20250213

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

@@ -2,6 +2,7 @@ package com.qyft.ms.app.common.command;
 
 
 import com.qyft.ms.app.model.bo.CMDToDevice;
+import com.qyft.ms.device.device.MotorNameEnum;
 
 import java.util.HashMap;
 import java.util.Map;
@@ -138,4 +139,23 @@ public class DeviceCommandGenerator {
         return cmdToDevice;
     }
 
+    /**
+     * 电机移动
+     * @return
+     */
+    public static CMDToDevice motor_to_position(MotorNameEnum motorName, int position) {
+
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        CMDToDevice cmdToDevice = new CMDToDevice();
+        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdName("controlMotorCmd");
+        cmdToDevice.setDevice(motorName.getCode());
+        cmdToDevice.setAction("move");
+
+        Map<String, Object> params = new HashMap<>();
+
+
+        return cmdToDevice;
+    }
+
 }

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

@@ -0,0 +1,30 @@
+package com.qyft.ms.app.common.command;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+public class MatrxSprayCmdMapInstance {
+    private static MatrxSprayCmdMapInstance instance;
+
+
+    ConcurrentHashMap<String, CommandFuture> commandMap = new ConcurrentHashMap<>();
+
+
+    public static synchronized MatrxSprayCmdMapInstance getInstance() {
+        if (instance == null) {
+            instance = new MatrxSprayCmdMapInstance();
+        }
+        return instance;
+    }
+
+    public void putCommand(String key, CommandFuture commandFuture) {
+        commandMap.put(key, commandFuture);
+    }
+
+    public CommandFuture removeCommand(String key) {
+        return commandMap.remove(key);
+    }
+
+    public CommandFuture getCommand(String key) {
+        return commandMap.get(key);
+    }
+}

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

@@ -3,8 +3,10 @@ package com.qyft.ms.app.handler.impl;
 import com.qyft.ms.app.common.annotation.CommandMapping;
 import com.qyft.ms.app.common.command.FrontCommandAck;
 import com.qyft.ms.app.common.constant.CommandStatus;
+import com.qyft.ms.app.core.registry.CommandHandlerRegistry;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.device.*;
 import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -26,8 +28,82 @@ import java.util.Map;
 @CommandMapping("matrix_spray_start")//业务指令注解
 public class MatrixSprayStart implements CommandHandler {
 
+    private final CommandHandlerRegistry registry;
+    /**
+     * {
+     *   cmdName:'matrix_spray_start'
+     *   cmdId:'',
+     *   param:{
+     *      matrix_path_type:;//喷涂路径类型
+     *      motor_z_height:;//高度
+     *      gas_pressure://Mpa兆帕
+     *      volume:20；//单位uL微升
+     *      high_voltage:true/false;//是否打开高压
+     *      high_voltage_value:4000;//高压值
+     *      spacing:''//毫米
+     *      moving_speed:8mm/s;//移动速度
+     *      times:;//喷涂遍数
+     *      position:[{x1,y1,x2,y2,index}]
+     *   }
+     * }
+     * @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<String, Object> param = cmdForm.getParam();
+
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+
+        DeviceInstance deviceInstance = DeviceInstance.getInstance();
+        MatrixSprayStatusEnum matrixSprayStatus = DeviceInstance.getInstance().getMatrixSprayStatusEnum();
+
+        /**
+         * 1.判断设备是否正在喷涂中
+         */
+        if("yes".equals(matrixSprayStatus.getCode())){
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设备正在喷涂中，请勿重复操作"), MediaType.APPLICATION_JSON);
+            return;
+        }
+        /**
+         * 2.判断喷涂状态
+         */
+        deviceInstance.setMatrixSprayStatusEnum(MatrixSprayStatusEnum.YES);
+
+        /**
+         * 3.获取XYZ轴的当前位置
+         */
+        MotorX motorX = deviceInstance.getMotorX();
+        MotorY motorY = deviceInstance.getMotorY();
+        MotorZ motorZ  = deviceInstance.getMotorZ();
+
+
+        param.get("position");
+
+        /**
+         * 4.XYZ回原点
+         */
+
+
+        /**
+         * 5.
+         */
+
+        for(int i=0;i<5;i++){
+
+        }
+
+        //TODO 业务逻辑
+        //1.生成指令
+        //2.发送指令
+        //3.等待设备反馈
+        //4.返回结果
+
+
     }
 }

