增加自检指令

src/main/java/com/iflytop/colortitration/app/command/selftest/GantryXYOriginCommand.java

@@ -0,0 +1,38 @@
+package com.iflytop.colortitration.app.command.selftest;
+
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 龙门架机械臂z轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("check_gantry_xy_origin")//业务指令注解
+public class GantryXYOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand roboticArmBigMotorCommand = DeviceCommandGenerator.roboticArmBigMotorOrigin();
+            CommandFuture roboticArmBigMotorFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmBigMotorCommand);
+            DeviceCommand roboticArmSmallMotorCommand = DeviceCommandGenerator.roboticArmSmallMotorOrigin();
+            CommandFuture roboticArmSmallMotorFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmSmallMotorCommand);
+            CommandUtil.wait(roboticArmBigMotorFuture, roboticArmSmallMotorFuture);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/selftest/GantryZOriginCommand.java

@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("gantry_z_origin")//业务指令注解
+@CommandMapping("check_gantry_z_origin")//业务指令注解
 public class GantryZOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 

src/main/java/com/iflytop/colortitration/app/command/selftest/MoveTestCommand.java

@@ -0,0 +1,92 @@
+package com.iflytop.colortitration.app.command.selftest;
+
+import cn.hutool.json.JSONObject;
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.DeviceCommandService;
+import com.iflytop.colortitration.app.websocket.server.WebSocketSender;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 自检移动测试
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("check_move_test")//业务指令注解
+public class MoveTestCommand extends BaseCommandHandler {
+    private final WebSocketSender webSocketSender;
+    private final DeviceCommandService deviceCommandService;
+
+    public static JSONObject generateJson(String commandId, String command, String title, Object schedule, String type) {
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.set("commandId", commandId);
+        jsonObject.set("command", command);
+        jsonObject.set("title", title);
+        jsonObject.set("schedule", schedule);
+        jsonObject.set("type", type);
+        return jsonObject;
+    }
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            try {
+                webSocketSender.pushSelfMoveTest(MoveTestCommand.generateJson(commandDTO.getCommandId(), commandDTO.getCommand(), "1、各项传感器正常", 20, "success"));
+                DeviceCommand motorZCommand = DeviceCommandGenerator.zMove(10.0); //移动到200mm处
+                CommandFuture motorZCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), motorZCommand);
+                CommandUtil.wait(motorZCommandFuture);
+
+                DeviceCommand motorZOriginCommand = DeviceCommandGenerator.zOrigin();//z轴回原点
+                CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), motorZOriginCommand);
+                CommandUtil.wait(motorZOriginCommandFuture);
+                webSocketSender.pushSelfMoveTest(MoveTestCommand.generateJson(commandDTO.getCommandId(), commandDTO.getCommand(), "2、Z轴电机检测完毕", 40, "success"));
+
+
+                DeviceCommand roboticArmBigMotorCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(10.0);//大臂轴移动100mm
+                CommandFuture roboticArmBigMotorFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmBigMotorCommand);
+                CommandUtil.wait(roboticArmBigMotorFuture);
+
+                DeviceCommand roboticArmBigMotorOriginCommand = DeviceCommandGenerator.roboticArmBigMotorOrigin();//大臂回原点
+                CommandFuture roboticArmBigMotorOriginFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmBigMotorOriginCommand);
+                CommandUtil.wait(roboticArmBigMotorOriginFuture);
+
+                webSocketSender.pushSelfMoveTest(MoveTestCommand.generateJson(commandDTO.getCommandId(), commandDTO.getCommand(), "3、机械臂大臂电机检测完毕", 65, "success"));
+
+                DeviceCommand roboticArmSmallMotorCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveTo(10.0);//小臂轴移动10mm
+                CommandFuture roboticArmSmallMotorFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmSmallMotorCommand);
+                CommandUtil.wait(roboticArmSmallMotorFuture);
+
+                DeviceCommand roboticArmSmallMotorOriginCommand = DeviceCommandGenerator.roboticArmBigMotorOrigin();//大臂回原点
+                CommandFuture roboticArmSmallMotorOriginFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), roboticArmSmallMotorOriginCommand);
+                CommandUtil.wait(roboticArmSmallMotorOriginFuture);
+                webSocketSender.pushSelfMoveTest(MoveTestCommand.generateJson(commandDTO.getCommandId(), commandDTO.getCommand(), "4、机械臂小臂电机检测完毕", 80, "success"));
+
+                DeviceCommand titrationMotor1Command = DeviceCommandGenerator.titrationMotor1MoveTo(10.0); //移动到200mm处
+                CommandFuture titrationMotor1CommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), titrationMotor1Command);
+                DeviceCommand titrationMotor2Command = DeviceCommandGenerator.titrationMotor1MoveTo(10.0); //移动到200mm处
+                CommandFuture titrationMotor2CommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), titrationMotor2Command);
+                CommandUtil.wait(titrationMotor1CommandFuture, titrationMotor2CommandFuture);
+
+                DeviceCommand titrationMotor1OriginCommand = DeviceCommandGenerator.zOrigin();//z轴回原点
+                CommandFuture titrationMotor1OriginCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), titrationMotor1OriginCommand);
+                DeviceCommand titrationMotor2OriginCommand = DeviceCommandGenerator.zOrigin();//z轴回原点
+                CommandFuture titrationMotor2OriginCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), titrationMotor2OriginCommand);
+                CommandUtil.wait(titrationMotor1OriginCommandFuture, titrationMotor2OriginCommandFuture);
+                webSocketSender.pushSelfMoveTest(MoveTestCommand.generateJson(commandDTO.getCommandId(), commandDTO.getCommand(), "5、滴定电机检测完毕", 100, "success"));
+            } finally {
+                // deviceStatus.setSelfTestCompleted(true);
+            }
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/selftest/TitrationMotorOriginCommand.java

@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.selftest;
+
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 滴定移动电机回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("check_titration_motor_origin")
+public class TitrationMotorOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand device1Command = DeviceCommandGenerator.titrationMotor1Origin();
+            CommandFuture command1Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device1Command);
+            CommandUtil.wait(command1Future);
+
+            DeviceCommand device2Command = DeviceCommandGenerator.titrationMotor2Origin();
+            CommandFuture command2Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device2Command);
+            CommandUtil.wait(command2Future);
+        });
+    }
+}
+
+

src/main/java/com/iflytop/colortitration/app/command/selftest/package-info.java

@@ -1,3 +0,0 @@
-package com.iflytop.colortitration.app.command.selftest;
-
-//自检相关指令

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

@@ -4,7 +4,6 @@ import cn.hutool.json.JSONUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import javax.management.Notification;
 import java.time.Instant;
 
 @Slf4j
@@ -40,8 +39,8 @@ public class WebSocketSender {
         push(WebSocketMessageType.HEAT_COUNTDOWN, data);
     }
 
-    public void pushNotification(Notification notification) {
+   /* public void pushNotification(Notification notification) {
         push("notification", notification);
-    }
+    }*/
 
 }