修改获取position

src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java

@@ -1,5 +1,6 @@
 package com.iflytop.handacid.app.command.control;
 
+import cn.hutool.json.JSONObject;
 import com.iflytop.handacid.app.common.annotation.CommandMapping;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
 import com.iflytop.handacid.app.common.enums.Direction;
@@ -46,14 +47,22 @@ public class PumpRotateStartCommand extends BaseCommandHandler {
         }
         return runAsync(() -> {
             if (Direction.FORWARD.equals(direction)) {
-                DeviceCommand getPositionDeviceCommand = channelCtrlService.getPumpForwardRotateCommandByChannel(channelCode);
-                CommandFuture positionCommandFuture = deviceCommandService.sendCommand(getPositionDeviceCommand);
-                CommandUtil.wait(positionCommandFuture);
-                Integer currentPosition = (Integer) positionCommandFuture.getResponseResult().get("position");
+                DeviceCommand currentPositionDeviceCommand = channelCtrlService.getPumpPositionCommandByChannel(channelCode);
+                CommandFuture currentPositionCommandFuture = deviceCommandService.sendCommand(currentPositionDeviceCommand);
+                CommandUtil.wait(currentPositionCommandFuture);
+                Double currentPosition = currentPositionCommandFuture.getResponseResult().getJSONObject("data").getDouble("position");
+
+
                 DeviceCommand deviceCommand = channelCtrlService.getPumpMoveCommandByChannel(channelCode, position);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
                 CommandUtil.wait(commandFuture);
-                Integer newPosition = (Integer) commandFuture.getResponseResult().get("position");
+
+
+                DeviceCommand newPositionDeviceCommand = channelCtrlService.getPumpPositionCommandByChannel(channelCode);
+                CommandFuture newPositionCommandFuture = deviceCommandService.sendCommand(newPositionDeviceCommand);
+                CommandUtil.wait(newPositionCommandFuture);
+                Double newPosition = (Double) newPositionCommandFuture.getResponseResult().getJSONObject("data").get("position");
+                log.info("currentPosition: {}, newPosition: {}", currentPosition, newPosition);
                 webSocketSender.pushPumpPosition(newPosition - currentPosition);
             } else {
                 DeviceCommand deviceCommand = channelCtrlService.getPumpBackwardRotateCommandByChannel(channelCode);

src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java

@@ -46,7 +46,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump1MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.PUMP_1, Action.MOVE_BY, null);
+        return controlCmd(Device.PUMP_1, Action.MOVE_BY, params);
     }
 
     /**
@@ -67,7 +67,7 @@ public class DeviceCommandGenerator {
      * 泵 1当前转数
      */
     public static DeviceCommand pump1GetPosition() {
-        return controlCmd(Device.PUMP_1, Action.GET, null);
+        return getInfoCmd(Device.PUMP_1);
     }
 
     /**
@@ -103,7 +103,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump2MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.PUMP_2, Action.MOVE_BY, null);
+        return controlCmd(Device.PUMP_2, Action.MOVE_BY, params);
     }
 
     /**
@@ -124,7 +124,7 @@ public class DeviceCommandGenerator {
      * 泵 2当前转数
      */
     public static DeviceCommand pump2GetPosition() {
-        return controlCmd(Device.PUMP_2, Action.GET, null);
+        return getInfoCmd(Device.PUMP_2);
     }
 
     /**
@@ -160,7 +160,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump3MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.PUMP_3, Action.MOVE_BY, null);
+        return controlCmd(Device.PUMP_3, Action.MOVE_BY, params);
     }
 
     /**
@@ -181,7 +181,7 @@ public class DeviceCommandGenerator {
      * 泵 3当前转数
      */
     public static DeviceCommand pump3GetPosition() {
-        return controlCmd(Device.PUMP_3, Action.GET, null);
+        return getInfoCmd(Device.PUMP_3);
     }
 
     /**
@@ -217,7 +217,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump4MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.PUMP_4, Action.MOVE_BY, null);
+        return controlCmd(Device.PUMP_4, Action.MOVE_BY, params);
     }
 
     /**
@@ -238,7 +238,7 @@ public class DeviceCommandGenerator {
      * 泵 4当前转数
      */
     public static DeviceCommand pump4GetPosition() {
-        return controlCmd(Device.PUMP_4, Action.GET, null);
+        return getInfoCmd(Device.PUMP_4);
     }
 //=========================================== 私有方法 ============================================================
 

src/main/java/com/iflytop/handacid/app/core/state/RemoteControlState.java

@@ -19,7 +19,7 @@ public class RemoteControlState {
     private volatile boolean connected = false;
 
     @Schema(description = "当前电量（0-100%）")
-    private volatile int batteryLevel = 0;
+    private volatile double batteryLevel = 0;
 
     @Schema(description = "是否正在充电")
     private volatile boolean charging = false;

src/main/java/com/iflytop/handacid/app/scheduled/BleGamepadStateScheduledTask.java

