add:蜂鸣器打开新增参数 增加deviceStopService服务

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeCloseCommand.java

@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蜂鸣器关闭
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("door_close")
+public class DebugBeeCloseCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle beepCloseDeviceCommandBundle = DeviceCommandGenerator.beepClose();
+            CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beepCloseDeviceCommandBundle);
+            CommandUtil.wait(doorSetDeviceCommandSetFuture);
+        });
+    }
+}
+

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugBeeOpenCommand.java

@@ -0,0 +1,38 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蜂鸣器打开
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("door_close")
+public class DebugBeeOpenCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String mode = cmdDTO.getStringParam("mode");
+        return runAsync(() -> {
+            DeviceCommandBundle beeOpenDeviceCommand = DeviceCommandGenerator.beepOpen(mode);
+            CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beeOpenDeviceCommand);
+            CommandUtil.wait(doorMoveDeviceCommandFuture);
+
+        });
+    }
+}
+

src/main/java/com/iflytop/sgs/app/service/device/DeviceStopService.java

@@ -0,0 +1,32 @@
+package com.iflytop.sgs.app.service.device;
+
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceStopService {
+    private final DeviceCommandService deviceCommandService;
+
+
+    public void stopAll() {
+        //门电机
+        DeviceCommandBundle doorStopDeviceCommandBundle = DeviceCommandGenerator.doorStop();
+        deviceCommandService.sendCommand(null, null, doorStopDeviceCommandBundle);
+        //x轴
+        DeviceCommandBundle xStopDeviceCommandBundle = DeviceCommandGenerator.transferXStop();
+        deviceCommandService.sendCommand(null, null, xStopDeviceCommandBundle);
+        //z轴
+        DeviceCommandBundle yStopDeviceCommandBundle = DeviceCommandGenerator.transferZStop();
+        deviceCommandService.sendCommand(null, null, yStopDeviceCommandBundle);
+        //机械臂
+        DeviceCommandBundle liquidMotorStopDeviceCommandBundle = DeviceCommandGenerator.liquidMotorStop();
+        deviceCommandService.sendCommand(null, null, liquidMotorStopDeviceCommandBundle);
+        //蠕动泵
+        DeviceCommandBundle liquidPumpStopDeviceCommandBundle = DeviceCommandGenerator.liquidPumpStop();
+        deviceCommandService.sendCommand(null, null, liquidPumpStopDeviceCommandBundle);
+    }
+}

src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java

@@ -2,6 +2,7 @@ package com.iflytop.sgs.app.ws.client;
 
 import com.iflytop.sgs.app.core.CommandPoolManager;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
+import com.iflytop.sgs.app.service.device.DeviceStopService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
@@ -16,6 +17,7 @@ import java.net.URI;
 public class DeviceEmergencyStopConfig {
     private final DeviceStateService deviceStateService;
     private final CommandPoolManager commandPoolManager;
+    private final DeviceStopService deviceStopService;
 
     @Value("${iflytophald.ip}")
     String ip;
@@ -31,7 +33,7 @@ public class DeviceEmergencyStopConfig {
                 log.info("触发急停{}", s);
                 try {
                     commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令
-                    //stepCommandService.stopAll();
+                    deviceStopService.stopAll();
                     deviceStateService.getDeviceState().setEmergencyStop(true);
                 } catch (Exception e) {
                     log.error("设备急停失败:{}", e.getMessage());

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java

@@ -558,7 +558,9 @@ public class DeviceCommandGenerator {
      * 蜂鸣器 开
      *
      */
-    public static DeviceCommandBundle beepOpen() {
+    public static DeviceCommandBundle beepOpen(String mode) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setMode(mode);
         return controlCmd(CmdDevice.beep, CmdAction.open, null, "蜂鸣器 开启");
     }
 

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandParams.java

@@ -22,4 +22,5 @@ public class DeviceCommandParams {
     private Double y;
     private Double z;
     private Integer channel;
+    private String mode;
 }