Browse Source
Merge remote-tracking branch 'origin/master'
Merge remote-tracking branch 'origin/master'
# Conflicts: # src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandParams.java # src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusServiceImpl.javamaster
26 changed files with 450 additions and 221 deletions
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7src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java
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2src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
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9src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java
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6src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java
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36src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeCloseCommand.java
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38src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java
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2src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java
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5src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java
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7src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java
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5src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenThickCommand.java
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3src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenThinCommand.java
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5src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenWasteCommand.java
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5src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenWaterCommand.java
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1src/main/java/com/iflytop/sgs/app/controller/DevicePointController.java
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36src/main/java/com/iflytop/sgs/app/controller/MotorController.java
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2src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java
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70src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java
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32src/main/java/com/iflytop/sgs/app/service/device/DeviceStopService.java
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4src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java
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4src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
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4src/main/java/com/iflytop/sgs/common/enums/DeviceSensorCode.java
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2src/main/java/com/iflytop/sgs/common/service/GDDeviceStatusService.java
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0src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusServiceImpl.java
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package com.iflytop.sgs.app.cmd.debug; |
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import com.iflytop.sgs.app.core.BaseCommandHandler; |
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import com.iflytop.sgs.app.model.dto.CmdDTO; |
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import com.iflytop.sgs.app.service.device.DeviceCommandService; |
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import com.iflytop.sgs.common.annotation.CommandDebugMapping; |
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import com.iflytop.sgs.common.cmd.CommandFuture; |
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import com.iflytop.sgs.common.cmd.DeviceCommandBundle; |
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import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; |
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import com.iflytop.sgs.common.utils.CommandUtil; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.concurrent.CompletableFuture; |
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/** |
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* 蜂鸣器关闭 |
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*/ |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@CommandDebugMapping("door_close") |
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public class DebugBeeCloseCommand extends BaseCommandHandler { |
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private final DeviceCommandService deviceCommandService; |
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@Override |
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) { |
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return runAsync(() -> { |
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DeviceCommandBundle beepCloseDeviceCommandBundle = DeviceCommandGenerator.beepClose(); |
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CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beepCloseDeviceCommandBundle); |
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CommandUtil.wait(doorSetDeviceCommandSetFuture); |
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}); |
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} |
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} |
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package com.iflytop.sgs.app.cmd.debug; |
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import com.iflytop.sgs.app.core.BaseCommandHandler; |
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import com.iflytop.sgs.app.model.dto.CmdDTO; |
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import com.iflytop.sgs.app.service.device.DeviceCommandService; |
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import com.iflytop.sgs.common.annotation.CommandDebugMapping; |
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import com.iflytop.sgs.common.cmd.CommandFuture; |
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import com.iflytop.sgs.common.cmd.DeviceCommandBundle; |
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import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; |
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import com.iflytop.sgs.common.utils.CommandUtil; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.concurrent.CompletableFuture; |
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/** |
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* 蜂鸣器打开 |
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*/ |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@CommandDebugMapping("door_close") |
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public class DebugBeeOpenCommand extends BaseCommandHandler { |
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private final DeviceCommandService deviceCommandService; |
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@Override |
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) { |
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String mode = cmdDTO.getStringParam("mode"); |
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return runAsync(() -> { |
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DeviceCommandBundle beeOpenDeviceCommand = DeviceCommandGenerator.beepOpen(mode); |
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CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beeOpenDeviceCommand); |
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CommandUtil.wait(doorMoveDeviceCommandFuture); |
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}); |
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} |
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} |
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package com.iflytop.sgs.app.controller; |
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import com.iflytop.sgs.app.service.device.DeviceSensorService; |
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import com.iflytop.sgs.common.enums.DevicePartId; |
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import com.iflytop.sgs.common.result.Result; |
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import com.iflytop.sgs.hardware.exception.HardwareException; |
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import io.swagger.v3.oas.annotations.Operation; |
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import io.swagger.v3.oas.annotations.tags.Tag; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.web.bind.annotation.*; |
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/** |
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* 认证控制 |
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*/ |
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@Tag(name = "设备") |
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@RestController |
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@RequestMapping("/api/motor") |
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@RequiredArgsConstructor |
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@Slf4j |
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public class MotorController { |
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private DeviceSensorService deviceSensorService; |
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@Operation(summary = "获取当前电机位置") |
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@GetMapping("/position/{motor}") |
