防止冲突先提交一下

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

@@ -224,15 +224,15 @@ public class DeviceCommandGenerator {
     /**
      * 推入玻片托盘
      */
-    public static CMDToDevice slide_tray_in(int position, int speed) {
-        return motor_y_distance_set(position, speed);
+    public static CMDToDevice slide_tray_in(Double position, Integer speed) {
+        return motor_y_position_set(position, speed);
     }
 
     /**
      * 推出玻片托盘
      */
-    public static CMDToDevice slide_tray_out(Integer position, Integer speed) {
-        return motor_y_distance_set(position, speed);
+    public static CMDToDevice slide_tray_out(Double position, Integer speed) {
+        return motor_y_position_set(position, speed);
     }
 
     /**
@@ -285,21 +285,21 @@ public class DeviceCommandGenerator {
     /**
      * 移动x轴到指定位置
      */
-    public static CMDToDevice motor_x_distance_set(Integer position, Integer speed) {
+    public static CMDToDevice motor_x_position_set(Double position, Integer speed) {
         return motor_x("move", null, "forward", position, speed);
     }
 
     /**
      * 移动y轴到指定位置
      */
-    public static CMDToDevice motor_y_distance_set(Integer position, Integer speed) {
+    public static CMDToDevice motor_y_position_set(Double position, Integer speed) {
         return motor_y("move", null, "forward", position, speed);
     }
 
     /**
      * 移动z轴到指定位置
      */
-    public static CMDToDevice motor_z_distance_set(Integer position, Integer speed) {
+    public static CMDToDevice motor_z_position_set(Double position, Integer speed) {
         return motor_z("move", null, "forward", position, speed);
     }
 
@@ -348,28 +348,28 @@ public class DeviceCommandGenerator {
     /**
      * x轴电机控制
      */
-    public static CMDToDevice motor_x(String action, Integer current, String direction, Integer position, Integer speed) {
+    public static CMDToDevice motor_x(String action, Integer current, String direction, Double position, Integer speed) {
         return controlMotorCmd("x", action, current, direction, position, speed);
     }
 
     /**
      * 轴电机控制
      */
-    public static CMDToDevice motor_y(String action, Integer current, String direction, Integer position, Integer speed) {
+    public static CMDToDevice motor_y(String action, Integer current, String direction, Double position, Integer speed) {
         return controlMotorCmd("y", action, current, direction, position, speed);
     }
 
     /**
      * z轴电机控制
      */
-    public static CMDToDevice motor_z(String action, Integer current, String direction, Integer position, Integer speed) {
+    public static CMDToDevice motor_z(String action, Integer current, String direction, Double position, Integer speed) {
         return controlMotorCmd("z", action, current, direction, position, speed);
     }
 
     /**
      * 控制电机指令
      */
-    public static CMDToDevice controlMotorCmd(String device, String action, Integer current, String direction, Integer position, Integer speed) {
+    public static CMDToDevice controlMotorCmd(String device, String action, Integer current, String direction, Double position, Integer speed) {
         Map<String, Object> params = new HashMap<>();
         params.put("current", current);
         params.put("direction", direction);

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

@@ -0,0 +1,58 @@
+package com.qyft.ms.app.controller;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+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.service.DeviceTcpCMDServiceV2;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+@Tag(name = "前端调用指令")
+@RestController
+@RequestMapping("/api/device/debug/front")
+@RequiredArgsConstructor
+@Slf4j
+public class FrontCmdDebugController {
+    private final DeviceTcpCMDServiceV2 deviceTcpCMDServiceV2;
+    private final CommandHandlerRegistry registry;
+
+    @Operation(summary = "前端统一调用一个接口")
+    @PostMapping("/control")
+    public ResponseBodyEmitter controlMethod(@RequestBody CMDFormV2 cmdForm) {
+        ResponseBodyEmitter emitter = new ResponseBodyEmitter();
+        String frontCmdName = cmdForm.getCmdName(); // 获取前端传入的命令字符串
+
+        CommandHandler handler = registry.getHandler(frontCmdName);
+        if (handler != null) {
+            try {
+                handler.handle(cmdForm, emitter);
+            } catch (Exception e) {
+                log.error("指令执行失败:{}", JSONUtil.toJsonStr(cmdForm), e);
+                emitter.completeWithError(e);
+            }
+        } else {
+            try {
+                emitter.send("未找到对应的业务指令: " + frontCmdName);
+                emitter.complete();
+            } catch (Exception e) {
+                emitter.completeWithError(e);
+            }
+        }
+        return emitter;
+    }
+
+    @RequestMapping("/controlTest")
+    public void controlMethodTest() {
+        CurrentSendCmdMapInstance.getInstance().getCommand(1).commandContinue();
+    }
+
+}

