15 changed files with 464 additions and 52 deletions
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13build.gradle
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BINmatrix-spray.db
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47src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java
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56src/main/java/com/qyft/ms/app/common/generator/RectangleGrid.java
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26src/main/java/com/qyft/ms/app/controller/CMDController.java
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8src/main/java/com/qyft/ms/app/controller/MatrixCraftController.java
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11src/main/java/com/qyft/ms/app/model/vo/MatrixCraftResult.java
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57src/main/java/com/qyft/ms/app/service/CMDService.java
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5src/main/java/com/qyft/ms/app/service/MatrixCraftService.java
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3src/main/java/com/qyft/ms/app/service/WebSocketService.java
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2src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java
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31src/main/java/com/qyft/ms/app/service/impl/MatrixCraftServiceImpl.java
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2src/main/resources/application.yml
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144src/test/java/com/qyft/ms/CMDServiceTest.java
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111src/test/java/com/qyft/ms/SprayTest.java
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package com.qyft.ms.app.common.generator; |
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|
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import java.util.ArrayList; |
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import java.util.List; |
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public class RectangleGrid { |
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public static void main(String[] args) { |
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// 示例输入 |
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int x1 = 0, y1 = 0; // 左上角坐标 |
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int x2 = 10, y2 = 10; // 右下角坐标 |
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int spacing = 2; // 间距值 |
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String moveType = "horizontal"; // 移动类型：horizontal（横向）或 vertical（纵向） |
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// 生成坐标点 |
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List<int[]> points = generatePoints(x1, y1, x2, y2, spacing, moveType); |
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// 输出结果 |
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for (int[] point : points) { |
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System.out.println("(" + point[0] + ", " + point[1] + ")"); |
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} |
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} |
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|
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/** |
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* 生成铺满矩形区域的坐标点 |
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* |
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* @param x1 左上角 x 坐标 |
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* @param y1 左上角 y 坐标 |
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* @param x2 右下角 x 坐标 |
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* @param y2 右下角 y 坐标 |
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* @param spacing 间距值 |
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* @param moveType 移动类型：horizontal（横向）或 vertical（纵向） |
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* @return 坐标点列表 |
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*/ |
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public static List<int[]> generatePoints(int x1, int y1, int x2, int y2, int spacing, String moveType) { |
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List<int[]> points = new ArrayList<>(); |
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|
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if (moveType.equalsIgnoreCase("horizontal")) { |
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// 横向移动：每一行的起点和终点 |
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for (int y = y1; y <= y2; y += spacing) { |
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points.add(new int[]{x1, y}); // 起点 |
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points.add(new int[]{x2, y}); // 终点 |
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} |
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} else if (moveType.equalsIgnoreCase("vertical")) { |
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// 纵向移动：每一列的起点和终点 |
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for (int x = x1; x <= x2; x += spacing) { |
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points.add(new int[]{x, y1}); // 起点 |
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points.add(new int[]{x, y2}); // 终点 |
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} |
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} else { |
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throw new IllegalArgumentException("Invalid move type. Use 'horizontal' or 'vertical'."); |
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} |
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return points; |
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} |
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} |
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package com.qyft.ms.app.model.vo; |
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import com.qyft.ms.app.model.entity.MatrixCraft; |
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import lombok.Data; |
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@Data |
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public class MatrixCraftResult extends MatrixCraft { |
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private String matrixName; |
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} |
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package com.qyft.ms; |
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import com.qyft.ms.app.model.form.CMDForm; |
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import com.qyft.ms.app.model.vo.ExecutionResult; |
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import com.qyft.ms.app.service.CMDService; |
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import com.qyft.ms.app.service.OperationLogService; |
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import com.qyft.ms.app.service.WebSocketService; |
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import com.qyft.ms.device.service.DeviceTcpCMDService; |
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import org.junit.jupiter.api.BeforeEach; |
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import org.junit.jupiter.api.Test; |
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import org.mockito.InjectMocks; |
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import org.mockito.Mock; |
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import org.mockito.MockitoAnnotations; |
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import org.springframework.boot.test.context.SpringBootTest; |
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import org.springframework.test.context.ActiveProfiles; |
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import java.util.ArrayList; |
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import java.util.HashMap; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.function.Supplier; |
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import static org.junit.jupiter.api.Assertions.*; |
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import static org.mockito.ArgumentMatchers.*; |
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import static org.mockito.Mockito.*; |
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@ActiveProfiles("test") |
