From edea29d11949239ea0c904fd8f18647afd41653c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Thu, 13 Mar 2025 20:36:17 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E5=AE=8C=E5=96=84=E4=B8=9A=E5=8A=A1?= =?UTF-8?q?=E6=8C=87=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/handler/impl/DehumidifierStart.java | 106 ++++++---- .../qyft/ms/app/handler/impl/DehumidifierStop.java | 42 ++-- .../ms/app/handler/impl/NozzlePipelinePreFill.java | 130 +++++++++--- .../handler/impl/NozzlePipelinePreFillStop.java | 102 ++++++++- .../ms/app/handler/impl/NozzlePipelineWash.java | 184 +++++++++++++++- .../com/qyft/ms/app/handler/impl/SlideTrayIn.java | 37 ++-- .../com/qyft/ms/app/handler/impl/SlideTrayOut.java | 39 ++-- .../ms/app/handler/impl/SyringePipelineWash.java | 231 +++++++++++++++++++++ .../app/handler/impl/SyringePipelineWashStop.java | 75 ++++++- 9 files changed, 829 insertions(+), 117 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStart.java b/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStart.java index 2c4b1aa..55612c4 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStart.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStart.java @@ -37,55 +37,79 @@ public class DehumidifierStart implements CommandHandler { String frontCmdId = cmdForm.getCmdId(); String frontCmdName = cmdForm.getCmdName(); Map 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.判断参数是否合法 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON); + // 1. 参数校验 Integer frontHumidity = (Integer) param.get("humidity"); if (frontHumidity == null) { emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 humidity 必填"), MediaType.APPLICATION_JSON); emitter.complete(); return; } - //2.获取设备湿度 - CMDToDevice humidityCmdToDevice = DeviceCommandGenerator.humidity_get();//生成指令 获取当前湿度 - CommandFuture humidityGetFuture = new CommandFuture(); - humidityGetFuture.setCmdToDevice(humidityCmdToDevice); - Integer toDeviceCmdId = humidityCmdToDevice.getCmdId(); - CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, humidityGetFuture);//将指令放入map - deviceClient.sendToJSON(humidityCmdToDevice); //发送指令给设备 + // 2. 获取设备当前湿度 + CMDToDevice humidityCmdToDevice = DeviceCommandGenerator.humidity_get(); // 生成获取湿度指令 + CommandFuture humidityFuture = new CommandFuture(); + humidityFuture.setCmdToDevice(humidityCmdToDevice); + Integer humidityCmdId = humidityCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(humidityCmdId, humidityFuture); // 放入map + 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()) { - //设备已经收到指令并且执行成功 - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "设备指令反馈", deviceResult), MediaType.APPLICATION_JSON); - Double deviceHumidity = deviceResult.getJSONObject("result").getDouble("humidity");//拿到设备返回的湿度数值 - if (frontHumidity > deviceHumidity) { - //如果小于设置值，提醒用户不用除湿 - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设定湿度大于当前湿度，无需除湿"), MediaType.APPLICATION_JSON); - } else { - //4.如果大于设置值，开始除湿;打开除湿阀门 - CMDToDevice dehumidifier_valve_control = DeviceCommandGenerator.dehumidifier_valve_control("open");//生成指令 开启除湿阀 - CommandFuture dehumidifier_valve_control_Future = new CommandFuture(); - humidityGetFuture.setCmdToDevice(dehumidifier_valve_control); - Integer dehumidifier_valve_control_cmdId = dehumidifier_valve_control.getCmdId(); - CurrentSendCmdMapInstance.getInstance().putCommand(dehumidifier_valve_control_cmdId, dehumidifier_valve_control_Future);//将指令放入map - deviceClient.sendToJSON(dehumidifier_valve_control); //发送指令给设备 - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启除湿阀指令", dehumidifier_valve_control), MediaType.APPLICATION_JSON); - dehumidifier_valve_control_Future.waitForContinue();//等待设备的反馈 - //5.处理打开除湿阀门返回结果 - JSONObject dehumidifier_valve_control_result = dehumidifier_valve_control_Future.getCallbackResult();//拿到设备返回结果 - CurrentSendCmdMapInstance.getInstance().removeCommand(dehumidifier_valve_control_cmdId);//将指令从map中删除 - 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, "设备响应超时", deviceResult), MediaType.APPLICATION_JSON);//设备未收到指令或者执行失败 + humidityFuture.waitForContinue(); + JSONObject humidityResult = humidityFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(humidityCmdId); + if (!humidityFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获取湿度指令响应超时", humidityResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (humidityResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获取湿度指令返回错误", humidityResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean humidityStatus = humidityResult.getBool("result"); + if (!humidityStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获取湿度指令执行失败", humidityResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "获取湿度指令反馈", humidityResult), MediaType.APPLICATION_JSON); + Double deviceHumidity = humidityResult.getJSONObject("result").getDouble("humidity"); + // 3. 