feat:开始加液指令、停止加液指令

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

@@ -0,0 +1,100 @@
+package com.iflytop.handacid.app.command.control;
+
+import cn.hutool.json.JSONArray;
+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.ChannelStateCode;
+import com.iflytop.handacid.app.common.enums.SolutionAddMode;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+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 lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始加液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("solution_add_start")
+public class SolutionAddStartCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        JSONArray jsonArray = commandDTO.getJSONArrayParam("channelArray");
+        List<ChannelCode> channelCodeList = new ArrayList<>();
+        for (int i = 0; i < jsonArray.size(); i++) {
+            JSONObject jsonObject = jsonArray.getJSONObject(i);
+            String channelCodeStr = jsonObject.getStr("channelCode");
+            if (channelCodeStr == null) {
+                throw new IllegalArgumentException("参数 channelCode 不能为空");
+            }
+            ChannelCode channelCode = ChannelCode.valueOf(channelCodeStr);
+            channelCodeList.add(channelCode);
+            Double volume = jsonObject.getDouble("volume");
+            if (volume == null) {
+                throw new IllegalArgumentException("参数 volume 不能为空");
+            }
+        }
+        SolutionAddMode mode = commandDTO.getEnumParam("mode", SolutionAddMode.class);
+        Integer delay = commandDTO.getIntegerParam("delay");
+        if (mode == null) {
+            throw new IllegalArgumentException("参数 mode 不能为空");
+        }
+        return runAsync(() -> {
+            try {
+                for (ChannelCode channelCode : channelCodeList) {
+                    deviceState.getChannelStateMap().get(channelCode).setStateCode(ChannelStateCode.ADD);
+                }
+                if (SolutionAddMode.AUTO.equals(mode)) {//自动模式
+                    while (!deviceState.isSolutionAddStop()) {
+                        List<CommandFuture> commandFutureList = new ArrayList<>();
+                        for (int i = 0; i < jsonArray.size(); i++) {
+                            JSONObject jsonObject = jsonArray.getJSONObject(i);
+                            String channelCodeStr = jsonObject.getStr("channelCode");
+                            ChannelCode channelCode = ChannelCode.valueOf(channelCodeStr);
+
+                            Double volume = jsonObject.getDouble("volume");
+                            DeviceCommand deviceCommand = channelCtrlService.getPumpMoveByCommandByChannel(channelCode, volume);
+                            commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+                        }
+                        CommandUtil.wait(commandFutureList);
+                        Thread.sleep(delay * 1000L);
+                    }
+                } else if (SolutionAddMode.CLICK.equals(mode)) {//点动模式
+                    List<CommandFuture> commandFutureList = new ArrayList<>();
+                    for (int i = 0; i < jsonArray.size(); i++) {
+                        JSONObject jsonObject = jsonArray.getJSONObject(i);
+                        String channelCodeStr = jsonObject.getStr("channelCode");
+                        ChannelCode channelCode = ChannelCode.valueOf(channelCodeStr);
+                        deviceState.getChannelStateMap().get(channelCode).setStateCode(ChannelStateCode.ADD);
+                        Double volume = jsonObject.getDouble("volume");
+                        DeviceCommand deviceCommand = channelCtrlService.getPumpMoveByCommandByChannel(channelCode, volume);
+                        commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+                    }
+                    CommandUtil.wait(commandFutureList);
+                }
+            } finally {
+                for (ChannelCode channelCode : channelCodeList) {
+                    deviceState.getChannelStateMap().get(channelCode).setStateCode(ChannelStateCode.IDLE);
+                }
+            }
+        });
+    }
+}
+

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

@@ -0,0 +1,55 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.common.enums.ChannelStateCode;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.state.ChannelState;
+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 lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止加液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("solution_add_stop")
+public class SolutionAddStopCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+
+        return runAsync(() -> {
+            List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.ADD);
+            deviceState.setSolutionAddStop(true);
+            try {
+                List<CommandFuture> commandFutureList = new ArrayList<>();
+                for (ChannelState channelState : channelCodeList) {
+                    DeviceCommand deviceCommand = channelCtrlService.getPumpStopCommandByChannel(channelState.getChannelCode());
+                    commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+                }
+                CommandUtil.wait(commandFutureList);
+            } finally {
+                for (ChannelState channelCode : channelCodeList) {
+                    channelCode.setStateCode(ChannelStateCode.IDLE);
+                }
+            }
+        });
+    }
+}
+