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

@@ -54,7 +54,7 @@ public class DehumidifierStart implements CommandHandler {
         deviceClient.sendToJSON(humidityCmdToDevice); //发送指令给设备
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了获取湿度指令", humidityCmdToDevice), MediaType.APPLICATION_JSON);
         humidityGetFuture.waitForContinue();//等待设备的反馈
-        //3.处理返回结果或者没有响应
+        //3.处理返回结果或者响应超时
         JSONObject deviceResult = humidityGetFuture.getCallbackResult();//拿到设备返回结果
         CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除
         if (humidityGetFuture.isReceived() || humidityGetFuture.isGetResult()) {
@@ -80,11 +80,11 @@ public class DehumidifierStart implements CommandHandler {
                 if (dehumidifier_valve_control_Future.isReceived() || dehumidifier_valve_control_Future.isGetResult()) {
                     emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启除湿阀指令指令设备反馈", dehumidifier_valve_control_result), MediaType.APPLICATION_JSON);//设备已经收到指令并且执行成功
                 } else {
-                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令没有响应", deviceResult), MediaType.APPLICATION_JSON); //设备未收到指令或者执行失败
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令响应超时", deviceResult), MediaType.APPLICATION_JSON); //设备未收到指令或者执行失败
                 }
             }
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设备没有响应", deviceResult), MediaType.APPLICATION_JSON);//设备未收到指令或者执行失败
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设备响应超时", deviceResult), MediaType.APPLICATION_JSON);//设备未收到指令或者执行失败
         }
         emitter.complete();
     }

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

@@ -52,7 +52,7 @@ public class MotorXToHome implements CommandHandler {
         if (motorXToHomeCmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴回原点指令设备反馈", deviceResult), MediaType.APPLICATION_JSON);
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令没有响应", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令响应超时", deviceResult), MediaType.APPLICATION_JSON);
         }
     }
 }

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

@@ -52,7 +52,7 @@ public class MotorYToHome implements CommandHandler {
         if (motorYToHomeCmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴回原点指令设备反馈", deviceResult), MediaType.APPLICATION_JSON);
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令没有响应", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令响应超时", deviceResult), MediaType.APPLICATION_JSON);
         }
     }
 }

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

@@ -52,7 +52,7 @@ public class MotorZToHome implements CommandHandler {
         if (motorZToHomeCmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴回原点指令设备反馈", deviceResult), MediaType.APPLICATION_JSON);
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令没有响应", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令响应超时", deviceResult), MediaType.APPLICATION_JSON);
         }
     }
 }

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

@@ -1,10 +1,16 @@
 package com.qyft.ms.app.handler.impl;
 
+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 org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;
@@ -21,6 +27,10 @@ import java.util.Map;
 @Async("asyncExecutor")
 @CommandMapping("matrix_prefill")//业务指令注解
 public class NozzlePipelinePreFill implements CommandHandler {
+    /**
+     * 设备通信client
+     */
+    private final TcpClient deviceClient;
 