根据前端设置湿度与设备湿度比较，决定是否开启除湿 + if (frontHumidity > deviceHumidity) { + // 如果设定湿度大于当前湿度，无需除湿 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "设定湿度大于当前湿度，无需除湿"), MediaType.APPLICATION_JSON); + emitter.complete(); + return; } + // 4. 开启除湿阀门 + CMDToDevice dehumidifierValveCmd = DeviceCommandGenerator.dehumidifier_valve_control("open"); // 生成开启除湿阀指令 + CommandFuture dehumidifierValveFuture = new CommandFuture(); + dehumidifierValveFuture.setCmdToDevice(dehumidifierValveCmd); + Integer dehumidifierValveCmdId = dehumidifierValveCmd.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(dehumidifierValveCmdId, dehumidifierValveFuture); + deviceClient.sendToJSON(dehumidifierValveCmd); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启除湿阀指令", dehumidifierValveCmd), MediaType.APPLICATION_JSON); + dehumidifierValveFuture.waitForContinue(); + JSONObject dehumidifierValveResult = dehumidifierValveFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(dehumidifierValveCmdId); + if (!dehumidifierValveFuture.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.complete(); } + } diff --git a/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStop.java b/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStop.java index 047d294..7667488 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStop.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStop.java @@ -34,27 +34,35 @@ public class DehumidifierStop implements CommandHandler { public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { String frontCmdId = cmdForm.getCmdId(); String frontCmdName = cmdForm.getCmdName(); - - 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 - - CMDToDevice cmdToDevice = DeviceCommandGenerator.dehumidifier_valve_close();//生成指令 关闭除湿阀 + 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 toDeviceCmdId = cmdToDevice.getCmdId(); - CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, cmdToDeviceFuture);//将指令放入map - - deviceClient.sendToJSON(cmdToDevice); //发送指令给设备 + 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();//等待设备的反馈 - JSONObject deviceResult = cmdToDeviceFuture.getCallbackResult();//拿到设备返回结果 - CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除 - if (cmdToDeviceFuture.isReceived()) { - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭除湿阀指令设备反馈", deviceResult), MediaType.APPLICATION_JSON); - } else { - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令有响应", deviceResult), 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.complete(); } + } diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java index 62ac4de..f7a7075 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java @@ -68,23 +68,23 @@ public class NozzlePipelinePreFill implements CommandHandler { 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) { + 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 + if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴 //TODO安全距离应该可配置 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 + CMDToDevice motorZPositionSetCmdToDevice = DeviceCommandGenerator.motor_z_position_set(80.0, 2);//生成指令 移动z轴到指定位置 (TODO)安全距离应该可配置 CommandFuture motorZPositionSetCmdToDeviceFuture = new CommandFuture(); motorZPositionSetCmdToDeviceFuture.setCmdToDevice(motorZPositionSetCmdToDevice); - Integer motorZPositionSetCmdToDeviceCmdId = motorXYZPositionGetCmdToDevice.getCmdId(); + Integer motorZPositionSetCmdToDeviceCmdId = motorZPositionSetCmdToDevice.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); + 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", motorZPositionSetCmdToDevice), MediaType.APPLICATION_JSON); motorZPositionSetCmdToDeviceFuture.waitForContinue();//等待设备的反馈 - JSONObject motorZPositionSetCmdToDeviceResult = motorXYZPositionGetCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果 + JSONObject motorZPositionSetCmdToDeviceResult = motorZPositionSetCmdToDeviceFuture.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); @@ -98,16 +98,16 @@ public class NozzlePipelinePreFill implements CommandHandler { } Boolean motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getBool("result"); - if(!motorZPositionSetCmdToDeviceResultStatus){ + 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 + //3.xy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 + CMDToDevice motorXPositionSetCmdToDevice = DeviceCommandGenerator.motor_x_position_set(173.08, 2);//生成指令 移动x轴到指定位置 (TODO) 废液桶X轴位置应当可以配置 CommandFuture motorXPositionSetCmdToDeviceFuture = new CommandFuture(); motorXPositionSetCmdToDeviceFuture.setCmdToDevice(motorXPositionSetCmdToDevice); Integer motorXPositionSetCmdToDeviceCmdId = motorXPositionSetCmdToDevice.getCmdId(); @@ -127,16 +127,14 @@ public class NozzlePipelinePreFill implements CommandHandler { emitter.complete(); return; } - Boolean motorXYZPositionGetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result"); - if (!motorXYZPositionGetCmdToDeviceResultStatus) { + Boolean motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result"); + if (!motorXYZPositionSetCmdToDeviceResultStatus) { 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); + CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0, 0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture(); motorYPositionSetCMDToDeviceFuture.setCmdToDevice(motorYPositionSetCMDToDevice); Integer motorYPositionSetCMDToDeviceCmdId = motorYPositionSetCMDToDevice.getCmdId(); @@ -147,25 +145,26 @@ public class NozzlePipelinePreFill implements CommandHandler { 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.