fix:修复指令bug

src/main/java/com/qyft/ms/app/config/WebSocketServer.java

@@ -38,13 +38,13 @@ public class WebSocketServer {
 
     @OnMessage
     public void onMessage(String message, Session session) {
-        ObjectMapper objectMapper = new ObjectMapper();
-        try {
-            WebsocketDTO c = objectMapper.readValue(message, WebsocketDTO.class);
-            log.info("解析后的信息: commandName={}, commandId={}", c.getCommandName(), c.getCommandId());
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
+//        ObjectMapper objectMapper = new ObjectMapper();
+//        try {
+//            WebsocketDTO c = objectMapper.readValue(message, WebsocketDTO.class);
+//            log.info("解析后的信息: commandName={}, commandId={}", c.getCommandName(), c.getCommandId());
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
     }
 
     @OnClose

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

@@ -511,6 +511,29 @@ public class CMDController {
         }
     }
 
+    @Operation(summary = "结束除湿")
+    @PostMapping("/stopDehumidify")
+    public Result<String> stopDehumidify(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("stopDehumidify");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.stopDehumidify(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("参数错误");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
     @Operation(summary = "推出托盘")
     @PostMapping("/trayOut")
     public Result<String> trayOut(@RequestBody CMDForm cmdForm) {

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

@@ -6,6 +6,7 @@ import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.qyft.ms.app.model.dto.MatrixDTO;
 import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.model.vo.DeleteMatrixResult;
 import com.qyft.ms.app.service.MatrixService;
 import com.qyft.ms.device.model.entity.CtrlFuncStep;
 import com.qyft.ms.system.common.base.BasePageQuery;
@@ -17,6 +18,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.List;
+
 
 @Tag(name = "基质")
 @RestController
@@ -56,7 +59,14 @@ public class MatrixController {
 
     @Operation(summary = "基质删除")
     @DeleteMapping("/{ids}")
-    public Result<Boolean> deleteMatrix(@PathVariable String ids) {
-        return Result.success(matrixService.deleteMatrix(ids));
+    public Result<DeleteMatrixResult> deleteMatrix(@PathVariable String ids) {
+        List<String> nameList  = matrixService.deleteMatrix(ids);
+        if(nameList != null){
+            DeleteMatrixResult matrixResult = new DeleteMatrixResult();
+            matrixResult.setMatrixName(nameList);
+            return Result.success(matrixResult);
+        }else{
+            return Result.failed();
+        }
     }
 }

src/main/java/com/qyft/ms/app/model/vo/DeleteMatrixResult.java

@@ -0,0 +1,15 @@
+package com.qyft.ms.app.model.vo;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class DeleteMatrixResult {
+    /**
+     * 任务id
+     */
+    private List<String> matrixName;
+
+
+}

src/main/java/com/qyft/ms/app/service/CMDService.java

@@ -96,11 +96,10 @@ public class CMDService {
             return false;
         }
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        double voltage = Optional.ofNullable(params.get("voltage"))
-                .filter(Number.class::isInstance)
-                .map(Number.class::cast)
-                .map(Number::doubleValue)
-                .orElse(0.0);
+        int voltage = (int) params.get("voltage");
+        if(voltage> 5000) {
+            return false;
+        }
             cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage(voltage));
         initExecutorThread(cmdList, form);
         return true;
@@ -108,20 +107,16 @@ public class CMDService {
 
     // 关闭高压电
     public boolean turnOffHighVoltage(CMDForm form) {
-        Map<String, Object> params = form.getParams();
-        if (params == null) {
-            return false;
-        }
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         initExecutorThread(cmdList, form);
         return true;
     }
 