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public Result<Double> getPosition(@PathVariable String motor) { |
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DevicePartId devicePartId = DevicePartId.valueOf(motor); |
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try { |
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Double position = deviceSensorService.getSensorStatus(devicePartId); |
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return Result.success(position); |
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} catch (HardwareException e) { |
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throw new RuntimeException(e); |
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} |
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} |
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} |
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package com.iflytop.sgs.app.service.device; |
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import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; |
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import com.iflytop.sgs.app.model.bo.status.device.SolutionContainerState; |
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import com.iflytop.sgs.app.model.bo.status.device.SolutionModuleState; |
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import com.iflytop.sgs.common.enums.ContainerCode; |
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import com.iflytop.sgs.common.enums.DevicePartId; |
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import com.iflytop.sgs.common.enums.DeviceSensorCode; |
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import com.iflytop.sgs.common.enums.HeatModuleCode; |
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import com.iflytop.sgs.common.service.GDDeviceStatusService; |
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import com.iflytop.sgs.hardware.exception.HardwareException; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.scheduling.annotation.Scheduled; |
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import org.springframework.stereotype.Service; |
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import java.util.List; |
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@Slf4j |
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@Service |
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@RequiredArgsConstructor |
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public class DeviceSensorService { |
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private final GDDeviceStatusService deviceStatusService; |
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private final DeviceStateService deviceStateService; |
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/* |
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* 获取传感器状态 |
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* */ |
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public boolean getSensorStatus(DeviceSensorCode sensorCode) throws HardwareException { |
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return deviceStatusService.getInputState(sensorCode.name()); |
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} |
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/* |
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* 获取电机位置 |
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* */ |
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public Double getSensorStatus(DevicePartId devicePartId) throws HardwareException { |
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return deviceStatusService.getStepMotorPostion(devicePartId.name()); |
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} |
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@Scheduled(fixedRate = 1000) |
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public void deviceSensorSchedule() throws HardwareException { |
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HeatModuleState heat_module_01 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_01); |
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heat_module_01.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_1_EXIST)); |
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HeatModuleState heat_module_02 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_02); |
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heat_module_02.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_2_EXIST)); |
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HeatModuleState heat_module_03 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_03); |
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heat_module_03.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_3_EXIST)); |
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HeatModuleState heat_module_04 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04); |
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heat_module_04.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST)); |
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SolutionModuleState solutionModuleState = deviceStateService.getDeviceState().getSolutionModule(); |
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//todo 需要确认传感器个数以及这个传感器是否是加液传感器 |
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solutionModuleState.setFeedAreaTrayStatus(this.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST)); |
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SolutionContainerState container_01 = solutionModuleState.getContainerStateByCode(ContainerCode.container_01); |
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container_01.setEmpty(this.getSensorStatus(DeviceSensorCode.THIN_LOW_LEVEL)); |
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SolutionContainerState container_02 = solutionModuleState.getContainerStateByCode(ContainerCode.container_02); |
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container_02.setEmpty(this.getSensorStatus(DeviceSensorCode.THICK_LOW_LEVEL)); |
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SolutionContainerState container_03 = solutionModuleState.getContainerStateByCode(ContainerCode.container_03); |
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container_03.setEmpty(this.getSensorStatus(DeviceSensorCode.WATER_LOW_LEVEL)); |
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SolutionContainerState container_04 = solutionModuleState.getContainerStateByCode(ContainerCode.container_04); |
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container_04.setFull(this.getSensorStatus(DeviceSensorCode.WASTE_HIGH_LEVEL)); |
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} |
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} |
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package com.iflytop.sgs.app.service.device; |
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import com.iflytop.sgs.common.cmd.DeviceCommandBundle; |
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import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Service; |
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@Slf4j |
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@Service |
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@RequiredArgsConstructor |
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public class DeviceStopService { |
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private final DeviceCommandService deviceCommandService; |
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public void stopAll() { |
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//门电机 |
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DeviceCommandBundle doorStopDeviceCommandBundle = DeviceCommandGenerator.doorStop(); |
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deviceCommandService.sendCommand(null, null, doorStopDeviceCommandBundle); |
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//x轴 |
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DeviceCommandBundle xStopDeviceCommandBundle = DeviceCommandGenerator.transferXStop(); |
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deviceCommandService.sendCommand(null, null, xStopDeviceCommandBundle); |
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//z轴 |
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DeviceCommandBundle yStopDeviceCommandBundle = DeviceCommandGenerator.transferZStop(); |
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deviceCommandService.sendCommand(null, null, yStopDeviceCommandBundle); |
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//机械臂 |
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DeviceCommandBundle liquidMotorStopDeviceCommandBundle = DeviceCommandGenerator.liquidMotorStop(); |
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deviceCommandService.sendCommand(null, null, liquidMotorStopDeviceCommandBundle); |
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//蠕动泵 |
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DeviceCommandBundle liquidPumpStopDeviceCommandBundle = DeviceCommandGenerator.liquidPumpStop(); |
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deviceCommandService.sendCommand(null, null, liquidPumpStopDeviceCommandBundle); |
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} |
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} |
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