set(finalPosition);//关闭喷嘴阀 + 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X移动指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 6.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 7.处理结果 + */ + 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, "X移动指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (cmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXOrigin.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXOrigin.java new file mode 100644 index 0000000..84bb504 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXOrigin.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_x_origin")//业务指令注解 +public class MotorXOrigin implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_x_origin();//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X回原点指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.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, "X回原点指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (cmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X回原点指令指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXStop.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXStop.java new file mode 100644 index 0000000..ea10609 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXStop.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_x_stop")//业务指令注解 +public class MotorXStop implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_x_stop();//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X停止指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "X停止指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXYZPositionGet.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXYZPositionGet.java new file mode 100644 index 0000000..be5be48 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXYZPositionGet.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_xyz_position_get")//业务指令注解 +public class MotorXYZPositionGet implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//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XYZ获取位置指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "XYZ获取位置指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "XYZ获取位置指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean cmdToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!cmdToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "XYZ获取位置指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "XYZ获取位置指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYMove.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYMove.java new file mode 100644 index 0000000..36842a3 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYMove.java @@ -0,0 +1,167 @@ +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("motor_x_move")//业务指令注解 +public class MotorYMove implements CommandHandler { + private final TcpClient deviceClient; + + /** + * { + * cmdName:'motor_y_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 param = cmdForm.getParam(); + Double position = (Double) param.get("position"); + String direction = (String) param.get("direction"); + + + /** + * 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); + + + /** + * 2.获取电机X的位置 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//关闭喷嘴阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer cmdToDeviceCmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(cmdToDeviceCmdId, 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XYZ获取位置指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + /** + * "{ + * ""tag"": ""ack"", + * ""payload"": { + * ""cmdId"": """", + * ""result"": { + * // 双精度浮点型，X 轴电机当前位置 + * ""xAxisPosition"": 0.0, + * // 双精度浮点型，Y 轴电机当前位置 + * ""yAxisPosition"": 0.0, + * // 双精度浮点型，Z 轴电机当前位置 + * ""zAxisPosition"": 0.0, + * } + * } + * }" + */ + /** + * 4.处理电机位置结果 + */ + JSONObject resultObject = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(cmdToDeviceCmdId); // 从map中删除该指令 + + + JSONObject cmdToDeviceResult = resultObject.getJSONObject("result"); + Double yAxisPosition = cmdToDeviceResult.getDouble("yAxisPosition"); + + Double finalPosition = 0.0; + + + if("forward".equals(direction)){ + finalPosition+=yAxisPosition+position; + } + if("backward".equals(direction)){ + finalPosition-=yAxisPosition-position; + + if(finalPosition<0){ + finalPosition = 0.0; + } + } + + + /** + * 5.生成电机移动指令，并发送指令 + */ + + cmdToDevice = DeviceCommandGenerator.motor_y_position_set(finalPosition);//关闭喷嘴阀 + 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Y移动指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 6.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 7.处理结果 + */ + 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, "Y移动指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (cmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYOrigin.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYOrigin.java new file mode 100644 index 0000000..c114301 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYOrigin.java @@ -0,0 +1,87 @@ +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("motor_y_origin")//业务指令注解 +public class MotorYOrigin implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_y_origin();//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Y回原点指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "Y回原点指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y回原点指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYStop.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYStop.java new file mode 100644 index 0000000..49398a1 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYStop.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_y_stop")//业务指令注解 +public class MotorYStop implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_y_stop();//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Y停止指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "Y停止指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZMove.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZMove.java new file mode 100644 index 0000000..b5f47ea --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZMove.java @@ -0,0 +1,167 @@ +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("motor_x_move")//业务指令注解 +public class MotorZMove implements CommandHandler { + private final TcpClient deviceClient; + + /** + * { + * cmdName:'motor_z_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 param = cmdForm.getParam(); + Double position = (Double) param.get("position"); + String direction = (String) param.get("direction"); + + + /** + * 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); + + + /** + * 2.获取电机Z的位置 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//关闭喷嘴阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer cmdToDeviceCmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(cmdToDeviceCmdId, 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XYZ获取位置指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + /** + * "{ + * ""tag"": ""ack"", + * ""payload"": { + * ""cmdId"": """", + * ""result"": { + * // 双精度浮点型，X 轴电机当前位置 + * ""xAxisPosition"": 0.0, + * // 双精度浮点型，Y 轴电机当前位置 + * ""yAxisPosition"": 0.0, + * // 双精度浮点型，Z 轴电机当前位置 + * ""zAxisPosition"": 0.0, + * } + * } + * }" + */ + /** + * 4.