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@SpringBootTest |
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public class CMDServiceTest { |
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@Mock |
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private DeviceTcpCMDService deviceTcpCMDService; |
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@Mock |
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private WebSocketService webSocketService; |
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@Mock |
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private OperationLogService operationLogService; |
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@InjectMocks |
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private CMDService cmdService; |
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private CMDForm form; |
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@BeforeEach |
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void setUp() { |
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MockitoAnnotations.openMocks(this); |
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form = new CMDForm(); |
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form.setCommandId("test-command"); |
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form.setCommandName("test-command"); |
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} |
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@Test |
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void testMoveMotorToPosition_Success() { |
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// 准备参数 |
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Map<String, Object> params = new HashMap<>(); |
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params.put("axis", "x"); |
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params.put("position", 100.0); |
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form.setParams(params); |
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// 模拟设备服务调用 |
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when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true); |
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// 执行测试 |
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boolean result = cmdService.moveMotorToPosition(form); |
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// 验证结果 |
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assertTrue(result); |
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verify(deviceTcpCMDService, times(1)).moveMotorToPosition("x", 100.0); |
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} |
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@Test |
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void testStartWork_InvalidPosition() { |
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// 准备无效参数 |
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Map<String, Object> params = new HashMap<>(); |
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params.put("position", new ArrayList<>()); // 空位置列表 |
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form.setParams(params); |
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// 执行测试 |
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String result = cmdService.startWork(form); |
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// 验证返回错误信息 |
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assertEquals("position参数错误", result); |
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} |
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@Test |
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void testStartWork_PathGeneration() { |
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// 准备有效参数 |
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Map<String, Object> params = new HashMap<>(); |
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List<Map<String, Integer>> positions = new ArrayList<>(); |
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Map<String, Integer> pos = new HashMap<>(); |
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pos.put("x1", 10); |
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pos.put("y1", 20); |
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pos.put("x2", 30); |
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pos.put("y2", 40); |
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pos.put("index", 0); |
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positions.add(pos); |
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params.put("position", positions); |
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params.put("space", 5); |
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params.put("routeType", 1); |
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params.put("height", 50); |
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params.put("movementSpeed", 100); |
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form.setParams(params); |
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// 模拟依赖项 |
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when(deviceTcpCMDService.switchThreeWayValveToSpray()).thenReturn(true); |
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when(deviceTcpCMDService.setMotorSpeed(anyString(), anyInt())).thenReturn(true); |
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when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true); |
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// 执行测试 |
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String result = cmdService.startWork(form); |
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// 验证命令链长度 |
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assertNotNull(result); |
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verify(deviceTcpCMDService, atLeastOnce()).switchThreeWayValveToSpray(); |
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} |
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@Test |
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void testControlValve_NozzleOpen() { |
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Map<String, Object> params = new HashMap<>(); |
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params.put("valveType", "Nozzle"); |
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params.put("isOpen", true); |
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form.setParams(params); |
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when(deviceTcpCMDService.controlValve(anyString(), anyBoolean())).thenReturn(true); |
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boolean result = cmdService.controlValve(form); |
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assertTrue(result); |
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verify(deviceTcpCMDService).controlValve("Nozzle", true); |
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} |
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@Test |
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void testRun_CommandFailure() { |
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// 模拟一个失败的指令 |
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List<Supplier<Boolean>> cmdList = new ArrayList<>(); |
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cmdList.add(() -> false); // 直接返回失败 |
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// 执行内部方法 |
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cmdService.run(cmdList, form); |
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// 验证WebSocket错误消息推送 |
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verify(webSocketService).pushMsg(any(), any(ExecutionResult.class)); |
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} |
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} |
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@ -0,0 +1,111 @@ |
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package com.qyft.ms; |
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import com.qyft.ms.app.model.entity.OperationLog; |
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import com.qyft.ms.app.model.entity.SysSettings; |
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import com.qyft.ms.app.model.form.CMDForm; |