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
@@ -28,5 +38,167 @@ public class NozzlePipelinePreFill implements CommandHandler {
         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
+        //1.传参校验
+        Integer speed = (Integer) param.get("speed");
+        if (speed == null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 speed 必填"), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴"), MediaType.APPLICATION_JSON);
+        CMDToDevice motorXYZPositionGetCmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//生成指令 获取xyz当前位置
+        CommandFuture motorXYZPositionGetCmdToDeviceFuture = new CommandFuture();
+        motorXYZPositionGetCmdToDeviceFuture.setCmdToDevice(motorXYZPositionGetCmdToDevice);
+        Integer motorXYZPositionGetCmdToDeviceCmdId = motorXYZPositionGetCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorXYZPositionGetCmdToDeviceCmdId, motorXYZPositionGetCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorXYZPositionGetCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了获得电机XYZ相对原点坐标指令", motorXYZPositionGetCmdToDevice), MediaType.APPLICATION_JSON);
+        motorXYZPositionGetCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+        JSONObject motorXYZPositionGetCmdToDeviceResult = motorXYZPositionGetCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorXYZPositionGetCmdToDeviceCmdId);//将指令从map中删除
+        if (!motorXYZPositionGetCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令响应超时", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        if (motorXYZPositionGetCmdToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令返回错误", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        Double zAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("zAxisPosition");//当前z轴相对于原点的位置
+        if(zAxisPosition == null ||  zAxisPosition < 0.0) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "电机XYZ相对原点坐标指令反馈", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+        if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "z轴超出安全距离，抬升z轴至安全距离"), MediaType.APPLICATION_JSON);
+            CMDToDevice motorZPositionSetCmdToDevice = DeviceCommandGenerator.motor_z_position_set(80.0, 2);//生成指令 移动z轴到指定位置
+            CommandFuture motorZPositionSetCmdToDeviceFuture = new CommandFuture();
+            motorZPositionSetCmdToDeviceFuture.setCmdToDevice(motorZPositionSetCmdToDevice);
+            Integer motorZPositionSetCmdToDeviceCmdId = motorXYZPositionGetCmdToDevice.getCmdId();
+            CurrentSendCmdMapInstance.getInstance().putCommand(motorZPositionSetCmdToDeviceCmdId, motorZPositionSetCmdToDeviceFuture);//将指令放入map
+            deviceClient.sendToJSON(motorZPositionSetCmdToDevice); //发送指令给设备
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动z轴到指定位置指令", motorXYZPositionGetCmdToDevice), MediaType.APPLICATION_JSON);
+            motorZPositionSetCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+            JSONObject motorZPositionSetCmdToDeviceResult = motorXYZPositionGetCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+            CurrentSendCmdMapInstance.getInstance().removeCommand(motorZPositionSetCmdToDeviceCmdId);//将指令从map中删除
+            if (!motorZPositionSetCmdToDeviceFuture.isReceived()) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令置响应超时", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+            if (motorZPositionSetCmdToDeviceResult.getJSONObject("error") != null) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令返回错误", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+
+            Boolean motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getBool("result");
+            if(!motorZPositionSetCmdToDeviceResultStatus){
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+        }
+        //3.轴移动到废液位置
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "轴移动到废液位置"), MediaType.APPLICATION_JSON);
+        CMDToDevice motorXPositionSetCmdToDevice = DeviceCommandGenerator.motor_x_position_set(173.08, 0);//生成指令 移动x轴到指定位置
+        CommandFuture motorXPositionSetCmdToDeviceFuture = new CommandFuture();
+        motorXPositionSetCmdToDeviceFuture.setCmdToDevice(motorXPositionSetCmdToDevice);
+        Integer motorXPositionSetCmdToDeviceCmdId = motorXPositionSetCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorXPositionSetCmdToDeviceCmdId, motorXPositionSetCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorXPositionSetCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动x轴到指定位置指令", motorXPositionSetCmdToDevice), MediaType.APPLICATION_JSON);
+        motorXPositionSetCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+        JSONObject motorXPositionSetCmdToDeviceResult = motorXPositionSetCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorXPositionSetCmdToDeviceCmdId);//将指令从map中删除
+        if (!motorXPositionSetCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令响应超时", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        if (motorXPositionSetCmdToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令返回错误", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        Boolean motorXYZPositionGetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result");
+        if (!motorXYZPositionGetCmdToDeviceResultStatus) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+
+
+        CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(173.08, 0);
+        CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture();
+        motorYPositionSetCMDToDeviceFuture.setCmdToDevice(motorYPositionSetCMDToDevice);
+        Integer motorYPositionSetCMDToDeviceCmdId = motorYPositionSetCMDToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorYPositionSetCMDToDeviceCmdId, motorYPositionSetCMDToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorYPositionSetCMDToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动y轴到指定位置指令", motorYPositionSetCMDToDevice), MediaType.APPLICATION_JSON);
+        motorYPositionSetCMDToDeviceFuture.waitForContinue();//等待设备的反馈
+        JSONObject motorYPositionSetCMDToDeviceResult = motorYPositionSetCMDToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorYPositionSetCMDToDeviceCmdId);//将指令从map中删除
+        if (!motorYPositionSetCMDToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令响应超时", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        if (motorYPositionSetCMDToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令返回错误", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        Boolean motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getBool("result");
+        if (!motorYPositionSetCMDToDeviceResultStatus) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+        //4.下降z轴高度，防止飞溅
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "下降z轴高度，防止飞溅"), MediaType.APPLICATION_JSON);
+        CMDToDevice motorZPositionSetDownCmdToDevice = DeviceCommandGenerator.motor_z_position_set(85.0, 2);//生成指令 移动z轴到指定位置
+        CommandFuture motorZPositionSetDownCmdToDeviceFuture = new CommandFuture();
+        motorZPositionSetDownCmdToDeviceFuture.setCmdToDevice(motorZPositionSetDownCmdToDevice);
+        Integer motorZPositionSetDownCmdToDeviceCmdId = motorZPositionSetDownCmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorZPositionSetDownCmdToDeviceCmdId, motorZPositionSetDownCmdToDeviceFuture);//将指令放入map
+        deviceClient.sendToJSON(motorZPositionSetDownCmdToDevice); //发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动z轴到指定位置指令", motorZPositionSetDownCmdToDevice), MediaType.APPLICATION_JSON);
+        motorZPositionSetDownCmdToDeviceFuture.waitForContinue();//等待设备的反馈
+        JSONObject motorZPositionSetDownCmdToDeviceResult = motorZPositionSetDownCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorZPositionSetDownCmdToDeviceCmdId);//将指令从map中删除
+        if (!motorZPositionSetDownCmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令置响应超时", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        if (motorZPositionSetDownCmdToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令返回错误", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+
+        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
+        if(!motorZPositionSetDownCmdToDeviceResultStatus){
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+        //5.三通阀切换到注射器管路
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "三通阀切换到注射器管路"), MediaType.APPLICATION_JSON);
+        CMDToDevice a = DeviceCommandGenerator.motor_z_position_set(85.0, 2);//生成指令 移动z轴到指定位置
+        //6.打开喷嘴阀
+        //7.设置注射泵速度
+        //8.推注射泵"
+        emitter.complete();
     }
 }

