增加调试指令蜂鸣器 指示灯

src/main/java/com/iflytop/colortitration/app/command/debug/BeepCloseCommand.java

@@ -0,0 +1,30 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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;
+
+/**
+ * 蜂鸣器关闭
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class BeepCloseCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.beepClose();
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/debug/BeepOpenCommand.java

@@ -0,0 +1,44 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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.common.base.IBaseEnum;
+import com.iflytop.colortitration.common.enums.BeepMode;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蜂鸣器开启
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class BeepOpenCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String modeStr = commandDTO.getStringParam("mode");
+        if (StringUtils.isEmpty(modeStr)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        if (!IBaseEnum.contains(BeepMode.class, modeStr)) {
+            throw new AppException(ResultCode.PARAMETER_TYPE_MISMATCH);//参数类型不匹配
+        }
+        BeepMode mode = BeepMode.valueOf(modeStr);
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.beepOpen(mode);
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/debug/LightCloseCommand.java

@@ -0,0 +1,30 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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;
+
+/**
+ * 指示灯关闭
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class LightCloseCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.tricolorLightClose();
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/debug/LightOpenCommand.java

@@ -0,0 +1,45 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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.common.base.IBaseEnum;
+import com.iflytop.colortitration.common.enums.BeepMode;
+import com.iflytop.colortitration.common.enums.TricolorLightColor;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 指示灯开启
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class LightOpenCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String colorStr = commandDTO.getStringParam("color");
+        if (StringUtils.isEmpty(colorStr)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        if (!IBaseEnum.contains(TricolorLightColor.class, colorStr)) {
+            throw new AppException(ResultCode.PARAMETER_TYPE_MISMATCH);//参数类型不匹配
+        }
+        TricolorLightColor color = TricolorLightColor.valueOf(colorStr);
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.tricolorLightOpen(color);
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+

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

@@ -1,10 +1,7 @@
 package com.iflytop.colortitration.app.core.command;
 
 import com.iflytop.colortitration.common.command.DeviceCommandParams;
-import com.iflytop.colortitration.common.enums.Action;
-import com.iflytop.colortitration.common.enums.Device;
-import com.iflytop.colortitration.common.enums.MotorDirection;
-import com.iflytop.colortitration.common.enums.TricolorLightColor;
+import com.iflytop.colortitration.common.enums.*;
 
 /**
  * 生成给设备发送的指令
@@ -29,6 +26,25 @@ public class DeviceCommandGenerator {
     public static DeviceCommand tricolorLightClose() {
         return controlCmd(Device.TRICOLOR_LIGHT, Action.CLOSE, null);
     }
+    // =========================================== 蜂鸣器 ====================================================
+
+    /**
+     * 蜂鸣器开启
+     *
+     * @param mode alarm | info
+     */
+    public static DeviceCommand beepOpen(BeepMode mode) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setMode(mode);
+        return controlCmd(Device.BEEP, Action.OPEN, params);
+    }
+
+    /**
+     * 蜂鸣器关闭
+     */
+    public static DeviceCommand beepClose() {
+        return controlCmd(Device.BEEP, Action.CLOSE, null);
+    }
     // =========================================== 加热棒 ====================================================
 
     /**

src/main/java/com/iflytop/colortitration/common/base/IBaseEnum.java

@@ -3,6 +3,7 @@ package com.iflytop.colortitration.common.base;
 
 import cn.hutool.core.util.ObjectUtil;
 
+import java.util.Arrays;
 import java.util.EnumSet;
 import java.util.Objects;
 
@@ -75,6 +76,18 @@ public interface IBaseEnum<T> {
         }
         return value;
     }
+    /**
+     * 根据name值比对是否包含
+     *
+     * @param enumClass
+     * @param name
+     * @return
+     */
+    static  <T extends Enum<T>> boolean contains(Class<T> enumClass, String name) {
+        return Arrays.stream(enumClass.getEnumConstants())
+                .map(Enum::name)
+                .anyMatch(name::equals);
+    }
 
     T getValue();
 

src/main/java/com/iflytop/colortitration/common/command/DeviceCommandParams.java

@@ -1,6 +1,7 @@
 package com.iflytop.colortitration.common.command;
 
 
+import com.iflytop.colortitration.common.enums.BeepMode;
 import com.iflytop.colortitration.common.enums.MotorDirection;
 import com.iflytop.colortitration.common.enums.TricolorLightColor;
 import lombok.Data;
@@ -16,6 +17,7 @@ public class DeviceCommandParams {
     private Double distance;
     private Double temperature;
     private TricolorLightColor color;
+    private BeepMode mode;
     private Double x;
     private Double y;
     private Double z;

src/main/java/com/iflytop/colortitration/common/enums/BeepMode.java

@@ -0,0 +1,19 @@
+package com.iflytop.colortitration.common.enums;
+
+
+import com.iflytop.colortitration.common.base.IBaseEnum;
+
+public enum BeepMode implements IBaseEnum {
+    alarm, // 报警音
+    info; //提示音
+
+    @Override
+    public Object getValue() {
+        return null;
+    }
+
+    @Override
+    public String getLabel() {
+        return "";
+    }
+}

src/main/java/com/iflytop/colortitration/common/enums/Device.java

@@ -22,10 +22,12 @@ public enum Device {
     STIR_MOTOR_1(HardwareType.STEPPER_MOTOR, "搅拌电机 1"),
     STIR_MOTOR_2(HardwareType.STEPPER_MOTOR, "搅拌电机 2"),
     CLAW(HardwareType.SERVO_MOTOR, "夹爪"),
-    DUAL_ROBOT(HardwareType.STEPPER_MOTOR, "双轴机械臂"),
+    DUAL_ROBOT_1(HardwareType.STEPPER_MOTOR, "双轴机械臂大臂"),
+    DUAL_ROBOT_2(HardwareType.STEPPER_MOTOR, "双轴机械臂小臂"),
     HEAT_ROD_1(HardwareType.IO_DEVICE, "加热棒 1"),
     HEAT_ROD_2(HardwareType.IO_DEVICE, "加热棒 2"),
     TRICOLOR_LIGHT(HardwareType.IO_DEVICE, "三色灯"),
+    BEEP(HardwareType.IO_DEVICE, "蜂鸣器"),
     ;
 
     /**

src/main/java/com/iflytop/colortitration/common/enums/TricolorLightColor.java

@@ -1,5 +1,17 @@
 package com.iflytop.colortitration.common.enums;
 
-public enum TricolorLightColor {
-    RED, GREEN, BLUE
+import com.iflytop.colortitration.common.base.IBaseEnum;
+
+public enum TricolorLightColor implements IBaseEnum {
+    RED, GREEN, BLUE;
+
+    @Override
+    public Object getValue() {
+        return null;
+    }
+
+    @Override
+    public String getLabel() {
+        return "";
+    }
 }