增加泵位置的获取和ws推送

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

@@ -11,6 +11,7 @@ import com.iflytop.handacid.app.core.state.DeviceState;
 import com.iflytop.handacid.app.model.dto.CommandDTO;
 import com.iflytop.handacid.app.service.ChannelCtrlService;
 import com.iflytop.handacid.app.service.DeviceCommandService;
+import com.iflytop.handacid.app.websocket.server.WebSocketSender;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -27,6 +28,7 @@ import java.util.concurrent.CompletableFuture;
 public class PumpRotateStartCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     private final ChannelCtrlService channelCtrlService;
+    private final WebSocketSender webSocketSender;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
@@ -39,11 +41,17 @@ public class PumpRotateStartCommand extends BaseCommandHandler {
             throw new IllegalArgumentException("参数 direction 不能为空");
         }
         return runAsync(() -> {
-            if(Direction.FORWARD.equals(direction)) {
+            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 deviceCommand = channelCtrlService.getPumpForwardRotateCommandByChannel(channelCode);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
                 CommandUtil.wait(commandFuture);
-            }else{
+                Integer newPosition = (Integer) commandFuture.getResponseResult().get("position");
+                webSocketSender.pushPumpPosition(newPosition - currentPosition);
+            } else {
                 DeviceCommand deviceCommand = channelCtrlService.getPumpBackwardRotateCommandByChannel(channelCode);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
                 CommandUtil.wait(commandFuture);

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

@@ -64,6 +64,13 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 泵 1当前转数
+     */
+    public static DeviceCommand pump1GetPosition() {
+        return controlCmd(Device.PUMP_1, Action.GET, null);
+    }
+
+    /**
      * 泵 2 设置速度
      */
     public static DeviceCommand pump2SetSpeed(double speed) {
@@ -114,6 +121,13 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 泵 2当前转数
+     */
+    public static DeviceCommand pump2GetPosition() {
+        return controlCmd(Device.PUMP_2, Action.GET, null);
+    }
+
+    /**
      * 泵 3 设置速度
      */
     public static DeviceCommand pump3SetSpeed(double speed) {
@@ -164,6 +178,13 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 泵 3当前转数
+     */
+    public static DeviceCommand pump3GetPosition() {
+        return controlCmd(Device.PUMP_3, Action.GET, null);
+    }
+
+    /**
      * 泵 4 设置速度
      */
     public static DeviceCommand pump4SetSpeed(double speed) {
@@ -212,6 +233,13 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump4Enable() {
         return controlCmd(Device.PUMP_4, Action.ENABLE, null);
     }
+
+    /**
+     * 泵 4当前转数
+     */
+    public static DeviceCommand pump4GetPosition() {
+        return controlCmd(Device.PUMP_4, Action.GET, null);
+    }
 //=========================================== 私有方法 ============================================================
 
     /**

src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java

@@ -165,6 +165,19 @@ public class ChannelCtrlService {
         };
     }
 
+
+    /**
+     * 根据通道code获取泵转数指令
+     */
+    public DeviceCommand getPumpPositionCommandByChannel(ChannelCode channelCode) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.pump1GetPosition();
+            case CHANNEL_2 -> DeviceCommandGenerator.pump2GetPosition();
+            case CHANNEL_3 -> DeviceCommandGenerator.pump3GetPosition();
+            case CHANNEL_4 -> DeviceCommandGenerator.pump4GetPosition();
+        };
+    }
+
     /**
      * 根据通道code获取泵反转指令
      */

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketMessageType.java

@@ -6,54 +6,24 @@ public class WebSocketMessageType {
      */
     public static final String STATUS = "status";
     /**
-     * 设备报警
-     */
-    public static final String ALARM = "alarm";
-    /**
      * 滴定日志
      */
     public static final String LOG = "log";
-    /**
-     * 自检移动电机测试
-     */
-    public static final String SELF_MOVE_TEST = "self_move_test";
+
     /**
      * 指令反馈
      */
     public static final String CMD_RESPONSE = "cmd_response";
 
     /**
-     * 工艺执行步骤反馈
-     */
-    public static final String CRAFTS_STEP = "crafts_step";
-
-    /**
-     * 工艺执行状态反馈
-     */
-    public static final String CRAFTS_STATE = "crafts_state";
-
-    /**
-     * 工艺DEBUG
-     */
-    public static final String CRAFTS_DEBUG = "crafts_debug";
-
-    /**
-     * 容器剩余状态
-     */
-    public static final String CONTAINER = "container";
-
-    /**
      * DEBUG消息推送
      */
     public static final String CMD_DEBUG = "cmd_debug";
 
     /**
-     * 加热倒计时
+     * 泵转数统计推送
      */
-    public static final String HEAT_COUNTDOWN = "heat_countdown";
-    /**
-     * 照片
-     */
-    public static final String PHOTO = "photo";
+    public static final String PUMP_POSITION = "pump_position";
+
 
 }

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketSender.java

@@ -19,12 +19,8 @@ public class WebSocketSender {
         websocketResult.setData(data);
         websocketResult.setTimestamp(Instant.now().toEpochMilli());
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
-//        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
     }
 
-    public void pushCraftsDebug(Object data) {
-        push(WebSocketMessageType.CRAFTS_DEBUG, data);
-    }
 
     public void pushDebug(Object data) {
         push(WebSocketMessageType.CMD_DEBUG, data);
@@ -44,16 +40,8 @@ public class WebSocketSender {
         push(WebSocketMessageType.CMD_RESPONSE, data);
     }
 
-    public void pushSelfMoveTest(Object data) {
-        push(WebSocketMessageType.SELF_MOVE_TEST, data);
-    }
-
-    public void pushHeatCountdown(Object data) {
-        push(WebSocketMessageType.HEAT_COUNTDOWN, data);
+    public void pushPumpPosition(Object data) {
+        push(WebSocketMessageType.PUMP_POSITION, data);
     }
 
-   /* public void pushNotification(Notification notification) {
-        push("notification", notification);
-    }*/
-
 }