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y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.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y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.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y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); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动y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 + Thread.sleep(10 * 1000);//TODO 等待10秒，x和y轴移动完毕 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 + CMDToDevice motorZPositionSetDownCmdToDevice = DeviceCommandGenerator.motor_z_position_set(70.0, 2);//生成指令 移动z轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 CommandFuture motorZPositionSetDownCmdToDeviceFuture = new CommandFuture(); motorZPositionSetDownCmdToDeviceFuture.setCmdToDevice(motorZPositionSetDownCmdToDevice); Integer motorZPositionSetDownCmdToDeviceCmdId = motorZPositionSetDownCmdToDevice.getCmdId(); @@ -187,18 +186,99 @@ public class NozzlePipelinePreFill implements CommandHandler { } Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result"); - if(!motorZPositionSetDownCmdToDeviceResultStatus){ + 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 + //5.打开三通阀注射器管路 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON); + CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_spray_pipeline();//生成指令 打开三通阀注射器管路 + CommandFuture threeWayValveOpenSprayPipelineCMDToDeviceFuture = new CommandFuture(); + threeWayValveOpenSprayPipelineCMDToDeviceFuture.setCmdToDevice(threeWayValveOpenSprayPipelineCMDToDevice); + Integer threeWayValveOpenSprayPipelineCMDToDeviceCmdId = threeWayValveOpenSprayPipelineCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(threeWayValveOpenSprayPipelineCMDToDeviceCmdId, threeWayValveOpenSprayPipelineCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(threeWayValveOpenSprayPipelineCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开三通阀注射器管路指令", threeWayValveOpenSprayPipelineCMDToDevice), MediaType.APPLICATION_JSON); + threeWayValveOpenSprayPipelineCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject threeWayValveOpenSprayPipelineCMDToDeviceResult = threeWayValveOpenSprayPipelineCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(threeWayValveOpenSprayPipelineCMDToDeviceCmdId); // 将指令从map中删除 + if (!threeWayValveOpenSprayPipelineCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令响应超时", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (threeWayValveOpenSprayPipelineCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令返回错误", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getBool("result"); + if (!threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令执行失败", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀注射器管路指令反馈", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); //6.打开喷嘴阀 - //7.设置注射泵速度 - //8.推注射泵" + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开启喷嘴阀"), MediaType.APPLICATION_JSON); + CMDToDevice nozzleValveOpenCMDToDevice = DeviceCommandGenerator.nozzle_valve_open();//生成指令 开启喷嘴阀 + CommandFuture nozzleValveOpenCMDToDeviceFuture = new CommandFuture(); + nozzleValveOpenCMDToDeviceFuture.setCmdToDevice(nozzleValveOpenCMDToDevice); + Integer nozzleValveOpenCMDToDeviceCmdId = nozzleValveOpenCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveOpenCMDToDeviceCmdId, nozzleValveOpenCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(nozzleValveOpenCMDToDevice); // 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", nozzleValveOpenCMDToDevice), MediaType.APPLICATION_JSON); + nozzleValveOpenCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject nozzleValveOpenCMDToDeviceResult = nozzleValveOpenCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveOpenCMDToDeviceCmdId); // 将指令从map中删除 + if (!nozzleValveOpenCMDToDeviceFuture.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(); + return; + } + 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(); + return; + } + 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(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启喷嘴阀指令反馈", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON); + //7.