@@ -26,9 +26,8 @@ public class BleGamepadStateScheduledTask {
                 boolean is_connect = bleGamepadDriver.is_connected(BleGamepadMid.BleGamePad);
                 deviceState.getRemoteControlState().setConnected(is_connect);
                 if (is_connect) {
-                    Integer[] power_state = bleGamepadDriver.get_power_state(BleGamepadMid.BleGamePad);
-                    deviceState.getRemoteControlState().setBatteryLevel(power_state[0]);
-                    deviceState.getRemoteControlState().setCharging(power_state[1] != 0);
+                    Double power_state = bleGamepadDriver.get_power_state(BleGamepadMid.BleGamePad);
+                    deviceState.getRemoteControlState().setBatteryLevel(power_state);
                 }
             }
         } catch (Exception e) {

src/main/java/com/iflytop/handacid/hardware/command/handlers/BleGamepadHandler.java

@@ -32,11 +32,10 @@ public class BleGamepadHandler extends CommandHandler {
     private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceBletMap.entrySet().stream()
             .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
 
-    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE);
+    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE, Action.GET);
 
     @Override
-    protected Map<Device, MId> getSupportCmdDeviceMIdMap()
-    {
+    protected Map<Device, MId> getSupportCmdDeviceMIdMap() {
         return supportCmdDeviceMIdMap;
     }
 
@@ -55,12 +54,10 @@ public class BleGamepadHandler extends CommandHandler {
         }
         BleGamepadMid bleGamepadMid = supportCmdDeviceBletMap.get(device);
 
-        if (command.getAction() == Action.GET)
-        {
+        if (command.getAction() == Action.GET) {
             Double power = driver_.get_power_state(bleGamepadMid);
             Boolean is_connected = driver_.is_connected(bleGamepadMid);
-            result = new HashMap<String, Object>()
-            {{
+            result = new HashMap<String, Object>() {{
                 put("power", power);
                 put("is_connected", is_connected);
             }};

src/main/java/com/iflytop/handacid/hardware/command/handlers/IOCtrlHandler.java

@@ -23,7 +23,7 @@ import java.util.stream.Collectors;
 @RequiredArgsConstructor
 public class IOCtrlHandler extends CommandHandler {
     private final OutputIOCtrlDriver driver_;
-    private final Map<Device, OutputIOMId>  supportCmdDeviceIOOutputMap = Map.ofEntries(
+    private final Map<Device, OutputIOMId> supportCmdDeviceIOOutputMap = Map.ofEntries(
             Map.entry(Device.VALVE_1, OutputIOMId.DO_VALVE1),
             Map.entry(Device.VALVE_2, OutputIOMId.DO_VALVE2),
             Map.entry(Device.VALVE_3, OutputIOMId.DO_VALVE3),
@@ -33,11 +33,10 @@ public class IOCtrlHandler extends CommandHandler {
     private final Map<Device, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()
             .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
 
-    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE);
+    private final Set<Action> supportActions = Set.of(Action.OPEN, Action.CLOSE, Action.GET);
 
     @Override
-    protected Map<Device, MId> getSupportCmdDeviceMIdMap()
-    {
+    protected Map<Device, MId> getSupportCmdDeviceMIdMap() {
         return supportCmdDeviceMIdMap;
     }
 
@@ -62,12 +61,9 @@ public class IOCtrlHandler extends CommandHandler {
         } else if (command.getAction() == Action.CLOSE) {
             log.info("close {}", device);
             driver_.close(outputIOMId);
-        }
-        else if (command.getAction() == Action.GET)
-        {
+        } else if (command.getAction() == Action.GET) {
             Boolean state = driver_.getIOState(outputIOMId);
-            result = new HashMap<String, Object>()
-            {{
+            result = new HashMap<String, Object>() {{
                 put("state", state);
             }};
         }

src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java

@@ -45,7 +45,8 @@ public class MotorHandler extends CommandHandler {
             Action.MOVE_BY,
             Action.ROTATE,
             Action.STOP,
-            Action.MOVE_END);
+            Action.MOVE_END,
+            Action.GET);
 
     @Override
     protected Map<Device, MId> getSupportCmdDeviceMIdMap() {
@@ -57,10 +58,9 @@ public class MotorHandler extends CommandHandler {
         return supportActions;
     }
 
-    public MotorDirect getMotorDirect(MotorDirection cmdDirection)
-    {
+    public MotorDirect getMotorDirect(MotorDirection cmdDirection) {
         return switch (cmdDirection) {
-            case FORWARD  -> MotorDirect.FORWARD;
+            case FORWARD -> MotorDirect.FORWARD;
             case BACKWARD -> MotorDirect.BACKWARD;
         };
     }
@@ -126,8 +126,7 @@ public class MotorHandler extends CommandHandler {
             case GET -> {
                 log.info("Motor {} Get Position", stepMotorMId.mid.getDescription());
                 double position = driver_.getPosition(stepMotorMId);
-                result = new HashMap<String, Object>()
-                {{
+                result = new HashMap<String, Object>() {{
                     put("position", position);
                 }};
             }