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

@@ -37,7 +37,7 @@ public class SlideTrayIn implements CommandHandler {
         String frontCmdName = cmdForm.getCmdName();
         //向前端发送接收到指令
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
-        CMDToDevice slideTrayInCmdToDevice = DeviceCommandGenerator.slide_tray_in(0, 2);//生成指令 推入玻片托盘
+        CMDToDevice slideTrayInCmdToDevice = DeviceCommandGenerator.slide_tray_in(0.0, 2);//生成指令 推入玻片托盘
 
         CommandFuture slideTrayInCmdToDeviceFuture = new CommandFuture();
         slideTrayInCmdToDeviceFuture.setCmdToDevice(slideTrayInCmdToDevice);
@@ -54,7 +54,7 @@ public class SlideTrayIn implements CommandHandler {
         if (slideTrayInCmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推入玻片托盘指令设备反馈：", deviceResult), MediaType.APPLICATION_JSON);
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令没有响应：", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令响应超时：", deviceResult), MediaType.APPLICATION_JSON);
         }
     }
 }

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

@@ -37,7 +37,7 @@ public class SlideTrayOut implements CommandHandler {
         //向前端发送接收到指令
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
         //TODO 数值应该从数据库中获取
-        CMDToDevice slideTrayOutCmdToDevice = DeviceCommandGenerator.slide_tray_out(20, 2);//生成指令 推出玻片托盘
+        CMDToDevice slideTrayOutCmdToDevice = DeviceCommandGenerator.slide_tray_out(20.0, 2);//生成指令 推出玻片托盘
 
         CommandFuture slideTrayOutCmdToDeviceFuture = new CommandFuture();
         slideTrayOutCmdToDeviceFuture.setCmdToDevice(slideTrayOutCmdToDevice);
@@ -54,7 +54,7 @@ public class SlideTrayOut implements CommandHandler {
         if (slideTrayOutCmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推出玻片托盘指令设备反馈：", deviceResult), MediaType.APPLICATION_JSON);
         } else {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令没有响应：", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令响应超时：", deviceResult), MediaType.APPLICATION_JSON);
         }
     }
 }

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

@@ -52,44 +52,15 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             String tag = deviceResult.get("tag").toString();
             if ("event".equals(tag)) {
                 //设备上报事件
-
-
-
-
             } else if ("ack".equals(tag)) {
-
-
-
                 //设备指令反馈
                 Integer cmdId = payload.getInt("cmdId");
                 CommandFuture commandFuture = CurrentSendCmdMapInstance.getInstance().getCommand(cmdId);
-
                 if(commandFuture!=null){
                     commandFuture.setReceived(true);
                     commandFuture.setCallbackResult(payload);
                     commandFuture.commandContinue();
                 }
-//
-//                if (error != null) {
-//                    //指令执行错误，将错误放到CallbackResult中
-//                    commandFuture.setCallbackResult(error);
-//                }
-//                Object result = payload.get("result");
-//                if (result instanceof Boolean) {
-//                    //ack 没携带数据
-//                } else if (result instanceof JSONObject) {
-//                    //ack 携带了数据，将数据放到了CallbackResult中
-//                    commandFuture.setCallbackResult((JSONObject) result);
-//                } else {
-//                    //TODO 没有定义的类型
-//                }
-//                commandFuture.setReceived(true);//已收到设备反馈
-//                commandFuture.commandContinue();
-
-
-
-
-
             } else if ("status".equals(tag)) {
                 //设备上报状态
             }