feat:定义指令生成器

src/main/java/com/iflytop/gd/app/core/BaseCommandHandler.java

@@ -4,9 +4,12 @@ package com.iflytop.gd.app.core;
 
 import com.iflytop.gd.common.annotation.CheckedRunnable;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.common.device.CommandFuture;
 import com.iflytop.gd.common.utils.LambdaUtil;
 
+import java.util.Arrays;
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
 
 public abstract class BaseCommandHandler implements CommandHandler {
 
@@ -14,4 +17,11 @@ public abstract class BaseCommandHandler implements CommandHandler {
         return CompletableFuture.runAsync(LambdaUtil.unchecked(task));
     }
 
+    protected void commandWait(CommandFuture... futures) throws Exception {
+        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
+                .map(CommandFuture::getResponseFuture)
+                .toArray(CompletableFuture[]::new);
+        CompletableFuture.allOf(responseFutures)
+                .get(120, TimeUnit.SECONDS);
+    }
 }

src/main/java/com/iflytop/gd/app/service/cmd/DemoCommand.java

@@ -1,8 +1,12 @@
 package com.iflytop.gd.app.service.cmd;
 
+import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.common.device.CommandFuture;
+import com.iflytop.gd.common.device.DeviceCommand;
+import com.iflytop.gd.common.device.DeviceCommandGenerator;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -12,10 +16,15 @@ import org.springframework.stereotype.Component;
 @Component
 @RequiredArgsConstructor
 @CommandMapping("demo_command")//业务指令注解
-public class DemoCommand implements CommandHandler {
+public class DemoCommand extends BaseCommandHandler {
 
     @Override
     public void handle(CmdDTO cmdDTO) {
         log.info("cmdDTO:{}", cmdDTO);
+
+        //XYZ回原点
+        DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
+        DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
+        DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
     }
 }

src/main/java/com/iflytop/gd/common/device/CommandFuture.java

@@ -0,0 +1,55 @@
+package com.iflytop.gd.common.device;
+
+import cn.hutool.json.JSONObject;
+import lombok.Getter;
+import lombok.Setter;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
+
+@Setter
+@Getter
+public class CommandFuture {
+    /**
+     * 用于保存response反馈
+     */
+    private CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>();
+
+    private long startSendTime;
+    private long endSendTime;
+
+    /**
+     * 业务指令id
+     */
+    private String cmdId;
+    /**
+     * 业务指令code
+     */
+    private String cmdCode;
+    /**
+     * 设备指令
+     */
+    private DeviceCommand deviceCommand;
+
+    /**
+     * 完成response
+     */
+    public void completeResponse(JSONObject result) {
+        responseFuture.complete(result);
+    }
+
+    /**
+     * 异常完成response
+     */
+    public void completeResponseExceptionally(Throwable ex) {
+        responseFuture.completeExceptionally(ex);
+    }
+
+    /**
+     * 获取response的json
+     */
+    public JSONObject getResponseResult() throws ExecutionException, InterruptedException {
+        return responseFuture.get();
+    }
+
+}

src/main/java/com/iflytop/gd/common/device/CyclicNumberGenerator.java

@@ -0,0 +1,39 @@
+package com.iflytop.gd.common.device;
+
+public class CyclicNumberGenerator {
+    // 饿汉式单例，在类加载时就创建实例
+    private static final CyclicNumberGenerator INSTANCE = new CyclicNumberGenerator();
+    // 当前生成的数字，初始值为 1
+    private int currentNumber = 1;
+
+    // 私有构造函数，防止外部实例化
+    private CyclicNumberGenerator() {
+    }
+
+    // 提供全局访问点获取单例实例
+    public static CyclicNumberGenerator getInstance() {
+        return INSTANCE;
+    }
+
+    public static void main(String[] args) {
+        CyclicNumberGenerator generator = CyclicNumberGenerator.getInstance();
+        for (int i = 0; i < 4096; i++) {
+            System.out.println(generator.generateNumber());
+        }
+    }
+
+    /**
+     * 生成 1 到 255 之间的循环整数
+     *
+     * @return 生成的整数
+     */
+    public synchronized int generateNumber() {
+        int result = currentNumber;
+        // 每次生成后将当前数字加 1
+        currentNumber++;
+        if (currentNumber > 4096) {
+            currentNumber = 1;
+        }
+        return result;
+    }
+}