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

@@ -1,28 +0,0 @@
-package com.iflytop.handacid.app.command.control;
-
-import com.iflytop.handacid.app.common.annotation.CommandMapping;
-import com.iflytop.handacid.app.core.command.BaseCommandHandler;
-import com.iflytop.handacid.app.model.dto.CommandDTO;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 停止所有电机
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("stop_all_motor")
-public class StopAllMotorCommand extends BaseCommandHandler {
-
-    @Override
-    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
-
-        return runAsync(() -> {
-        });
-    }
-}
-

src/main/java/com/iflytop/handacid/app/common/enums/SolutionAddMode.java

@@ -0,0 +1,5 @@
+package com.iflytop.handacid.app.common.enums;
+
+public enum SolutionAddMode {
+    AUTO, CLICK
+}

src/main/java/com/iflytop/handacid/app/common/utils/CommandUtil.java

@@ -4,11 +4,16 @@ package com.iflytop.handacid.app.common.utils;
 import com.iflytop.handacid.app.core.command.CommandFuture;
 
 import java.util.Arrays;
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.TimeUnit;
 
 public class CommandUtil {
 
+    public static void wait(List<CommandFuture> futures) throws Exception {
+        wait(futures.toArray(new CommandFuture[0]));
+    }
+
     public static void wait(CommandFuture... futures) throws Exception {
         wait(120L, futures);
     }

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

@@ -2,6 +2,7 @@ package com.iflytop.handacid.app.core.state;
 
 import cn.hutool.json.JSONObject;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
+import com.iflytop.handacid.app.common.enums.ChannelStateCode;
 import com.iflytop.handacid.common.model.entity.User;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
@@ -9,7 +10,9 @@ import org.springframework.stereotype.Component;
 
 import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
+import java.util.stream.Collectors;
 
 @Schema(description = "设备当前状态")
 @Data
@@ -18,6 +21,9 @@ public class DeviceState {
     @Schema(description = "通道状态")
     private final Map<ChannelCode, ChannelState> channelStateMap = new HashMap<>();
 
+    @Schema(description = "是否停止加液")
+    private volatile boolean solutionAddStop = false;
+
     @Schema(description = "虚拟模式，true为虚拟")
     private volatile boolean virtual = false;
 
@@ -35,4 +41,13 @@ public class DeviceState {
         json.putOnce("currentUser", currentUser);
         return json;
     }
+
+    /**
+     * 根据状态码筛选出子
+     */
+    public List<ChannelState> filterChannelStatesByState(ChannelStateCode stateCode) {
+        return channelStateMap.values().stream()
+                .filter(cs -> cs.getStateCode() == stateCode)
+                .collect(Collectors.toList());
+    }
 }

src/main/java/com/iflytop/handacid/app/model/dto/CommandDTO.java

@@ -66,6 +66,29 @@ public class CommandDTO {
         return new JSONArray(value);
     }
 
+    /**
+     * 获取枚举类型参数，null 或空字符串时返回 null，
+     * 找不到枚举值时也返回 null（或者你也可以改成抛异常）
+     *
+     * @param key       参数名
+     * @param enumClass 枚举 Class 对象
+     * @param <E>       枚举类型
+     * @return 转换后的枚举实例，或 null
+     */
+    public <E extends Enum<E>> E getEnumParam(String key, Class<E> enumClass) {
+        String value = getStringParam(key);
+        if (value == null || value.isEmpty()) {
+            return null;
+        }
+        try {
+            // 如果枚举名称和参数不完全一致，可先做大小写转换
+            return Enum.valueOf(enumClass, value.trim());
+        } catch (IllegalArgumentException e) {
+            // 找不到对应的枚举时，返回 null 或者你也可以抛出自定义异常
+            return null;
+        }
+    }
+
     @Override
     public String toString() {
         return JSONUtil.toJsonStr(this);

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

@@ -0,0 +1,65 @@
+package com.iflytop.handacid.app.service;
+
+import com.iflytop.handacid.app.common.enums.ChannelCode;
+import com.iflytop.handacid.app.common.enums.ChannelStateCode;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.command.DeviceCommandGenerator;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * 通道控制
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class ChannelCtrlService {
+    private final DeviceCommandService deviceCommandService;
+    private final DeviceState deviceState;
+
+
+    /**
+     * 根据通道code获取泵相对移动指令
+     */
+    public DeviceCommand getPumpMoveByCommandByChannel(ChannelCode channelCode, Double position) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.pump1MoveBy(position);
+            case CHANNEL_2 -> DeviceCommandGenerator.pump2MoveBy(position);
+            case CHANNEL_3 -> DeviceCommandGenerator.pump3MoveBy(position);
+            case CHANNEL_4 -> DeviceCommandGenerator.pump4MoveBy(position);
+        };
+    }
+
+    /**
+     * 根据通道code获取停止泵指令
+     */
+    public DeviceCommand getPumpStopCommandByChannel(ChannelCode channelCode) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.pump1Stop();
+            case CHANNEL_2 -> DeviceCommandGenerator.pump2Stop();
+            case CHANNEL_3 -> DeviceCommandGenerator.pump3Stop();
+            case CHANNEL_4 -> DeviceCommandGenerator.pump4Stop();
+        };
+    }
+
+    /**
+     * 加液
+     *
+     * @param channelCode 通道code
+     * @param volume      加液量
+     */
+    public void solutionAddStart(ChannelCode channelCode, Double volume) {
+
+    }
+
+    /**
+     * 停止加液
+     * @param channelCode 通道code
+     */
+    public void solutionAddStop(ChannelCode channelCode) {
+        deviceState.getChannelStateMap().get(channelCode).setStateCode(ChannelStateCode.IDLE);
+
+    }
+}