设置注射泵速度，推注射泵 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "设置注射泵速度，推注射泵"), MediaType.APPLICATION_JSON); + CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_injection_volume_set(1);//推动移动注射泵 + CommandFuture syringePumpInjectionVolumeSetCMDToDeviceFuture = new CommandFuture(); + syringePumpInjectionVolumeSetCMDToDeviceFuture.setCmdToDevice(syringePumpInjectionVolumeSetCMDToDevice); + Integer syringePumpInjectionVolumeSetCMDToDeviceCmdId = syringePumpInjectionVolumeSetCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpInjectionVolumeSetCMDToDeviceCmdId, syringePumpInjectionVolumeSetCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(syringePumpInjectionVolumeSetCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推动移动注射泵指令", syringePumpInjectionVolumeSetCMDToDevice), MediaType.APPLICATION_JSON); + syringePumpInjectionVolumeSetCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject syringePumpInjectionVolumeSetCMDToDeviceResult = syringePumpInjectionVolumeSetCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpInjectionVolumeSetCMDToDeviceCmdId); // 将指令从map中删除 + if (!syringePumpInjectionVolumeSetCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令响应超时", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (syringePumpInjectionVolumeSetCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令返回错误", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getBool("result"); + if (!syringePumpInjectionVolumeSetCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令执行失败", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推动移动注射泵指令反馈", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); emitter.complete(); } } diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java index bc47390..b96ba35 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.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; @@ -21,14 +27,104 @@ import java.util.Map; @Async("asyncExecutor") @CommandMapping("matrix_prefill")//业务指令注解 public class NozzlePipelinePreFillStop implements CommandHandler { + /** + * 设备通信client + */ + 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(); 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.停止推动注射泵 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "停止推动注射泵"), MediaType.APPLICATION_JSON); + CMDToDevice syringePumpStopCMDToDevice = DeviceCommandGenerator.syringe_pump_stop();//停止推动注射泵 + CommandFuture syringePumpStopCMDToDeviceCMDToDeviceFuture = new CommandFuture(); + syringePumpStopCMDToDeviceCMDToDeviceFuture.setCmdToDevice(syringePumpStopCMDToDevice); + Integer syringePumpStopCMDToDeviceCmdId = syringePumpStopCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpStopCMDToDeviceCmdId, syringePumpStopCMDToDeviceCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(syringePumpStopCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了停止推动注射泵指令", syringePumpStopCMDToDevice), MediaType.APPLICATION_JSON); + syringePumpStopCMDToDeviceCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject syringePumpStopCMDToDeviceResult = syringePumpStopCMDToDeviceCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpStopCMDToDeviceCmdId); // 将指令从map中删除 + if (!syringePumpStopCMDToDeviceCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令响应超时", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (syringePumpStopCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令返回错误", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getBool("result"); + if (!syringePumpStopCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + //2.全部关闭三通阀 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "全部关闭三通阀"), MediaType.APPLICATION_JSON); + CMDToDevice threeWayValveCloseAllCMDToDevice = DeviceCommandGenerator.three_way_valve_close_all();//全部关闭三通阀 + CommandFuture threeWayValveCloseAllCMDToDeviceFuture = new CommandFuture(); + threeWayValveCloseAllCMDToDeviceFuture.setCmdToDevice(threeWayValveCloseAllCMDToDevice); + Integer threeWayValveCloseAllCMDToDeviceCmdId = threeWayValveCloseAllCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(threeWayValveCloseAllCMDToDeviceCmdId, threeWayValveCloseAllCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(threeWayValveCloseAllCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了全部关闭三通阀指令", threeWayValveCloseAllCMDToDevice), MediaType.APPLICATION_JSON); + threeWayValveCloseAllCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject threeWayValveCloseAllCMDToDeviceResult = threeWayValveCloseAllCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(threeWayValveCloseAllCMDToDeviceCmdId); // 从map中删除该指令 + if (!threeWayValveCloseAllCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令响应超时", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (threeWayValveCloseAllCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令返回错误", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getBool("result"); + if (!threeWayValveCloseAllCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令执行失败", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "全部关闭三通阀指令反馈", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + //3.