src/main/java/com/iflytop/gd/common/device/DeviceCommand.java

@@ -0,0 +1,38 @@
+package com.iflytop.gd.common.device;
+
+import lombok.Data;
+
+import java.util.Map;
+
+@Data
+public class DeviceCommand {
+    /**
+     * 指令ID
+     */
+    private Integer cmdId;
+
+    /**
+     * 指令名称
+     */
+    private String cmdName;
+
+    /**
+     * 指令代码 例如 "device_status_get"
+     */
+    private String cmdCode;
+
+    /**
+     * 目标设备
+     */
+    private String device;
+
+    /**
+     * 执行动作
+     */
+    private String action;
+
+    /**
+     * 指令参数
+     */
+    private Map<String, Object> param;
+}

src/main/java/com/iflytop/gd/common/device/DeviceCommandGenerator.java

@@ -0,0 +1,501 @@
+package com.iflytop.gd.common.device;
+
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 生成给设备发送的指令
+ */
+public class DeviceCommandGenerator {
+
+    /**
+     * 全部关闭三通阀
+     */
+    public static DeviceCommand threeWayValveCloseAll() {
+        // 上层方法直接取方法注释“全部关闭三通阀”
+        return threeWayValveControl("close_all", "全部关闭三通阀");
+    }
+
+    /**
+     * 打开三通阀喷嘴管路
+     */
+    public static DeviceCommand threeWayValveOpenSyringePipeline() {
+        return threeWayValveControl("open_syringe", "打开三通阀喷嘴管路");
+    }
+
+    /**
+     * 打开三通阀注射器管路
+     */
+    public static DeviceCommand threeWayValveOpenNozzlePipeline() {
+        return threeWayValveControl("open_nozzle", "打开三通阀注射器管路");
+    }
+
+    /**
+     * 控制三通阀
+     */
+    public static DeviceCommand threeWayValveControl(String action, String commandName) {
+        // 调用中层 controlCmd 时，直接用方法注释固定描述"控制三通阀"
+        return controlCmd("three_way_valve", action, null, commandName != null ? commandName : "控制三通阀");
+    }
+
+    /**
+     * 关闭清洗阀
+     */
+    public static DeviceCommand washValveClose() {
+        return washValveControl("close", "关闭清洗阀");
+    }
+
+    /**
+     * 开启清洗阀
+     */
+    public static DeviceCommand washValveOpen() {
+        return washValveControl("open", "开启清洗阀");
+    }
+
+    /**
+     * 控制清洗阀
+     */
+    public static DeviceCommand washValveControl(String action, String commandName) {
+        return controlCmd("wash_valve", action, null, commandName != null ? commandName : "控制清洗阀");
+    }
+
+    /**
+     * 关闭喷嘴阀
+     */
+    public static DeviceCommand nozzleValveClose() {
+        return nozzleValveControl("close", "关闭喷嘴阀");
+    }
+
+    /**
+     * 开启喷嘴阀
+     */
+    public static DeviceCommand nozzleValveOpen() {
+        return nozzleValveControl("open", "开启喷嘴阀");
+    }
+
+    /**
+     * 控制喷嘴阀
+     */
+    public static DeviceCommand nozzleValveControl(String action, String commandName) {
+        return controlCmd("nozzle_valve", action, null, commandName != null ? commandName : "控制喷嘴阀");
+    }
+
+    /**
+     * 关闭除湿阀
+     */
+    public static DeviceCommand dehumidifierValveClose() {
+        return dehumidifierValveControl("close", "关闭除湿阀");
+    }
+
+    /**
+     * 开启除湿阀
+     */
+    public static DeviceCommand dehumidifierValveOpen() {
+        return dehumidifierValveControl("open", "开启除湿阀");
+    }
+
+    /**
+     * 控制除湿阀
+     */
+    public static DeviceCommand dehumidifierValveControl(String action, String commandName) {
+        return controlCmd("dehumidifier_valve", action, null, commandName != null ? commandName : "控制除湿阀");
+    }
+
+    /**
+     * 关闭照明灯板
+     */
+    public static DeviceCommand lightingPanelClose() {
+        return controlCmd("lighting_panel", "close", null, "关闭照明灯板");
+    }
+
+    /**
+     * 打开照明灯板
+     */
+    public static DeviceCommand lightingPanelOpen() {
+        return controlCmd("lighting_panel", "open", null, "打开照明灯板");
