feat:指令结果socket推送

src/main/java/com/qyft/gd/controller/CMDController.java

@@ -34,7 +34,7 @@ public class CMDController {
             }
             log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
             if (cmdService.executeCommand(cmdForm)) {
-                return Result.success(commandId);
+                return Result.success(cmdForm.getCommandId());
             } else {
                 return Result.failed("无效命令");
             }

src/main/java/com/qyft/gd/service/CMDService.java

@@ -3,24 +3,24 @@ package com.qyft.gd.service;
 import cn.hutool.json.JSONUtil;
 import com.qyft.gd.common.constant.Commands;
 import com.qyft.gd.common.result.CMDResultCode;
-import com.qyft.gd.config.WebSocketServer;
 import com.qyft.gd.device.service.DeviceService;
 import com.qyft.gd.device.service.DeviceStateService;
 import com.qyft.gd.model.form.CMDForm;
 import com.qyft.gd.model.vo.ExecutionResult;
-import com.qyft.gd.model.vo.WebsocketResult;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.*;
 import java.util.function.Function;
 import java.util.function.Supplier;
-
+@Slf4j
 @Service
 public class CMDService {
 
     DeviceService deviceService;
     DeviceStateService deviceStateService;
+    WebSocketService webSocketService;
     Map<String, Function<CMDForm, Boolean>> commandMap;
 
     @Autowired
@@ -52,7 +52,8 @@ public class CMDService {
     private Boolean moveMachineArm(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 装回盖子
     private Boolean putBackCap(CMDForm cmdForm) {
@@ -61,7 +62,8 @@ public class CMDService {
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,54,6));
         cmdList.add(() -> deviceService.closeClaw());
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 取试管架盖
     private Boolean takeOffCap(CMDForm cmdForm) {
@@ -69,25 +71,29 @@ public class CMDService {
         cmdList.add(() -> deviceService.moveRailArmToPoint(13,42,53));
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 拍照
     private Boolean takePhoto(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.takePhoto());
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 停止加热
     private Boolean stopHeat(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.stopHeating((String) cmdForm.getParams().get("areaId")));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 开始加热
     private Boolean startHeat(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.startHeating((String) cmdForm.getParams().get("areaId"),(Double) cmdForm.getParams().get("temperature")));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 开始摇匀
     private Boolean startShakeUp(CMDForm cmdForm) {
@@ -104,13 +110,15 @@ public class CMDService {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.startShaking());
         cmdList.add(() -> deviceService.setShakingSpeed((Integer) cmdForm.getParams().get("speed")));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 结束摇匀
     private Boolean stopShakeUp(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.stopShaking());
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 
 // 移至加液
@@ -125,7 +133,8 @@ public class CMDService {
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
         cmdList.add(() -> deviceService.closeClaw());
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
 
     }
 // 加液
@@ -136,30 +145,46 @@ public class CMDService {
         Map<String,  Object> params = cmdForm.getParams();
         cmdList.add(() -> deviceService.moveLiquidArmToPoint(1,2,3));
         cmdList.add(() -> deviceService.addLiquid((String) params.get("pumpId"), ((Integer)params.get("volume"))));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 放下托盘
     private boolean downTray(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.lowerTray((String) cmdForm.getParams().get("heaterId")));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
     // 抬起托盘
     private boolean upTray(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.raiseTray((String) cmdForm.getParams().get("heaterId")));
-        return run(cmdList);
+        initExecutorThread(cmdList, cmdForm);
+        return true;
+    }
+    private void initExecutorThread(List<Supplier<Boolean>> cmdList, CMDForm cmdForm) {
+        new Thread(() -> run(cmdList, cmdForm)).start();
     }
 
-    private boolean run(List<Supplier<Boolean>> cmdList) {
+    private void run(List<Supplier<Boolean>> cmdList, CMDForm cmdForm) {
+        ExecutionResult executionResult = new ExecutionResult();
+        executionResult.setCommandId(cmdForm.getCommandId());
+        executionResult.setCommandName(cmdForm.getCommand());
+
         // 执行所有命令
         for (Supplier<Boolean> command : cmdList) {
             boolean result = command.get();
             if (!result) {
-                return false;
+                log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm));
+                executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                webSocketService.pushMsg("cmd", executionResult);
+                return;
             }
         }
-        return true;
+        executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
+        executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
+        webSocketService.pushMsg("cmd", executionResult);
     }
 
     public boolean executeCommand(CMDForm cmdForm) {

src/main/java/com/qyft/gd/service/WebSocketService.java

@@ -7,13 +7,12 @@ import org.springframework.stereotype.Service;
 
 @Service
 public class WebSocketService {
-    public boolean pushMsg(String type, Object result) {
+    public void pushMsg(String type, Object result) {
 
         WebsocketResult websocketResult = new WebsocketResult();
         websocketResult.setType(type);
         websocketResult.setData(result);
         // 发送消息给客户端
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
-        return true;
     }
 }