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

@@ -7,6 +7,25 @@ import jakarta.validation.constraints.NotBlank;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
+
+/**
+ * {
+ *   cmdName:'matrix_spray_start'
+ *   cmdId:'',
+ *   param:{
+ *      matrix_path_type:;//喷涂路径类型
+ *      motor_z_height:;//高度
+ *      gas_pressure://Mpa兆帕
+ *      volume:20；//单位uL微升
+ *      high_voltage:true/false;//是否打开高压
+ *      high_voltage_value:4000;//高压值
+ *      spacing:''//毫米
+ *      moving_speed:8mm/s;//移动速度
+ *      times:;//喷涂遍数
+ *      position:[{x1,y1,x2,y2,index}]
+ *   }
+ * }
+ */
 @EqualsAndHashCode(callSuper = false)
 @Schema(description = "基质工艺")
 @TableName("matrix_craft")
@@ -23,34 +42,38 @@ public class MatrixCraft extends BaseEntity {
 
     @NotBlank
     @Schema(description = "路径类型 0 竖向 1 横向")
-    private Integer routeType;
+    private Integer matrixPathType;
 
     @NotBlank
     @Schema(description = "喷涂高度")
-    private Integer height;
+    private Integer motorZHeight;
 
     @NotBlank
     @Schema(description = "氮气流速")
     private Integer nitrogenFlowVelocity;
     @NotBlank
     @Schema(description = "氮气气压")
-    private Integer nitrogenAirPressure;
+    private Integer gasPressure;
 
     @NotBlank
     @Schema(description = "基质流速")
-    private Integer matrixFlowVelocity;
+    private Integer volume;
 
     @NotBlank
     @Schema(description = "电压")
-    private Integer voltage;
+    private Integer highVoltage;
 
     @NotBlank
     @Schema(description = "移速")
-    private Integer movementSpeed;
+    private Integer movingSpeed;
 
     @NotBlank
     @Schema(description = "行间距")
-    private Integer space;
+    private Integer spacing;
+
+    @NotBlank
+    @Schema(description = "喷涂遍数")
+    private Integer times;
 
     @NotBlank
     @Schema(description = "创建人")

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

@@ -0,0 +1,11 @@
+package com.qyft.ms.device.device;
+
+import lombok.Data;
+
+@Data
+public class CurrentTask {
+
+    private String taskName;
+    private TaskStatusEnum taskStatus;
+
+}

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

@@ -36,9 +36,8 @@ public class DeviceInstance {
     //喷涂状态
     private MatrixSprayStatusEnum matrixSprayStatusEnum;
     //当前任务
-    private String currentTaskCommandName;
-    //上一个任务
-    private String previousTaskCommandName;
+    private CurrentTask currentTask;
+
 
     private MotorX motorX;
     private MotorY motorY;

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

@@ -7,4 +7,6 @@ public class MotorX {
     private Boolean isOrigin;
     private Double position;
     private String name = MotorNameEnum.X.getCode();
+    private int speed;
+    private int current;
 }

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

@@ -7,4 +7,6 @@ public class MotorY {
     private Boolean isOrigin;
     private Double position;
     private String name = MotorNameEnum.Y.getCode();
+    private int speed;
+    private int current;
 }

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

@@ -7,4 +7,6 @@ public class MotorZ {
     private Boolean isOrigin;
     private Double position;
     private String name = MotorNameEnum.Z.getCode();
+    private int speed;
+    private int current;
 }

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

@@ -0,0 +1,19 @@
+package com.qyft.ms.device.device;
+
+public enum TaskStatusEnum {
+
+    RUNNING("running"),
+    PAUSED("paused"),
+    STOPPED("stopped"),
+    FINISHED("finished");
+
+    private final String status;
+
+    TaskStatusEnum(String status) {
+        this.status = status;
+    }
+
+    public String getStatus() {
+        return status;
+    }
+}

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

@@ -5,6 +5,8 @@ import cn.hutool.json.JSONUtil;
 import com.qyft.ms.app.common.command.CommandFuture;
 import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
 import com.qyft.ms.app.service.WebSocketService;
+import com.qyft.ms.device.device.DeviceInstance;
+import com.qyft.ms.device.device.MatrixSprayStatusEnum;
 import com.qyft.ms.device.model.bo.DeviceFeedback;
 import com.qyft.ms.device.service.DeviceStatusService;
 import io.netty.buffer.ByteBuf;
@@ -52,7 +54,16 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             String tag = deviceResult.get("tag").toString();
             if ("event".equals(tag)) {
                 //设备上报事件
+                if(MatrixSprayStatusEnum.YES.getCode().equals(DeviceInstance.getInstance().getMatrixSprayStatusEnum().getCode())){
+                    //喷涂中
 
+                    event_type
+
+
+                    MatrxSprayCmdMapInstance
+
+
+                }