+    }
+
+    /**
+     * 控制照明灯板
+     */
+    public static DeviceCommand lightingPanelControl(String action, String commandName) {
+        return controlCmd("lighting_panel", action, null, commandName != null ? commandName : "控制照明灯板");
+    }
+
+    /**
+     * 关闭激光
+     */
+    public static DeviceCommand laserControlClose() {
+        return laserControl("close", null);
+    }
+
+    /**
+     * 打开激光
+     *
+     * @param power 功率[0-100]
+     */
+    public static DeviceCommand laserControlOpen(Double power) {
+        return laserControl("open", power);
+    }
+
+    /**
+     * 控制激光
+     *
+     * @param power 功率[0-100]
+     */
+    public static DeviceCommand laserControl(String action, Double power) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("power", power);
+        return controlCmd("laser", action, params, "控制激光");
+    }
+
+    /**
+     * 关闭高压
+     */
+    public static DeviceCommand highVoltageClose() {
+        return highVoltageControl("close", null);
+    }
+
+    /**
+     * 开启高压
+     */
+    public static DeviceCommand highVoltageOpen(Double voltage) {
+        return highVoltageControl("open", voltage);
+    }
+
+    /**
+     * 控制高压
+     */
+    public static DeviceCommand highVoltageControl(String action, Double voltage) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("voltage", voltage);
+        return controlCmd("high_voltage", action, params, "控制高压");
+    }
+
+    /**
+     * 停止推动注射泵
+     */
+    public static DeviceCommand syringePumpStop() {
+        return controlCmd("syringe_pump", "stop", null, "停止推动注射泵");
+    }
+
+    /**
+     * 推动移动注射泵
+     *
+     * @param speed 是指注射泵每分钟注射多少微升(volume 最低0.1)
+     */
+    public static DeviceCommand syringePumpStart(String direction, Double speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("direction", direction);
+        params.put("speed", speed);
+        return controlCmd("syringe_pump", "move", params, "推动移动注射泵");
+    }
+
+    /**
+     * 推动移动注射泵
+     *
+     * @param speed 是指注射泵每分钟注射多少微升(volume 最低0.1)
+     */
+    public static DeviceCommand syringePumpForward(Double speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("direction", "forward");
+        params.put("speed", speed);
+        return controlCmd("syringe_pump", "move", params, "推动移动注射泵");
+    }
+
+    /**
+     * 注射泵流速设置
+     */
+    public static DeviceCommand syringePumpVolumeSet(Double speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("speed", speed);
+        return controlCmd("syringe_pump", "set", params, "注射泵流速设置");
+    }
+
+    /**
+     * 控制注射泵
+     */
+    public static DeviceCommand syringePumpControl(String action, String forward, Double volume) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("current", forward);
+        params.put("volume", volume);
+        return controlCmd("syringe_pump", action, params, "控制注射泵");
+    }
+
+    /**
+     * 获取设备当前湿度
+     */
+    public static DeviceCommand humidityGet() {
+        return getInfoCmd("humidity", "获取设备当前湿度");
+    }
+
+    /**
+     * 获取设备当前温度
+     */
+    public static DeviceCommand temperatureGet() {
+        return getInfoCmd("temperature", "获取设备当前温度");
+    }
+
+    /**
+     * 推入玻片托盘
+     */
+    public static DeviceCommand slideTrayIn(Double position, Double speed) {
+        return motorYPositionSet(position, speed, "推入玻片托盘");
+    }
+
+    /**
+     * 推出玻片托盘
+     */
+    public static DeviceCommand slideTrayOut(Double position, Double speed) {
+        return motorYPositionSet(position, speed, "推出玻片托盘");
+    }
+
+    /**
+     * 获得电机XYZ相对原点坐标
+     */
+    public static DeviceCommand motorXyzPositionGet() {
+        return getInfoCmd("xyz", "获得电机XYZ相对原点坐标");
+    }
+
+    /**
+     * x轴停止移动
+     */
+    public static DeviceCommand motorXStop() {
+        return controlMotorCmd("x", "stop", null, null, null, null, "x轴停止移动");
+    }
+
+    /**
+     * y轴停止移动
+     */
+    public static DeviceCommand motorYStop() {
+        return controlMotorCmd("y", "stop", null, null, null, null, "y轴停止移动");
+    }
+
+    /**
+     * z轴停止移动
+     */
+    public static DeviceCommand motorZStop() {
+        return controlMotorCmd("z", "stop", null, null, null, null, "z轴停止移动");
+    }
+
+    /**
+     * x轴回原点
+     */
+    public static DeviceCommand motorXOrigin() {
+        return controlMotorCmd("x", "origin", null, null, null, null, "x轴回原点");
+    }
+
+    /**
+     * y轴回原点
+     */
+    public static DeviceCommand motorYOrigin() {
+        return controlMotorCmd("y", "origin", null, null, null, null, "y轴回原点");
+    }
+
+    /**
+     * z轴回原点
+     */
+    public static DeviceCommand motorZOrigin() {
+        return controlMotorCmd("z", "origin", null, null, null, null, "z轴回原点");
+    }
+
+    /**
+     * 移动x轴到指定位置
+     */
+    public static DeviceCommand motorXPositionSet(Double position) {
+        return motorXPositionSet(position, null, "移动x轴到指定位置");
+    }
+
+    /**
+     * 移动y轴到指定位置
+     */
+    public static DeviceCommand motorYPositionSet(Double position) {
+        return motorYPositionSet(position, null, "移动y轴到指定位置");
+    }
+
+    /**
+     * 移动z轴到指定位置
+     */
+    public static DeviceCommand motorZPositionSet(Double position) {
+        return motorZPositionSet(position, null, "移动z轴到指定位置");
+    }
+
+    /**
+     * 移动x轴到指定位置
+     */
+    public static DeviceCommand motorXPositionSet(Double position, Double speed) {
+        return motorXPositionSet(position, speed, "移动x轴到指定位置");
+    }
+
+    /**
+     * 移动y轴到指定位置
+     */
+    public static DeviceCommand motorYPositionSet(Double position, Double speed) {
+        return motorYPositionSet(position, speed, "移动y轴到指定位置");
+    }
+
+    /**
+     * 移动z轴到指定位置
+     */
+    public static DeviceCommand motorZPositionSet(Double position, Double speed) {
+        return motorZPositionSet(position, speed, "移动z轴到指定位置");
+    }
+
+    /**
+     * 移动x轴到指定位置
+     */
+    private static DeviceCommand motorXPositionSet(Double position, Double speed, String commandName) {
+        return controlMotorCmd("x", "move", null, "forward", position, speed, commandName);
+    }
+
+    /**
+     * 移动y轴到指定位置
+     */
+    private static DeviceCommand motorYPositionSet(Double position, Double speed, String commandName) {
+        return controlMotorCmd("y", "move", null, "forward", position, speed, commandName);
+    }
+
+    /**
+     * 移动z轴到指定位置
+     */
+    private static DeviceCommand motorZPositionSet(Double position, Double speed, String commandName) {
+        return controlMotorCmd("z", "move", null, "forward", position, speed, commandName);
+    }
+
+    /**
+     * x电机方向设置
+     */
+    public static DeviceCommand motorXDirectionSet(String direction) {
+        return controlMotorCmd("x", "set", null, direction, null, null, "x电机方向设置");
+    }
+
+    /**
+     * y电机方向设置
+     */
+    public static DeviceCommand motorYDirectionSet(String direction) {
+        return controlMotorCmd("y", "set", null, direction, null, null, "y电机方向设置");
+    }
+
+    /**
+     * z电机方向设置
+     */
+    public static DeviceCommand motorZDirectionSet(String direction) {
+        return controlMotorCmd("z", "set", null, direction, null, null, "z电机方向设置");
+    }
+
+    /**
+     * x轴电机电流设置
+     */
+    public static DeviceCommand motorXCurrentSet(Double current) {
+        return controlMotorCmd("x", "set", current, null, null, null, "x轴电机电流设置");
+    }
+
+    /**
+     * y轴电机电流设置
+     */
+    public static DeviceCommand motorYCurrentSet(Double current) {
+        return controlMotorCmd("y", "set", current, null, null, null, "y轴电机电流设置");
+    }
+
+    /**
+     * z轴电机电流设置
+     */
+    public static DeviceCommand motorZCurrentSet(Double current) {
+        return controlMotorCmd("z", "set", current, null, null, null, "z轴电机电流设置");
+    }
+
+    /**
+     * x轴电机速度设置
+     */
+    public static DeviceCommand motorXSpeedSet(Double speed) {
+        return controlMotorCmd("x", "set", null, null, null, speed, "x轴电机速度设置");
+    }
+
+    /**
+     * y轴电机速度设置
+     */
+    public static DeviceCommand motorYSpeedSet(Double speed) {
+        return controlMotorCmd("y", "set", null, null, null, speed, "y轴电机速度设置");
+    }
+
+    /**
+     * z轴电机速度设置
+     */
+    public static DeviceCommand motorZSpeedSet(Double speed) {
+        return controlMotorCmd("z", "set", null, null, null, speed, "z轴电机速度设置");
+    }
+
+    /**
+     * x轴电机控制
+     */
+    public static DeviceCommand motorX(String action, Double current, String direction, Double position, Double speed) {
+        return controlMotorCmd("x", action, current, direction, position, speed, "x轴电机控制");
+    }
+
+    /**
+     * y轴电机控制
+     */
+    public static DeviceCommand motorY(String action, Double current, String direction, Double position, Double speed) {
+        return controlMotorCmd("y", action, current, direction, position, speed, "y轴电机控制");
+    }
+
+    /**
+     * z轴电机控制
+     */
+    public static DeviceCommand motorZ(String action, Double current, String direction, Double position, Double speed) {
+        return controlMotorCmd("z", action, current, direction, position, speed, "z轴电机控制");
+    }
+
+    /**
+     * 控制设备电机
+     */
+    public static DeviceCommand controlMotorCmd(String device, String action, Double current, String direction, Double position, Double speed, String commandName) {
+        if (commandName == null) {
+            commandName = "控制设备电机";
+        }
+        Map<String, Object> params = new HashMap<>();
+        params.put("current", current);
+        params.put("direction", direction);
+        params.put("position", position);
+        params.put("speed", speed);
+        return deviceCmd("controlMotorCmd", device, action, params, commandName);
+    }
+
+    /**
+     * 获取设备整体状态
+     */
+    public static DeviceCommand overallDeviceStatusGet() {
+        return getInfoCmd("device", "获取设备整体状态");
+    }
+
+    /**
+     * 设备控制指令包装
+     */
+    private static DeviceCommand controlCmd(String device, String action, Map<String, Object> params, String commandName) {
+        return deviceCmd("controlCmd", device, action, params, commandName);
+    }
+
+    /**
+     * 获取设备信息指令包装
+     */
+    private static DeviceCommand getInfoCmd(String device, String commandName) {
+        return deviceCmd("getInfoCmd", device, "get", null, commandName);
+    }
+
+    /**
+     * 设备指令包装
+     */
+    private static DeviceCommand deviceCmd(String code, String device, String action, Map<String, Object> params, String commandName) {
+//        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        DeviceCommand cmdToDevice = new DeviceCommand();
+//        cmdToDevice.setCmdId(cmdId);
+        cmdToDevice.setCmdCode(code);
+        cmdToDevice.setDevice(device);
+        cmdToDevice.setAction(action);
+        cmdToDevice.setParam(params);
+        cmdToDevice.setCmdName(commandName);
+        return cmdToDevice;
+    }
+}
+