处理电机位置结果 + */ + JSONObject resultObject = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(cmdToDeviceCmdId); // 从map中删除该指令 + + + JSONObject cmdToDeviceResult = resultObject.getJSONObject("result"); + Double zAxisPosition = cmdToDeviceResult.getDouble("zAxisPosition"); + + Double finalPosition = 0.0; + + + if("forward".equals(direction)){ + finalPosition+=zAxisPosition+position; + } + if("backward".equals(direction)){ + finalPosition-=zAxisPosition-position; + + if(finalPosition<0){ + finalPosition = 0.0; + } + } + + + /** + * 5.生成电机移动指令，并发送指令 + */ + + cmdToDevice = DeviceCommandGenerator.motor_x_position_set(finalPosition);//关闭喷嘴阀 + 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X移动指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 6.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 7.处理结果 + */ + 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, "X移动指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (cmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZOrigin.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZOrigin.java new file mode 100644 index 0000000..d4fed88 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZOrigin.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_z_origin")//业务指令注解 +public class MotorZOrigin implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_z_origin();//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Z回原点指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "Z回原点指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Z回原点指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZStop.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZStop.java new file mode 100644 index 0000000..3dade9a --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZStop.java @@ -0,0 +1,85 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("motor_z_stop")//业务指令注解 +public class MotorZStop implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_z_stop();//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Z停止指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "Z停止指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Z停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveClose.java new file mode 100644 index 0000000..299ee0b --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveClose.java @@ -0,0 +1,74 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("nozzle_valve_close")//业务指令注解 +public class NozzleValveClose 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 cmdToDevice = DeviceCommandGenerator.nozzle_valve_close();//关闭喷嘴阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "关闭喷嘴阀"), MediaType.APPLICATION_JSON); + 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, "已向设备发送了关闭喷嘴阀指令", cmdToDevice), MediaType.APPLICATION_JSON); + + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + + JSONObject nozzleValveCloseCMDToDeviceResult = 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, "关闭喷嘴阀指令响应超时", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (nozzleValveCloseCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令返回错误", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveOpen.java new file mode 100644 index 0000000..41deb4e --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveOpen.java @@ -0,0 +1,79 @@ +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; + +/** + * z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@Async("asyncExecutor") +@CommandMapping("nozzle_valve_open")//业务指令注解 +public class NozzleValveOpen 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 cmdToDevice = DeviceCommandGenerator.nozzle_valve_open();//生成指令 开启喷嘴阀 + CommandFuture cmdToDeviceFuture = new CommandFuture(); + cmdToDeviceFuture.setCmdToDevice(cmdToDevice); + Integer nozzleValveOpenCMDToDeviceCmdId = cmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveOpenCMDToDeviceCmdId, 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, "已向设备发送了开启喷嘴阀指令", cmdToDevice), MediaType.APPLICATION_JSON); + + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + JSONObject nozzleValveOpenCMDToDeviceResult = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveOpenCMDToDeviceCmdId); // 将指令从map中删除 + + if (!cmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令响应超时", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + if (nozzleValveOpenCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令返回错误", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + Boolean nozzleValveOpenCMDToDeviceResultStatus = nozzleValveOpenCMDToDeviceResult.getBool("result"); + if (!nozzleValveOpenCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令执行失败", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启喷嘴阀指令反馈", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveClose.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveClose.java new file mode 100644 index 0000000..0859418 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveClose.java @@ -0,0 +1,87 @@ +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("wash_valve_close")//业务指令注解 +public class WashValveClose implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice cmdToDevice = DeviceCommandGenerator.wash_valve_close();// + 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, "已向设备发送了关闭清洗阀指令", cmdToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_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, "关闭清洗阀指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭清洗阀指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭清洗阀指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +} diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveOpen.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveOpen.java new file mode 100644 index 0000000..9d13d40 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveOpen.java @@ -0,0 +1,88 @@ +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("wash_valve_open")//业务指令注解 +public class WashValveOpen implements CommandHandler { + private final TcpClient deviceClient; + + @Override + public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + + + /** + * 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); + + + /** + * 2.生成指令，并发送指令 + */ + + CMDToDevice wash_valve_open_CMDToDevice = DeviceCommandGenerator.wash_valve_open();//关闭喷嘴阀 + CommandFuture wash_valve_open_CMDToDeviceFuture = new CommandFuture(); + wash_valve_open_CMDToDeviceFuture.setCmdToDevice(wash_valve_open_CMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = wash_valve_open_CMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, wash_valve_open_CMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(wash_valve_open_CMDToDevice); // 发送指令给设备 + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开清洗阀", wash_valve_open_CMDToDevice), MediaType.APPLICATION_JSON); + + /** + * 3.等待 + */ + wash_valve_open_CMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + + + /** + * 4.处理结果 + */ + JSONObject laser_control_open_CMDToDeviceResult = wash_valve_open_CMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令 + + if (!wash_valve_open_CMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result"); + if (!nozzleValveCloseCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开清洗阀指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + } +}