baifengji
/
graphite-digester-service
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

fix:统一调试指令传递的模块id

master
白凤吉 3 months ago
parent
57ff311cae
commit
92bc7ed5f0
16 changed files with 169 additions and 162 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/FanStartCommandHandler.java
  2. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/FanStopCommandHandler.java
  3. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartCommandHandler.java
  4. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopCommandHandler.java
  5. 40
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
  6. 22
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStopCommandHandler.java
  7. 35
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
  8. 35
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
  9. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorStopCommandHandler.java
  10. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
  11. 20
      src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
  12. 12
      src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
  13. 2
      src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
  14. 27
      src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java
  15. 23
      src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java
  16. 7
      src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java

18
src/main/java/com/iflytop/gd/app/cmd/debug/FanStartCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,15 +27,16 @@ public class FanStartCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.fan1Open();
case 2 -> deviceCommand = DeviceCommandGenerator.fan2Open();
case 3 -> deviceCommand = DeviceCommandGenerator.fan3Open();
case 4 -> deviceCommand = DeviceCommandGenerator.fan4Open();
case 5 -> deviceCommand = DeviceCommandGenerator.fan5Open();
case 6 -> deviceCommand = DeviceCommandGenerator.fan6Open();
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Open();
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Open();
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Open();
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Open();
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.fan5Open();
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.fan6Open();
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

18
src/main/java/com/iflytop/gd/app/cmd/debug/FanStopCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,15 +27,16 @@ public class FanStopCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.fan1Close();
case 2 -> deviceCommand = DeviceCommandGenerator.fan2Close();
case 3 -> deviceCommand = DeviceCommandGenerator.fan3Close();
case 4 -> deviceCommand = DeviceCommandGenerator.fan4Close();
case 5 -> deviceCommand = DeviceCommandGenerator.fan5Close();
case 6 -> deviceCommand = DeviceCommandGenerator.fan6Close();
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Close();
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Close();
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Close();
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Close();
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.fan5Close();
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.fan6Close();
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

18
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,16 +27,17 @@ public class HeaterStartCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
Double temperature = cmdDTO.getDoubleParam("temperature");
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature);
case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature);
case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature);
case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature);
case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Open(temperature);
case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Open(temperature);
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature);
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature);
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature);
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature);
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heatRod5Open(temperature);
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heatRod6Open(temperature);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

18
src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,15 +27,16 @@ public class HeaterStopCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Close();
case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Close();
case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Close();
case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Close();
case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Close();
case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Close();
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Close();
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Close();
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Close();
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Close();
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heatRod5Close();
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heatRod6Close();
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

40
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.AcidPumpDevice;
import com.iflytop.gd.common.enums.cmd.CmdDirection;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -27,22 +28,23 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
String direction = cmdDTO.getStringParam("direction");
Double volume = cmdDTO.getDoubleParam("volume");
Double velocity = cmdDTO.getDoubleParam("velocity");
CmdDirection directionEnum = CmdDirection.valueOf(direction);
AcidPumpDevice acidPumpDevice = AcidPumpDevice.valueOf(index);
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
switch (acidPumpDevice) {
case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
default -> throw new RuntimeException("index 未找到");
}
@ -50,15 +52,15 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
switch (acidPumpDevice) {
case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.AcidPumpDevice;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,17 +27,18 @@ public class LiquidPumpStopCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
AcidPumpDevice acidPumpDevice = AcidPumpDevice.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
switch (acidPumpDevice) {
case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

35
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -27,32 +28,32 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
if (velocity != null) {
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

35
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -26,32 +27,32 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
if (velocity != null) {
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

18
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorStopCommandHandler.java
View File

@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -27,15 +28,16 @@ public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
String index = cmdDTO.getStringParam("index");
HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
DeviceCommandBundle deviceCommand;
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Stop();
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Stop();
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Stop();
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Stop();
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Stop();
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Stop();
switch (heatModuleId) {
case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Stop();
case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Stop();
case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Stop();
case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Stop();
case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Stop();
case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Stop();
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

18
src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
View File

@ -32,22 +32,22 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
Double yDimDistance = cmdDTO.getDoubleParam("yDimDistance");
Double zDimDistance = cmdDTO.getDoubleParam("zDimDistance");
Double xDimvelocity = cmdDTO.getDoubleParam("xDimvelocity");
Double yDimvelocity = cmdDTO.getDoubleParam("yDimvelocity");
Double zDimvelocity = cmdDTO.getDoubleParam("zDimvelocity");
Double xDimVelocity = cmdDTO.getDoubleParam("xDimVelocity");
Double yDimVelocity = cmdDTO.getDoubleParam("yDimVelocity");
Double zDimVelocity = cmdDTO.getDoubleParam("zDimVelocity");
List<CommandFuture> futuresList = new ArrayList<>();
if(xDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimvelocity);
if(xDimVelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if(yDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimvelocity);
if(yDimVelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if(zDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimvelocity);
if(zDimVelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}

20
src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
View File

@ -16,7 +16,10 @@ import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.*;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
import java.util.concurrent.LinkedBlockingQueue;
@Slf4j
@Service
@ -98,14 +101,21 @@ public class DeviceCommandService {
}
} else {
//虚拟模式
try (ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor()) {
scheduler.schedule(() -> {
new Thread(() -> {
try {
String actionName = commandFuture.getDeviceCommandBundle().getDeviceCommand().getAction().name();
if (actionName.contains("move") || actionName.contains("origin")) {
Thread.sleep(2000);
}
JSONObject jsonObject = new JSONObject();
jsonObject.putOnce("cmdId", cmdId);
jsonObject.putOnce("success", true);
completeCommandResponse(jsonObject);
}, 2, TimeUnit.SECONDS);
}
} catch (InterruptedException e) {
// 处理中断异常
Thread.currentThread().interrupt();
}
}).start();
}
}

12
src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
View File

@ -84,12 +84,12 @@ public class DeviceCommandUtilService {
*/
public void heaterMotorMove(HeatModuleId heatModuleId, double position) throws Exception {
DeviceCommandBundle deviceCommand = switch (heatModuleId) {
case HeatModuleId.MODULE_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
case HeatModuleId.MODULE_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
case HeatModuleId.MODULE_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
case HeatModuleId.MODULE_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
case HeatModuleId.MODULE_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
case HeatModuleId.MODULE_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
};
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
commandWait(deviceCommandFuture);

2
src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
View File

@ -901,7 +901,7 @@ public class DeviceCommandGenerator {
public static DeviceCommandBundle clawMove(Double position) {
DeviceCommandParams params = new DeviceCommandParams();
params.setPosition(position);
return controlCmd(CmdDevice.claw, CmdAction.tight, params, "夹爪 移动");
return controlCmd(CmdDevice.claw, CmdAction.move, params, "夹爪 移动");
}
/**

27
src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java
View File

@ -8,23 +8,12 @@ import lombok.Getter;
*/
@Getter
public enum AcidPumpDevice {
PUMP_01("acid_pump_01"),
PUMP_02("acid_pump_02"),
PUMP_03("acid_pump_03"),
PUMP_04("acid_pump_04"),
PUMP_05("acid_pump_05"),
PUMP_06("acid_pump_06"),
PUMP_07("acid_pump_07"),
PUMP_08("acid_pump_08");
private final String id;
AcidPumpDevice(String id) {
this.id = id;
}
@Override
public String toString() {
return id;
}
acid_pump_01,
acid_pump_02,
acid_pump_03,
acid_pump_04,
acid_pump_05,
acid_pump_06,
acid_pump_07,
acid_pump_08;
}

23
src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java
View File

@ -8,21 +8,10 @@ import lombok.Getter;
*/
@Getter
public enum HeatModuleId {
MODULE_01("heat_module_01"),
MODULE_02("heat_module_02"),
MODULE_03("heat_module_03"),
MODULE_04("heat_module_04"),
MODULE_05("heat_module_05"),
MODULE_06("heat_module_06");
private final String id;
HeatModuleId(String id) {
this.id = id;
}
@Override
public String toString() {
return id;
}
heat_module_01,
heat_module_02,
heat_module_03,
heat_module_04,
heat_module_05,
heat_module_06;
}

7
src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
View File

@ -1,6 +1,9 @@
package com.iflytop.gd.common.enums.cmd;
public enum CmdAction {
open, close, stop, start, origin, move, move_by, 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
move, move_by, move_joint, move_point, origin,
open, close, stop, start, set, get,
open_power, close_power, open_circle, close_circle,
open_heart, close_heart, open_cool, close_cool, take_photo
}
Write Preview
Loading…
Cancel
Save