同步代码

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpSet.java

@@ -0,0 +1,47 @@
+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.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液泵 设置加液泵
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pump_set")
+public class DebugPumpSet extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        String pumpId = cmdDTO.getStringParam("pumpId");
+        Integer current = cmdDTO.getIntegerParam("current");
+        Double speed = cmdDTO.getDoubleParam("speed");
+        Double innerDiameter = cmdDTO.getDoubleParam("innerDiameter");
+        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
+        DeviceCommand deviceCommand;
+        switch (pumpDevice) {
+            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(current, speed);
+            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(current, speed);
+            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(current, speed);
+            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(current, speed);
+            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(current, speed);
+            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(current, speed);
+            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(current, speed);
+            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(current, speed);
+            default -> throw new RuntimeException("pumpId 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpStop.java

@@ -0,0 +1,45 @@
+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.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
+import com.iflytop.gd.common.enums.cmd.CmdDirection;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液泵 停止加液泵
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pump_stop")
+public class DebugPumpStop extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        String pumpId = cmdDTO.getStringParam("pumpId");
+        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
+        DeviceCommand deviceCommand;
+        switch (pumpDevice) {
+            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
+            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
+            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
+            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
+            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
+            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
+            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
+            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
+            default -> throw new RuntimeException("pumpId 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/hardware/controller/ServoController.java

@@ -39,38 +39,38 @@ public class ServoController {
         servoService.stop(deviceId);
     }
 
-    @PostMapping("/move_to")
+    @PostMapping("/move-to")
     @Operation(summary = "移动(绝对)")
     public void moveTo(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
         servoService.moveTo(deviceId, pos);
     }
 
-    @PostMapping("/rotate_forward")
+    @PostMapping("/rotate-forward")
     @Operation(summary = "正转")
-    public void rotate_forward(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public void rotateForward(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.rotate(deviceId, 1);
     }
 
-    @PostMapping("/rotate_backward")
+    @PostMapping("/rotate-backward")
     @Operation(summary = "反转")
-    public void rotate_backward(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public void rotateBackward(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.rotate(deviceId, 0);
     }
 
-    @PostMapping("/rotate_with_torque")
+    @PostMapping("/rotate-with-torque")
     @Operation(summary = "旋转(力矩)")
     public void rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
         servoService.rotateWithTorque(deviceId, pos);
     }
 
-    @PostMapping("/move_to_zero")
+    @PostMapping("/move-to-zero")
     @Operation(summary = "回Home")
     public void moveToZero(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.moveToZero(deviceId);
     }
 
     // 寄存器操作
-    @PostMapping("/limit_velocity")
+    @PostMapping("/limit-velocity")
     @Operation(summary = "设置限速")
     public void setLimitVelocity(
             @RequestParam DeviceServoId deviceId,
@@ -78,7 +78,7 @@ public class ServoController {
         servoService.setLimitVelocity(deviceId, val);
     }
 
-    @PostMapping("/limit_torque")
+    @PostMapping("/limit-torque")
     @Operation(summary = "设置限力矩")
     public void setLimitTorque(
             @RequestParam DeviceServoId deviceId,
@@ -86,7 +86,7 @@ public class ServoController {
         servoService.setLimitTorque(deviceId, val);
     }
 
-    @PostMapping("/protective_torque")
+    @PostMapping("/protective-torque")
     @Operation(summary = "设置保护力矩")
     public void setProtectiveTorque(
             @RequestParam DeviceServoId deviceId,

src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java

@@ -13,14 +13,14 @@ import java.util.Map;
 
 @Tag(name = "步进电机控制")
 @RestController
-@RequestMapping("/api/step_motor")
+@RequestMapping("/api/step-motor")
 @RequiredArgsConstructor
 @Slf4j
 public class StepMotorController {
     private final StepMotorService stepMotorService;
 
     // 基础设置
-    @PostMapping("/speed_level")
+    @PostMapping("/speed-level")
     @Operation(summary = "设置速度等级")
     public void setStepMotorSpeedLevel(@RequestParam StepMotorSpeedLevel speedLevel) {
         stepMotorService.setStepMotorSpeedLevel(speedLevel);
@@ -39,13 +39,13 @@ public class StepMotorController {
         stepMotorService.disableMotor(deviceId);
     }
 
-    @PostMapping("/move_to_zero")
+    @PostMapping("/move-to-zero")
     @Operation(summary = "回Home")
     public void stepMotorEasyMoveToZero(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.stepMotorEasyMoveToZero(deviceId);
     }
 
-    @PostMapping("/move_to_zero_quick")
+    @PostMapping("/move-to-zero-quick")
     @Operation(summary = "快速回Home")
     public void stepMotorEasyMoveToZeroPointQuickBlock(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.stepMotorEasyMoveToZeroPointQuickBlock(deviceId);
@@ -58,7 +58,7 @@ public class StepMotorController {
     }
 
     // 相对移动
-    @PostMapping("/move_by_forward")
+    @PostMapping("/move-by-forward")
     @Operation(summary = "正向点动")
     public void stepMotorEasyMoveByForward(
             @RequestParam DeviceStepMotorId deviceId,
@@ -66,7 +66,7 @@ public class StepMotorController {
         stepMotorService.stepMotorEasyMoveByForward(deviceId, dpos);
     }
 
-    @PostMapping("/move_by_backward")
+    @PostMapping("/move-by-backward")
     @Operation(summary = "反向点动")
     public void stepMotorEasyMoveByBackward(
             @RequestParam DeviceStepMotorId deviceId,
@@ -75,7 +75,7 @@ public class StepMotorController {
     }
 
     // 绝对移动
-    @PostMapping("/move_to")
+    @PostMapping("/move-to")
     @Operation(summary = "移动(绝对)")
     public void stepMotorEasyMoveTo(
             @RequestParam DeviceStepMotorId deviceId,
@@ -84,13 +84,13 @@ public class StepMotorController {
     }
 
     // 旋转
-    @PostMapping("/rotate_forward")
+    @PostMapping("/rotate-forward")
     @Operation(summary = "正转")
     public void rotateForward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.rotateForward(deviceId);
     }
 
-    @PostMapping("/rotate_backward")
+    @PostMapping("/rotate-backward")
     @Operation(summary = "反转")
     public void rotateBackward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.rotateBackward(deviceId);
@@ -121,7 +121,7 @@ public class StepMotorController {
         stepMotorService.setIHOLD(deviceId, ihold);
     }
 
-    @PostMapping("/start_stop_vel")
+    @PostMapping("/start-stop-vel")
     @Operation(summary = "设置起停速度")
     public void setStartAndStopVel(
             @RequestParam DeviceStepMotorId deviceId,
@@ -145,7 +145,7 @@ public class StepMotorController {
         stepMotorService.setA1AndD1(deviceId, acc);
     }
 
-    @PostMapping("/max_acceleration")
+    @PostMapping("/max-acceleration")
     @Operation(summary = "设置最大加速度")
     public void setAmaxAndDmax(
             @RequestParam DeviceStepMotorId deviceId,
@@ -153,7 +153,7 @@ public class StepMotorController {
         stepMotorService.setAmaxAndDmax(deviceId, acc);
     }
 
-    @PostMapping("/default_velocity")
+    @PostMapping("/default-velocity")
     @Operation(summary = "设置默认速度")
     public void setDefaultVel(
             @RequestParam DeviceStepMotorId deviceId,
@@ -171,7 +171,7 @@ public class StepMotorController {
         stepMotorService.setSpeed(deviceId, low, mid, high);
     }
 
-    @PostMapping("/one_circle_pulse")
+    @PostMapping("/one-circle-pulse")
     @Operation(summary = "设置一圈脉冲数")
     public void setOneCirclePulse(
             @RequestParam DeviceStepMotorId deviceId,
@@ -218,7 +218,7 @@ public class StepMotorController {
         return stepMotorService.readPos(deviceId);
     }
 
-    @GetMapping("/encoder_position")
+    @GetMapping("/encoder-position")
     @Operation(summary = "读取编码器位置")
     public Integer readEncPos(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         return stepMotorService.readEncPos(deviceId);

src/main/resources/sql/init.sql

@@ -43,8 +43,8 @@ CREATE TABLE IF NOT EXISTS container (
     pump_id        TEXT,
     capacity_total INTEGER,
     capacity_used  INTEGER,
-    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
-    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+    create_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
 
 INSERT OR IGNORE INTO container (id, type, solution_id, pump_id, capacity_total, capacity_used)
@@ -78,21 +78,22 @@ VALUES
     (6, '磷酸',   '2025-02-18 02:46:43', '2025-02-18 02:46:43'),
     (7, '纯水',   '2025-02-18 02:46:50', '2025-02-18 02:46:50');
 
--- 设备参数配置 表
-CREATE TABLE IF NOT EXISTS device_param_config (
-    id           INTEGER PRIMARY KEY AUTOINCREMENT,
-    mid          TEXT,
-    reg_index    TEXT,
-    reg_val      INTEGER,
-    create_time  TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
-    update_time  TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+-- 设备配置 表
+CREATE TABLE IF NOT EXISTS device_config (
+     id            INTEGER PRIMARY KEY AUTOINCREMENT,
+     device        TEXT,
+     regIndex      TEXT,
+     valueType     TEXT,
+     value         TEXT,
+     create_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+     update_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
 
 -- 系统配置 表
 CREATE TABLE IF NOT EXISTS system_config (
      id            INTEGER PRIMARY KEY AUTOINCREMENT,
-     key    TEXT    NOT NULL UNIQUE,
-     value  TEXT,
+     key           TEXT    NOT NULL UNIQUE,
+     value         TEXT,
      create_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
      update_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );