Browse Source

feat:封装指令

master
白凤吉 3 months ago
parent
commit
31ec814dd8
  1. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRecycleCommandHandler.java
  2. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRefrigerationCommandHandler.java
  3. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopHeatingCommandHandler.java
  4. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRecycleCommandHandler.java
  5. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRefrigerationCommandHandler.java
  6. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
  7. 23
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
  8. 16
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorResetCommandHandler.java
  9. 16
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorStopCommandHandler.java
  10. 21
      src/main/java/com/iflytop/gd/app/cmd/debug/DoorCloseCommandHandler.java
  11. 21
      src/main/java/com/iflytop/gd/app/cmd/debug/DoorOpenCommandHandler.java
  12. 21
      src/main/java/com/iflytop/gd/app/cmd/debug/DoorStopCommandHandler.java
  13. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartCommandHandler.java
  14. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartHeatMaintainingCommandHandler.java
  15. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopCommandHandler.java
  16. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopMaintainingCommandHandler.java
  17. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawCloseCommandHandler.java
  18. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
  19. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawPauseCommandHandler.java
  20. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmResetCommandHandler.java
  21. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
  22. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmStopCommandHandler.java
  23. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpPreEvacuateCommandHandler.java
  24. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpPrefillCommandHandler.java
  25. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
  26. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStopCommandHandler.java
  27. 23
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
  28. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
  29. 23
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorStopCommandHandler.java
  30. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
  31. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStopCommandHandler.java
  32. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
  33. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmResetCommandHandler.java
  34. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmStopCommandHandler.java
  35. 11
      src/main/java/com/iflytop/gd/app/cmd/debug/debugDoorMove.java
  36. 19
      src/main/java/com/iflytop/gd/app/controller/CmdController.java
  37. 26
      src/main/java/com/iflytop/gd/app/controller/CmdDebugController.java
  38. 7
      src/main/java/com/iflytop/gd/app/core/CommandHandlerRegistry.java
  39. 683
      src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
  40. 3
      src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
  41. 29
      src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java
  42. 12
      src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java
  43. 2
      src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
  44. 2
      src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java
  45. 46
      src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
  46. 5
      src/main/java/com/iflytop/gd/common/result/ResultCode.java

22
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRecycleCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理冷阱开启循环指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cold_trap_start_recycle")
public class ColdTrapStartRecycleCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRefrigerationCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理启动冷阱制冷指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cold_trap_start_refrigeration")
public class ColdTrapStartRefrigerationCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopHeatingCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理冷阱停止加热指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cold_trap_stop_heating")
public class ColdTrapStopHeatingCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRecycleCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止冷阱循环指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cold_trap_stop_recycle")
public class ColdTrapStopRecycleCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRefrigerationCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止冷阱制冷指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cold_trap_stop_refrigeration")
public class ColdTrapStopRefrigerationCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理拍子电机下降指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cover_elevator_lift_down")
public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

23
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java

@ -1,23 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理拍子电机抬升指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cover_elevator_lift_up")
public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

16
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorResetCommandHandler.java

@ -1,16 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
/**
* 处理拍子抬升电机复位指令
*/
@CommandMapping("debug_cover_elevator_reset")
public class CoverElevatorResetCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

16
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorStopCommandHandler.java

@ -1,16 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
/**
* 处理拍子抬升电机停止指令
*/
@CommandMapping("debug_cover_elevator_stop")
public class CoverElevatorStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

21
src/main/java/com/iflytop/gd/app/cmd/debug/DoorCloseCommandHandler.java

@ -1,21 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理关门指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_door_close")
public class DoorCloseCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

21
src/main/java/com/iflytop/gd/app/cmd/debug/DoorOpenCommandHandler.java

@ -1,21 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理开门指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_door_open")
public class DoorOpenCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

21
src/main/java/com/iflytop/gd/app/cmd/debug/DoorStopCommandHandler.java

@ -1,21 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止门运动指令处理器
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_door_stop")
public class DoorStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理启动加热器指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_heater_start")
public class HeaterStartCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartHeatMaintainingCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理启动加热器恒温指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_heater_start_heat_maintaining")
public class HeaterStartHeatMaintainingCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止加热器指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_heater_stop")
public class HeaterStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopMaintainingCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止恒温加热指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_heater_stop_heat_maintaining")
public class HeaterStopMaintainingCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawCloseCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理夹爪闭合指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_holding_jaw_close")
public class HoldingJawCloseCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理打开夹爪指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_holding_jaw_open")
public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawPauseCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理暂停夹爪指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_holding_jaw_pause")
public class HoldingJawPauseCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmResetCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 复位加液臂指令处理器
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_arm_reset")
public class LiquidArmResetCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理加液臂旋转指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_arm_rotation")
public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmStopCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理加液臂停止指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_arm_stop")
public class LiquidArmStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpPreEvacuateCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理排空加液头指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_pump_pre_evacuation")
public class LiquidPumpPreEvacuateCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpPrefillCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理加液头预充指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_pump_pre_filling")
public class LiquidPumpPrefillCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理加液泵启动指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_pump_start")
public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStopCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理加液泵停止指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_liquid_pump_stop")
public class LiquidPumpStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

23
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java

@ -1,23 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理降下托盘指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_pallet_elevator_lift_down")
public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理托盘电机上升指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_pallet_elevator_lift_up")
public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

23
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorStopCommandHandler.java

@ -1,23 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止托盘抬升器指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_pallet_elevator_stop")
public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理启动摇匀器指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_shaker_start")
public class ShakerStartCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStopCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止摇匀器指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_shaker_stop")
public class ShakerStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理移动转移机械臂指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_transportation_arm_move")
public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmResetCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理复位转移机械臂指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_transportation_arm_reset")
public class TransportationArmResetCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

22
src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmStopCommandHandler.java

@ -1,22 +0,0 @@
package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 处理停止转移机械臂移动指令
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_transportation_arm_stop")
public class TransportationArmStopCommandHandler extends BaseCommandHandler {
@Override
public void handle(CmdDTO cmdDTO) {
}
}

11
src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartHeatingCommandHandler.java → src/main/java/com/iflytop/gd/app/cmd/debug/debugDoorMove.java

@ -12,20 +12,19 @@ import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
/** /**
* 处理冷阱开启加热
* 门电机 移动指定距离
*/ */
@Slf4j @Slf4j
@Component @Component
@RequiredArgsConstructor @RequiredArgsConstructor
@CommandMapping("debug_cold_trap_start_heating")
public class ColdTrapStartHeatingCommandHandler extends BaseCommandHandler {
@CommandMapping("debug_door_move")
public class debugDoorMove extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService; private final DeviceCommandService deviceCommandService;
@Override @Override
public void handle(CmdDTO cmdDTO) throws Exception { public void handle(CmdDTO cmdDTO) throws Exception {
DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapOpenHeart();
Double position = cmdDTO.getDoubleParam("position");
DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture); commandWait(deviceCommandFuture);
} }
} }

19
src/main/java/com/iflytop/gd/app/controller/CmdController.java

@ -1,9 +1,8 @@
package com.iflytop.gd.app.controller; package com.iflytop.gd.app.controller;
import com.iflytop.gd.common.cmd.CommandHandler;
import com.iflytop.gd.app.core.CommandHandlerRegistry; import com.iflytop.gd.app.core.CommandHandlerRegistry;
import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.exception.UnSupportCommandException;
import com.iflytop.gd.common.cmd.CommandHandler;
import com.iflytop.gd.common.result.Result; import com.iflytop.gd.common.result.Result;
import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag; import io.swagger.v3.oas.annotations.tags.Tag;
@ -25,19 +24,11 @@ public class CmdController {
@Operation(summary = "前端统一调用一个接口") @Operation(summary = "前端统一调用一个接口")
@PostMapping @PostMapping
public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) {
public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) throws Exception {
String commandName = cmdDTO.getCommand(); String commandName = cmdDTO.getCommand();
try {
CommandHandler commandHandler = registry.getCommandHandler(commandName);
log.info("业务指令开始执行");
commandHandler.handle(cmdDTO);
} catch (UnSupportCommandException exception) {
log.error("未找到对应的业务指令");
return Result.failed(exception.getMessage());
} catch (Exception e) {
log.error("执行业务指令发生异常: {}", cmdDTO, e);
return Result.failed(e.getMessage());
}
CommandHandler commandHandler = registry.getCommandHandler(commandName);
log.info("业务指令开始执行");
commandHandler.handle(cmdDTO);
return Result.success(); return Result.success();
} }

26
src/main/java/com/iflytop/gd/app/controller/CmdDebugController.java

@ -1,10 +1,9 @@
package com.iflytop.gd.app.controller; package com.iflytop.gd.app.controller;
import com.iflytop.gd.app.core.CommandHandlerRegistry;
import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.exception.UnSupportCommandException;
import com.iflytop.gd.common.result.Result;
import com.iflytop.gd.common.cmd.CommandHandler; import com.iflytop.gd.common.cmd.CommandHandler;
import com.iflytop.gd.app.core.CommandHandlerRegistry;
import com.iflytop.gd.common.result.Result;
import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag; import io.swagger.v3.oas.annotations.tags.Tag;
import jakarta.validation.Valid; import jakarta.validation.Valid;
@ -15,8 +14,6 @@ import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController; import org.springframework.web.bind.annotation.RestController;
import java.util.concurrent.CompletableFuture;
@Tag(name = "前端调试指令") @Tag(name = "前端调试指令")
@RestController @RestController
@RequestMapping("/api/debug/cmd") @RequestMapping("/api/debug/cmd")
@ -27,22 +24,11 @@ public class CmdDebugController {
@Operation(summary = "前端调试指令") @Operation(summary = "前端调试指令")
@PostMapping @PostMapping
public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) {
public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) throws Exception {
String commandName = cmdDTO.getCommand(); String commandName = cmdDTO.getCommand();
try {
log.info("收到调试指令{}", commandName);
CommandHandler commandHandler = registry.getCommandHandler(commandName);
log.info("找到指令处理器{}", commandHandler.getClass().getName());
commandHandler.handle(cmdDTO);
log.info("指令处理器提交异步执行");
} catch (UnSupportCommandException exception) {
log.error("未找到对应的调试指令{}", commandName);
String errorMsg = "未找到对应的调试指令, commandName=" + commandName;
return Result.failed(errorMsg);
} catch (Exception e) {
log.error("执行调试指令发生异常: {}", cmdDTO, e);
return Result.failed(e.getMessage());
}
CommandHandler commandHandler = registry.getCommandHandler(commandName);
log.info("调试指令开始执行");
commandHandler.handle(cmdDTO);
return Result.success(); return Result.success();
} }

7
src/main/java/com/iflytop/gd/app/core/CommandHandlerRegistry.java

@ -1,8 +1,10 @@
package com.iflytop.gd.app.core; package com.iflytop.gd.app.core;
import com.iflytop.gd.common.exception.UnSupportCommandException;
import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandHandler; import com.iflytop.gd.common.cmd.CommandHandler;
import com.iflytop.gd.common.exception.AppException;
import com.iflytop.gd.common.exception.UnSupportCommandException;
import com.iflytop.gd.common.result.ResultCode;
import io.micrometer.common.lang.NonNull; import io.micrometer.common.lang.NonNull;
import jakarta.annotation.PostConstruct; import jakarta.annotation.PostConstruct;
import jakarta.validation.constraints.NotNull; import jakarta.validation.constraints.NotNull;
@ -42,13 +44,14 @@ public class CommandHandlerRegistry implements ApplicationContextAware {
/** /**
* 通过模块名称和命令名称获取命令处理器 * 通过模块名称和命令名称获取命令处理器
*
* @param commandName 命令名称 * @param commandName 命令名称
* @return 命令处理器 * @return 命令处理器
* @throws UnSupportCommandException * @throws UnSupportCommandException
*/ */
public CommandHandler getCommandHandler(@NotNull String commandName) throws UnSupportCommandException { public CommandHandler getCommandHandler(@NotNull String commandName) throws UnSupportCommandException {
if (!handlerMap.containsKey(commandName)) { if (!handlerMap.containsKey(commandName)) {
throw new UnSupportCommandException("commandName=" + commandName);
throw new AppException(ResultCode.COMMAND_NOT_FOUND);
} }
return handlerMap.get(commandName); return handlerMap.get(commandName);
} }

683
src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
File diff suppressed because it is too large
View File

3
src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java

@ -20,4 +20,7 @@ public class DeviceCommandParams {
private CmdAxis axis; private CmdAxis axis;
private CmdColor color; private CmdColor color;
private Double brightness; private Double brightness;
private Double x;
private Double y;
private Double z;
} }