-    // 以指定转速、时间开启注射泵
+    // 以指定转速开启注射泵
     public boolean turnOnSyringePump(CMDForm form) {
         Map<String, Object> params = form.getParams();
-        if (params == null || !params.containsKey("rotationSpeed") || !params.containsKey("time")) {
+        if (params == null || !params.containsKey("rotationSpeed")) {
             return false;
         }
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
@@ -130,12 +125,7 @@ public class CMDService {
                 .map(Number.class::cast)
                 .map(Number::doubleValue)
                 .orElse(0.0);
-        double time = Optional.ofNullable(params.get("time"))
-                .filter(Number.class::isInstance)
-                .map(Number.class::cast)
-                .map(Number::doubleValue)
-                .orElse(0.0);
-        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed, time));
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed));
         initExecutorThread(cmdList, form);
         return true;
     }
@@ -231,11 +221,11 @@ public class CMDService {
             int movementSpeed = (Integer) params.get("movementSpeed");
             cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("x", movementSpeed));
             cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("y", movementSpeed));
-            cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", movementSpeed));
+            cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", 10));
             // 移动到指定高度(位置)
             int height  = (Integer) params.get("height");
 
-            if(z - height < 6.5) {
+            if(z - height < 15) {
                 return "高度设置太低,有撞针的风险";
             }
             cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z",z - height ));
@@ -251,9 +241,9 @@ public class CMDService {
             // 开启喷嘴阀
             cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
             // 推注射泵
-            // TODO 这里不管
-//            int matrixFlowVelocity = (int) params.get("matrixFlowVelocity");
-            cmdList.add(deviceTcpCMDService::syringePumpStart);
+
+            int matrixFlowVelocity = (int) params.get("matrixFlowVelocity");
+            cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(matrixFlowVelocity));
 
             // 插入日志
             if(i == 0) {
@@ -285,6 +275,8 @@ public class CMDService {
             // 关闭喷嘴阀
             cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
         }
+        // 关闭高压
+        cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         // 回到原点
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
@@ -310,6 +302,8 @@ public class CMDService {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // 停止喷涂
         cmdList.add(deviceTcpCMDService::turnOffSyringePump);
+        // 关闭高压
+        cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         // 关闭喷嘴阀
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
         // 回到原点
@@ -359,8 +353,20 @@ public class CMDService {
     // 开始清洗
     public boolean startWash(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(deviceTcpCMDService::switchThreeWayValveToSubstrate);
-        cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true));
+        Map<String, Object> params = form.getParams();
+        String type = (String) params.get("type");
+
+//        type: "injector" | "nozzle"
+        if(Objects.equals(type, "injector")) {
+            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
+            cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true));
+        } else if (Objects.equals(type, "nozzle")) {
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", 173.08));
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 75.2));
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", 70));
+            cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_nozzle"));
+            cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        }
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("washing");
             return true;
@@ -372,7 +378,9 @@ public class CMDService {
     // 结束清洗
     public boolean stopWash(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("close_all"));
         cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", false));
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");
             return true;
@@ -409,8 +417,12 @@ public class CMDService {
     // 开始预充
     public boolean startPrefill(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray);
+        Map<String, Object> params = form.getParams();
+
+        cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
+
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump((Double) params.get("rotationSpeed")));
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("prefilling");
             return true;
@@ -421,7 +433,9 @@ public class CMDService {
 // 停止预充
     public boolean stopPrefill(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
+
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");
             return true;
@@ -462,6 +476,13 @@ public class CMDService {
         return true;
     }
 
+    public boolean stopDehumidify(CMDForm form) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Dehumidification", false));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
     // 设置电机速度
     public boolean setMotorSpeed(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
@@ -499,7 +520,13 @@ public class CMDService {
 
         // 执行所有命令
         for (Supplier<Boolean> command : cmdList) {
+
             boolean result = command.get();
+            try {
+                Thread.sleep(5000);
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
             if (!result) {
                 log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
                 executionResult.setStatus(CMDResultCode.FAILURE.getCode());

src/main/java/com/qyft/ms/app/service/MatrixService.java

@@ -3,6 +3,8 @@ package com.qyft.ms.app.service;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.qyft.ms.app.model.entity.Matrix;
 