关闭喷嘴阀 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "关闭喷嘴阀"), MediaType.APPLICATION_JSON); + CMDToDevice nozzleValveCloseCMDToDevice = DeviceCommandGenerator.nozzle_valve_close();//关闭喷嘴阀 + CommandFuture nozzleValveCloseCMDToDeviceFuture = new CommandFuture(); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "关闭喷嘴阀"), MediaType.APPLICATION_JSON); + nozzleValveCloseCMDToDeviceFuture.setCmdToDevice(nozzleValveCloseCMDToDevice); + Integer nozzleValveCloseCMDToDeviceCmdId = nozzleValveCloseCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(nozzleValveCloseCMDToDeviceCmdId, nozzleValveCloseCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(nozzleValveCloseCMDToDevice); // 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", nozzleValveCloseCMDToDevice), MediaType.APPLICATION_JSON); + nozzleValveCloseCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject nozzleValveCloseCMDToDeviceResult = 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, "关闭喷嘴阀指令响应超时", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + 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(); + return; + } + 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(); + return; + } + 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/impl/NozzlePipelineWash.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java index b100290..43d2d1d 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java @@ -1,9 +1,14 @@ 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; @@ -12,6 +17,8 @@ import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; +import java.util.Map; + /** * 喷嘴管路_清洗喷嘴管路 */ @@ -26,8 +33,183 @@ public class NozzlePipelineWash implements CommandHandler { 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.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 //TODO安全距离应该可配置 + 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 (TODO)安全距离应该可配置 + CommandFuture motorZPositionSetCmdToDeviceFuture = new CommandFuture(); + motorZPositionSetCmdToDeviceFuture.setCmdToDevice(motorZPositionSetCmdToDevice); + Integer motorZPositionSetCmdToDeviceCmdId = motorZPositionSetCmdToDevice.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", motorZPositionSetCmdToDevice), MediaType.APPLICATION_JSON); + motorZPositionSetCmdToDeviceFuture.waitForContinue();//等待设备的反馈 + JSONObject motorZPositionSetCmdToDeviceResult = motorZPositionSetCmdToDeviceFuture.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); + } + //2.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, 2);//生成指令 移动x轴到指定位置 (TODO) 废液桶X轴位置应当可以配置 + 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 motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result"); + if (!motorXYZPositionSetCmdToDeviceResultStatus) { + 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(75.0, 0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 + 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y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y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y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y轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + //3.下降z轴高度，防止飞溅 + Thread.sleep(10 * 1000);//TODO 等待10秒，x和y轴移动完毕 + 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(70.0, 2);//生成指令 移动z轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 + 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); + //4.开启三通阀到喷嘴管路 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON); + CMDToDevice threeWayValveOpenSyringePipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_syringe_pipeline();//打开三通阀喷嘴管路 + CommandFuture threeWayValveOpenSyringePipelineCMDToDeviceFuture = new CommandFuture(); + threeWayValveOpenSyringePipelineCMDToDeviceFuture.setCmdToDevice(threeWayValveOpenSyringePipelineCMDToDevice); + Integer threeWayValveOpenSyringePipelineCMDToDeviceCmdId = threeWayValveOpenSyringePipelineCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(threeWayValveOpenSyringePipelineCMDToDeviceCmdId, threeWayValveOpenSyringePipelineCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(threeWayValveOpenSyringePipelineCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开三通阀喷嘴管路指令", threeWayValveOpenSyringePipelineCMDToDevice), MediaType.APPLICATION_JSON); + threeWayValveOpenSyringePipelineCMDToDeviceFuture.waitForContinue(); // 等待设备反馈 + JSONObject threeWayValveOpenSyringePipelineCMDToDeviceResult = threeWayValveOpenSyringePipelineCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(threeWayValveOpenSyringePipelineCMDToDeviceCmdId); // 从map中删除该指令 + if (!threeWayValveOpenSyringePipelineCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令响应超时", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (threeWayValveOpenSyringePipelineCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令返回错误", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean threeWayValveOpenSyringePipelineCMDToDeviceResultStatus = threeWayValveOpenSyringePipelineCMDToDeviceResult.getBool("result"); + if (!threeWayValveOpenSyringePipelineCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令执行失败", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀喷嘴管路指令反馈", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); } } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java b/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java index 92d0943..5dbc8e2 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java @@ -35,26 +35,35 @@ public class SlideTrayIn implements CommandHandler { 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 slideTrayInCmdToDevice = DeviceCommandGenerator.slide_tray_in(0.0, 2);//生成指令 推入玻片托盘 + CMDToDevice slideTrayInCmdToDevice = DeviceCommandGenerator.slide_tray_in(0.0, 2);// 推入玻片托盘 CommandFuture slideTrayInCmdToDeviceFuture = new CommandFuture(); slideTrayInCmdToDeviceFuture.setCmdToDevice(slideTrayInCmdToDevice); Integer toDeviceCmdId = slideTrayInCmdToDevice.getCmdId(); - CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayInCmdToDeviceFuture);//将指令放入map - deviceClient.sendToJSON(slideTrayInCmdToDevice); //发送指令给设备 - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推入玻片托盘指令：", slideTrayInCmdToDevice), MediaType.APPLICATION_JSON); + CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayInCmdToDeviceFuture); // 将指令放入map - slideTrayInCmdToDeviceFuture.waitForContinue();//等待设备的反馈 - - JSONObject deviceResult = slideTrayInCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果 - CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除 - - 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, "推入玻片托盘指令响应超时：", deviceResult), MediaType.APPLICATION_JSON); + deviceClient.sendToJSON(slideTrayInCmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推入玻片托盘指令", slideTrayInCmdToDevice), MediaType.APPLICATION_JSON); + slideTrayInCmdToDeviceFuture.waitForContinue(); + JSONObject slideTrayInCmdToDeviceResult = slideTrayInCmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId); + if (!slideTrayInCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令响应超时", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (slideTrayInCmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令返回错误", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean slideTrayInCmdToDeviceResultStatus = slideTrayInCmdToDeviceResult.getBool("result"); + if (!slideTrayInCmdToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令执行失败", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推入玻片托盘指令反馈", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON); } } diff --git a/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java b/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java index 76d3084..f1e66a6 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java @@ -34,27 +34,36 @@ public class SlideTrayOut implements CommandHandler { 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); - //TODO 数值应该从数据库中获取 - CMDToDevice slideTrayOutCmdToDevice = DeviceCommandGenerator.slide_tray_out(20.0, 2);//生成指令 推出玻片托盘 - + CMDToDevice slideTrayOutCmdToDevice = DeviceCommandGenerator.slide_tray_out(20.0, 2);// 推出玻片托盘（TODO：数值应从数据库中获取） CommandFuture slideTrayOutCmdToDeviceFuture = new CommandFuture(); slideTrayOutCmdToDeviceFuture.setCmdToDevice(slideTrayOutCmdToDevice); Integer toDeviceCmdId = slideTrayOutCmdToDevice.getCmdId(); - CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayOutCmdToDeviceFuture);//将指令放入map - deviceClient.sendToJSON(slideTrayOutCmdToDevice); //发送指令给设备 - emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推出玻片托盘指令：", slideTrayOutCmdToDevice), MediaType.APPLICATION_JSON); - - slideTrayOutCmdToDeviceFuture.waitForContinue();//等待设备的反馈 + CurrentSendCmdMapInstance.getInstance().putCommand(toDeviceCmdId, slideTrayOutCmdToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(slideTrayOutCmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推出玻片托盘指令", slideTrayOutCmdToDevice), MediaType.APPLICATION_JSON); + slideTrayOutCmdToDeviceFuture.waitForContinue(); + JSONObject slideTrayOutCmdToDeviceResult = slideTrayOutCmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId); + if (!slideTrayOutCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令响应超时", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } - JSONObject deviceResult = slideTrayOutCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果 - CurrentSendCmdMapInstance.getInstance().removeCommand(toDeviceCmdId);//将指令从map中删除 + if (slideTrayOutCmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令返回错误", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } - 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, "推出玻片托盘指令响应超时：", deviceResult), MediaType.APPLICATION_JSON); + Boolean slideTrayOutCmdToDeviceResultStatus = slideTrayOutCmdToDeviceResult.getBool("result"); + if (!slideTrayOutCmdToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令执行失败", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推出玻片托盘指令反馈", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON); + } } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java b/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java index bf3ae72..fd0fa2f 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java @@ -1,13 +1,24 @@ 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; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; +import java.util.Map; + /** * 注射器管路_清洗注射器管路 */ @@ -16,9 +27,229 @@ import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter @Async("asyncExecutor") @CommandMapping("syringe_pipeline_wash")//业务指令注解 public class SyringePipelineWash implements CommandHandler { + /** + * 设备通信client + */ + 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(); + 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. 参数校验 + 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 //TODO安全距离应该可配置 + 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 (TODO)安全距离应该可配置 + CommandFuture motorZPositionSetCmdToDeviceFuture = new CommandFuture(); + motorZPositionSetCmdToDeviceFuture.setCmdToDevice(motorZPositionSetCmdToDevice); + Integer motorZPositionSetCmdToDeviceCmdId = motorZPositionSetCmdToDevice.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", motorZPositionSetCmdToDevice), MediaType.APPLICATION_JSON); + motorZPositionSetCmdToDeviceFuture.waitForContinue();//等待设备的反馈 + JSONObject motorZPositionSetCmdToDeviceResult = motorZPositionSetCmdToDeviceFuture.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.xy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, 2);//生成指令 移动x轴到指定位置 (TODO) 废液桶X轴位置应当可以配置 + 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 motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result"); + if (!motorXYZPositionSetCmdToDeviceResultStatus) { + 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(75.0, 0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 + 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y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y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y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y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 + Thread.sleep(10 * 1000);//TODO 等待10秒，x和y轴移动完毕 + 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(70.0, 2);//生成指令 移动z轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置 + 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.打开三通阀注射器管路 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON); + CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_spray_pipeline();//生成指令 打开三通阀注射器管路 + CommandFuture threeWayValveOpenSprayPipelineCMDToDeviceFuture = new CommandFuture(); + threeWayValveOpenSprayPipelineCMDToDeviceFuture.setCmdToDevice(threeWayValveOpenSprayPipelineCMDToDevice); + Integer threeWayValveOpenSprayPipelineCMDToDeviceCmdId = threeWayValveOpenSprayPipelineCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(threeWayValveOpenSprayPipelineCMDToDeviceCmdId, threeWayValveOpenSprayPipelineCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(threeWayValveOpenSprayPipelineCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了打开三通阀注射器管路指令", threeWayValveOpenSprayPipelineCMDToDevice), MediaType.APPLICATION_JSON); + threeWayValveOpenSprayPipelineCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject threeWayValveOpenSprayPipelineCMDToDeviceResult = threeWayValveOpenSprayPipelineCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(threeWayValveOpenSprayPipelineCMDToDeviceCmdId); // 将指令从map中删除 + if (!threeWayValveOpenSprayPipelineCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令响应超时", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (threeWayValveOpenSprayPipelineCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令返回错误", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getBool("result"); + if (!threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令执行失败", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀注射器管路指令反馈", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON); + //6.