29
src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java

@ -0,0 +1,29 @@
package com.iflytop.gd.common.enums;
import lombok.Getter;
/**
* 泵设备id枚举
*/
@Getter
public enum AcidPumpDevice {
PUMP_01("acid_pump1"),
PUMP_02("acid_pump2"),
PUMP_03("acid_pump3"),
PUMP_04("acid_pump4"),
PUMP_05("acid_pump5"),
PUMP_06("acid_pump6"),
PUMP_07("acid_pump7"),
PUMP_08("acid_pump8");
private final String id;
AcidPumpDevice(String id) {
this.id = id;
}
@Override
public String toString() {
return id;
}
}

12
src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java

@ -1,9 +1,12 @@
package com.iflytop.gd.common.enums; package com.iflytop.gd.common.enums;
import lombok.Getter;
/** /**
* 加热模块id枚举 * 加热模块id枚举
* 格式为 "heat_module_01" ~ "heat_module_06" * 格式为 "heat_module_01" ~ "heat_module_06"
*/ */
@Getter
public enum HeatModuleId { public enum HeatModuleId {
MODULE_01("heat_module_01"), MODULE_01("heat_module_01"),
MODULE_02("heat_module_02"), MODULE_02("heat_module_02"),
@ -18,15 +21,6 @@ public enum HeatModuleId {
this.id = id; this.id = id;
} }
/**
* 获取对应的加热模块 ID
*
* @return 模块唯一标识
*/
public String getId() {
return id;
}
@Override @Override
public String toString() { public String toString() {
return id; return id;

2
src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java

@ -1,6 +1,6 @@
package com.iflytop.gd.common.enums.cmd; package com.iflytop.gd.common.enums.cmd;
public enum CmdAction { public enum CmdAction {
open, close, stop, start, origin, move, move_x_joint, move_y_joint, move_joint, move_point, set, get, tight, loose,
open, close, stop, start, origin, move, move_joint, move_point, set, get, tight, loose,
open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo
} }

2
src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java

@ -1,5 +1,5 @@
package com.iflytop.gd.common.enums.cmd; package com.iflytop.gd.common.enums.cmd;
public enum CmdColor { public enum CmdColor {
red,green,blue
red, green, blue
} }

46
src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java

@ -1,10 +1,44 @@
package com.iflytop.gd.common.enums.cmd; package com.iflytop.gd.common.enums.cmd;
public enum CmdDevice { public enum CmdDevice {
door, shake_motor, tray_motor, dual_robot, hbot_x, hbot_y, hbot_z,
heater_motor_1, heater_motor_2, heater_motor_3, heater_motor_4, heater_motor_5, heater_motor_6,
acid_pump1, acid_pump2, acid_pump3, acid_pump4, acid_pump5, acid_pump6, acid_pump7, acid_pump8,
claw, fan1, fan2, fan3, fan4, fan5, fan6, water_pump_power, ventilator_power,
heat_rod_1, heat_rod_2, heat_rod_3, heat_rod_4, heat_rod_5, heat_rod_6,
tricolor_light, fill_light, cold_trap, photo
door_motor,
shake_motor,
tray_motor,
dual_robot,
gantry_x,
gantry_y,
gantry_z,
heater_motor_1,
heater_motor_2,
heater_motor_3,
heater_motor_4,
heater_motor_5,
heater_motor_6,
acid_pump1,
acid_pump2,
acid_pump3,
acid_pump4,
acid_pump5,
acid_pump6,
acid_pump7,
acid_pump8,
claw,
fan1,
fan2,
fan3,
fan4,
fan5,
fan6,
water_pump_power,
ventilator_power,
heat_rod_1,
heat_rod_2,
heat_rod_3,
heat_rod_4,
heat_rod_5,
heat_rod_6,
tricolor_light,
fill_light,
cold_trap,
photo
} }

5
src/main/java/com/iflytop/gd/common/result/ResultCode.java

@ -44,8 +44,9 @@ public enum ResultCode implements IResultCode, Serializable {
SERVICE_UNAVAILABLE("5001", "服务暂不可用"), SERVICE_UNAVAILABLE("5001", "服务暂不可用"),
EXTERNAL_API_ERROR("5002", "第三方服务调用失败"), EXTERNAL_API_ERROR("5002", "第三方服务调用失败"),
COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"), COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"),
HARDWARE_ERROR("5004", "硬件错误");
HARDWARE_ERROR("5004", "硬件错误"),
//============================ 6xxx指令相关 ============================
COMMAND_NOT_FOUND("6000", "指令未找到");
/** 状态码 */ /** 状态码 */
private final String code; private final String code;
/** 提示信息 */ /** 提示信息 */

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