+import java.util.List;
+
 
 /**
  * 日志业务接口
@@ -10,5 +12,5 @@ import com.qyft.ms.app.model.entity.Matrix;
 public interface MatrixService extends IService<Matrix> {
     int addMatrix(Matrix matrix);
     boolean updateMatrix(Matrix matrix);
-    boolean deleteMatrix(String ids);
+    List<String> deleteMatrix(String ids);
 }

src/main/java/com/qyft/ms/app/service/impl/MatrixServiceImpl.java

@@ -1,12 +1,16 @@
 package com.qyft.ms.app.service.impl;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.qyft.ms.app.mapper.MatrixMapper;
 import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.model.entity.MatrixCraft;
+import com.qyft.ms.app.service.MatrixCraftService;
 import com.qyft.ms.app.service.MatrixService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.stream.Collectors;
@@ -19,6 +23,7 @@ import java.util.stream.Collectors;
 public class MatrixServiceImpl extends ServiceImpl<MatrixMapper, Matrix> implements MatrixService {
 
     private final MatrixMapper matrixMapper;
+    private final MatrixCraftService matrixCraftService;
     @Override
     public int addMatrix(Matrix matrix) {
         return matrixMapper.insert(matrix);
@@ -31,10 +36,25 @@ public class MatrixServiceImpl extends ServiceImpl<MatrixMapper, Matrix> impleme
     }
 
     @Override
-    public boolean deleteMatrix(String ids) {
+    public List<String> deleteMatrix(String ids) {
+        List<String> nameList = new ArrayList<>();
         List<Long> idsArr = Arrays.stream(ids.split(","))
                 .map(Long::parseLong)
-                .collect(Collectors.toList());
-        return this.removeByIds(idsArr);
+                .toList();
+        List<Long> removeIdList = new ArrayList<>();
+        for (Long id : idsArr) {
+
+            List<MatrixCraft> listByMatrix = matrixCraftService.list(new LambdaQueryWrapper<MatrixCraft>() .eq( MatrixCraft::getMatrixId, id));
+            if(listByMatrix.isEmpty()){
+                removeIdList.add(id);
+            }else{
+                Matrix  matrix = this.getById(id);
+                nameList.add(matrix.getName());
+            }
+        }
+        if(!this.removeByIds(removeIdList)){
+            return null;
+        }
+        return nameList;
     }
 }

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDService.java

@@ -198,7 +198,7 @@ public class DeviceTcpCMDService {
      * @param voltage 电压值
      * @return 操作是否成功
      */
-    public boolean turnOnHighVoltage(double voltage) {
+    public boolean turnOnHighVoltage(int voltage) {
         Map<String, Object> params = new HashMap<>();
         params.put("voltage", voltage);
         return this.putTask(DeviceCommands.TURN_ON_HIGH_VOLTAGE, params);
@@ -214,15 +214,13 @@ public class DeviceTcpCMDService {
 
     // 注射泵控制方法
     /**
-     * 以指定转速、方向和时间开启注射泵
+     * 以指定转速开启注射泵
      * @param rotationSpeed 转速
-     * @param time 时间
      * @return 操作是否成功
      */
-    public boolean turnOnSyringePump(double rotationSpeed, double time) {
+    public boolean turnOnSyringePump(double rotationSpeed) {
         Map<String, Object> params = new HashMap<>();
         params.put("rotationSpeed", rotationSpeed);
-        params.put("time", time);
         return this.putTask(DeviceCommands.TURN_ON_SYRINGE_PUMP, params);
     }
 
@@ -310,4 +308,11 @@ public class DeviceTcpCMDService {
         return this.putTask(DeviceCommands.START_DEHUMIDIFY, params);
     }
 
+    // 切换三通阀
+    public boolean switchThreeWayValve(String type) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("type", type);
+        return this.putTask(DeviceCommands.START_DEHUMIDIFY, params);
+    }
+
 }

src/test/java/com/qyft/ms/SprayTest.java

@@ -71,7 +71,7 @@ public class SprayTest {
         when(deviceTcpCMDService.switchThreeWayValveToSpray()).thenReturn(true);
         when(deviceTcpCMDService.setMotorSpeed(anyString(), anyInt())).thenReturn(true);
         when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true);
-        when(deviceTcpCMDService.turnOnHighVoltage(anyDouble())).thenReturn(true);
+        when(deviceTcpCMDService.turnOnHighVoltage((int) anyDouble())).thenReturn(true);
         when(deviceTcpCMDService.controlValve(anyString(), anyBoolean())).thenReturn(true);
         when(deviceTcpCMDService.syringePumpMoveAtSpeed(anyInt())).thenReturn(true);
         when(deviceTcpCMDService.turnOffSyringePump()).thenReturn(true);