设置注射泵速度，推注射泵 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "设置注射泵速度，推注射泵"), MediaType.APPLICATION_JSON); + CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_injection_volume_set(1);//推动移动注射泵 + CommandFuture syringePumpInjectionVolumeSetCMDToDeviceFuture = new CommandFuture(); + syringePumpInjectionVolumeSetCMDToDeviceFuture.setCmdToDevice(syringePumpInjectionVolumeSetCMDToDevice); + Integer syringePumpInjectionVolumeSetCMDToDeviceCmdId = syringePumpInjectionVolumeSetCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpInjectionVolumeSetCMDToDeviceCmdId, syringePumpInjectionVolumeSetCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(syringePumpInjectionVolumeSetCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了推动移动注射泵指令", syringePumpInjectionVolumeSetCMDToDevice), MediaType.APPLICATION_JSON); + syringePumpInjectionVolumeSetCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject syringePumpInjectionVolumeSetCMDToDeviceResult = syringePumpInjectionVolumeSetCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpInjectionVolumeSetCMDToDeviceCmdId); // 将指令从map中删除 + if (!syringePumpInjectionVolumeSetCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令响应超时", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (syringePumpInjectionVolumeSetCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令返回错误", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getBool("result"); + if (!syringePumpInjectionVolumeSetCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令执行失败", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推动移动注射泵指令反馈", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); } } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java b/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java index 552e6c2..3224eaf 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java @@ -1,9 +1,18 @@ 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; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; @@ -16,9 +25,73 @@ import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter @Async("asyncExecutor") @CommandMapping("syringe_pipeline_wash_stop")//业务指令注解 public class SyringePipelineWashStop implements CommandHandler { + /** + * 设备通信client + */ + private final TcpClient deviceClient; @Override public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { - + String frontCmdId = cmdForm.getCmdId(); + String frontCmdName = cmdForm.getCmdName(); + 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.停止推动注射泵 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "停止推动注射泵"), MediaType.APPLICATION_JSON); + CMDToDevice syringePumpStopCMDToDevice = DeviceCommandGenerator.syringe_pump_stop();//停止推动注射泵 + CommandFuture syringePumpStopCMDToDeviceCMDToDeviceFuture = new CommandFuture(); + syringePumpStopCMDToDeviceCMDToDeviceFuture.setCmdToDevice(syringePumpStopCMDToDevice); + Integer syringePumpStopCMDToDeviceCmdId = syringePumpStopCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpStopCMDToDeviceCmdId, syringePumpStopCMDToDeviceCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(syringePumpStopCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了停止推动注射泵指令", syringePumpStopCMDToDevice), MediaType.APPLICATION_JSON); + syringePumpStopCMDToDeviceCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject syringePumpStopCMDToDeviceResult = syringePumpStopCMDToDeviceCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpStopCMDToDeviceCmdId); // 将指令从map中删除 + if (!syringePumpStopCMDToDeviceCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令响应超时", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (syringePumpStopCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令返回错误", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getBool("result"); + if (!syringePumpStopCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON); + //2.全部关闭三通阀 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "全部关闭三通阀"), MediaType.APPLICATION_JSON); + CMDToDevice threeWayValveCloseAllCMDToDevice = DeviceCommandGenerator.three_way_valve_close_all();//全部关闭三通阀 + CommandFuture threeWayValveCloseAllCMDToDeviceFuture = new CommandFuture(); + threeWayValveCloseAllCMDToDeviceFuture.setCmdToDevice(threeWayValveCloseAllCMDToDevice); + Integer threeWayValveCloseAllCMDToDeviceCmdId = threeWayValveCloseAllCMDToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(threeWayValveCloseAllCMDToDeviceCmdId, threeWayValveCloseAllCMDToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(threeWayValveCloseAllCMDToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了全部关闭三通阀指令", threeWayValveCloseAllCMDToDevice), MediaType.APPLICATION_JSON); + threeWayValveCloseAllCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈 + JSONObject threeWayValveCloseAllCMDToDeviceResult = threeWayValveCloseAllCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(threeWayValveCloseAllCMDToDeviceCmdId); // 从map中删除该指令 + if (!threeWayValveCloseAllCMDToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令响应超时", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + if (threeWayValveCloseAllCMDToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令返回错误", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + Boolean threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getBool("result"); + if (!threeWayValveCloseAllCMDToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令执行失败", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "全部关闭三通阀指令反馈", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON); } } \ No newline at end of file