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import com.qyft.ms.app.service.*; |
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import com.qyft.ms.device.service.DeviceTcpCMDService; |
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import org.junit.jupiter.api.BeforeEach; |
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import org.junit.jupiter.api.Test; |
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import org.mockito.*; |
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import java.util.*; |
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import static com.qyft.ms.app.common.generator.PathGenerator.generatePathPoints; |
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import static org.mockito.Mockito.*; |
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public class SprayTest { |
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@InjectMocks |
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private CMDService cmdService; |
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@Mock |
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private WebSocketService webSocketService; |
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@Mock |
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private DeviceTcpCMDService deviceTcpCMDService; |
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@Mock |
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private OperationLogService operationLogService; |
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@Mock |
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private MatrixCraftService matrixCraftService; |
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@Mock |
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private ISysSettingsService sysSettingsService; |
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@BeforeEach |
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void setUp() { |
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MockitoAnnotations.openMocks(this); |
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} |
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@Test |
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void testStartWork() { |
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// 1. 准备模拟数据 |
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CMDForm form = new CMDForm(); |
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form.setCommandId("cmd123"); |
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form.setCommandName("startWork"); |
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Map<String, Object> params = new HashMap<>(); |
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params.put("space", 1); |
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params.put("routeType", 1); |
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params.put("movementSpeed", 100); |
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params.put("height", 50); |
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params.put("voltage", 100); |
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params.put("matrixFlowVelocity", 20); |
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params.put("matrixCraftId", 1); |
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List<Map<String, Integer>> positionList = new ArrayList<>(); |
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Map<String, Integer> position = new HashMap<>(); |
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position.put("x1", 10); |
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position.put("y1", 20); |
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position.put("x2", 30); |
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position.put("y2", 40); |
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position.put("index", 0); |
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positionList.add(position); |
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params.put("position", positionList); |
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form.setParams(params); |
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// 2. 模拟依赖行为 |
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SysSettings mockSetting = new SysSettings(); |
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mockSetting.setValue("100,200,300"); // 模拟托盘坐标 |
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when(sysSettingsService.getSlidePositionList()).thenReturn(Collections.singletonList(mockSetting)); |
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when(deviceTcpCMDService.switchThreeWayValveToSpray()).thenReturn(true); |
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when(deviceTcpCMDService.setMotorSpeed(anyString(), anyInt())).thenReturn(true); |
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when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true); |
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when(deviceTcpCMDService.turnOnHighVoltage(anyDouble())).thenReturn(true); |
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when(deviceTcpCMDService.controlValve(anyString(), anyBoolean())).thenReturn(true); |
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when(deviceTcpCMDService.syringePumpMoveAtSpeed(anyInt())).thenReturn(true); |
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when(deviceTcpCMDService.turnOffSyringePump()).thenReturn(true); |
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when(deviceTcpCMDService.motorMoveToHome(anyString())).thenReturn(true); |
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// OperationLog mockLog = new OperationLog(); |
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// when(operationLogService.getIng()).thenReturn(mockLog); |
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// when(operationLogService.add(any())).thenReturn(true); |
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// when(operationLogService.updateById(any())).thenReturn(true); |
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// 3. 调用测试方法 |
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String result = cmdService.startWork(form); |
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// 4. 验证 |
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verify(deviceTcpCMDService, times(1)).switchThreeWayValveToSpray(); |
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verify(deviceTcpCMDService, times(1)).setMotorSpeed("x", 100); |
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verify(deviceTcpCMDService, times(1)).setMotorSpeed("y", 100); |
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verify(deviceTcpCMDService, times(1)).setMotorSpeed("z", 100); |
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verify(deviceTcpCMDService, times(1)).moveMotorToPosition("z", 350); // z + height (300+50) |
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verify(deviceTcpCMDService, times(1)).moveMotorToPosition("x", 110); // x+10 |
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verify(deviceTcpCMDService, times(1)).moveMotorToPosition("y", 220); // y+20 |
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verify(deviceTcpCMDService, times(1)).turnOnHighVoltage(100); |
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// 日志校验 |
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// verify(operationLogService, times(1)).add(any(OperationLog.class)); |
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// verify(operationLogService, times(1)).updateById(any(OperationLog.class)); |
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// 轨迹移动和其他控制指令同理，这里可以补充更多verify |
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verify(deviceTcpCMDService, atLeastOnce()).moveMotorToPosition(eq("x"), anyDouble()); |
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verify(deviceTcpCMDService, atLeastOnce()).moveMotorToPosition(eq("y"), anyDouble()); |
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// 6. 说明 |
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System.out.println("✅ startWork测试通过！"); |
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} |
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} |
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