src/main/java/com/iflytop/gd/infrastructure/modules/area/LiquidArea.java

@@ -7,4 +7,5 @@ import org.springframework.stereotype.Component;
  */
 @Component
 public class LiquidArea {
+
 }

src/main/java/com/iflytop/gd/infrastructure/modules/area/RailArmArea.java

@@ -7,4 +7,5 @@ import org.springframework.stereotype.Component;
  */
 @Component
 public class RailArmArea {
+
 }

src/main/java/com/iflytop/gd/infrastructure/repository/DeviceFactory.java

@@ -1,27 +0,0 @@
-package com.iflytop.gd.infrastructure.repository;
-
-import com.iflytop.gd.infrastructure.devices.physical.PhysicalStepMotor;
-import com.iflytop.gd.infrastructure.devices.virtual.VirtualStepMotor;
-import com.iflytop.gd.infrastructure.drivers.ModuleId;
-import com.iflytop.gd.system.devices.StepMotor;
-import com.iflytop.gd.system.drivers.CommandBus;
-import com.iflytop.gd.system.constants.SystemMode;
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Component;
-
-@RequiredArgsConstructor
-@Component
-public class DeviceFactory {
-    private final CommandBus commandBus;
-    public StepMotor createStepMotor(SystemMode systemMode, ModuleId moduleId) {
-        if (SystemMode.VIRTUAL.equals(systemMode)) {
-            return new VirtualStepMotor(moduleId);
-        }
-
-        if (SystemMode.PHYSICAL.equals(systemMode)) {
-            return new PhysicalStepMotor(moduleId, commandBus);
-        }
-
-        throw new IllegalArgumentException("Unsupported system mode: " + systemMode);
-    }
-}

src/main/java/com/iflytop/gd/infrastructure/repository/DeviceStrategyFactory.java

@@ -0,0 +1,28 @@
+package com.iflytop.gd.infrastructure.repository;
+
+import com.iflytop.gd.system.drivers.CommandBus;
+import lombok.RequiredArgsConstructor;
+import org.springframework.context.ApplicationContext;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@Component
+@RequiredArgsConstructor
+public class DeviceStrategyFactory {
+    private final ApplicationContext ctx;
+    private final CommandBus commandBus;
+
+    /**
+     * @param type     接口 Class 对象，如 ColdTray.class
+     * @param beanName 在 @Component 中定义的名称，如 "coldTrayA"
+     */
+    public <T> T getStrategy(Class<T> type, String beanName) {
+        Map<String, T> beans = ctx.getBeansOfType(type);
+        T strategy = beans.get(beanName);
+        if (strategy == null) {
+            throw new IllegalArgumentException("No bean named '" + beanName + "' for type " + type.getSimpleName());
+        }
+        return strategy;
+    }
+}