fix:实现可编辑的设备控制功能

src/main/java/com/qyft/gd/device/controller/DeviceCtrlController.java

@@ -1,11 +1,9 @@
 package com.qyft.gd.device.controller;
 
 import com.qyft.gd.device.model.bo.DeviceCtrlFuncCMD;
-import com.qyft.gd.device.model.bo.DeviceStatus;
 import com.qyft.gd.device.model.entity.CtrlFunc;
 import com.qyft.gd.device.model.form.CtrlFuncForm;
 import com.qyft.gd.device.model.vo.DeviceCtrlFuncVO;
-import com.qyft.gd.device.service.DeviceStatusService;
 import com.qyft.gd.device.service.ICtrlFuncService;
 import com.qyft.gd.system.common.result.Result;
 import com.qyft.gd.system.common.result.ResultCode;
@@ -43,7 +41,7 @@ public class DeviceCtrlController {
     @Operation(summary = "根据id获取设备控制方法与步骤")
     @GetMapping("/ctrl/{id}")
     public Result<DeviceCtrlFuncVO> getById(@PathVariable Long id) {
-        DeviceCtrlFuncVO ctrlFuncVO = ctrlFuncService.findById(id);
+        DeviceCtrlFuncVO ctrlFuncVO = ctrlFuncService.findVOById(id);
         return Result.success(ctrlFuncVO);
     }
 
@@ -52,12 +50,12 @@ public class DeviceCtrlController {
     public Result<String> addCtrlFunc(@RequestBody CtrlFuncForm ctrlFuncForm) {
         long count = ctrlFuncService.countFuncCmdByFuncCmd(ctrlFuncForm.getFuncCmd());
         if (count > 0) {
-            boolean isSuccess = ctrlFuncService.addCtrlFunc(ctrlFuncForm);
-            if (isSuccess) {
-                return Result.success();
-            }
-        } else {
             return Result.failed(ResultCode.DATA_ALREADY_EXISTS);
+
+        }
+        boolean isSuccess = ctrlFuncService.addCtrlFunc(ctrlFuncForm);
+        if (isSuccess) {
+            return Result.success();
         }
         return Result.failed();
     }
@@ -65,15 +63,19 @@ public class DeviceCtrlController {
     @Operation(summary = "更新设备控制方法与步骤")
     @PutMapping("/ctrl/{id}")
     public Result<String> updateCtrlFunc(@PathVariable Long id, @RequestBody CtrlFuncForm ctrlFuncForm) {
-        long count = ctrlFuncService.countFuncCmdByFuncCmd(ctrlFuncForm.getFuncCmd());
-        if (count > 0) {
-            boolean isSuccess = ctrlFuncService.updateCtrlFunc(id, ctrlFuncForm);
-            if (isSuccess) {
-                return Result.success();
+        CtrlFunc currentCtrlFunc = ctrlFuncService.getById(id);
+        if (currentCtrlFunc != null && !currentCtrlFunc.getFuncCmd().equals(ctrlFuncForm.getFuncCmd())) {
+            //改了指令需要判断指令是否重复
+            long count = ctrlFuncService.countFuncCmdByFuncCmd(ctrlFuncForm.getFuncCmd());
+            if (count > 0) {
+                return Result.failed(ResultCode.DATA_ALREADY_EXISTS);
             }
-        } else {
-            return Result.failed(ResultCode.DATA_ALREADY_EXISTS);
         }
+        boolean isSuccess = ctrlFuncService.updateCtrlFunc(id, ctrlFuncForm);
+        if (isSuccess) {
+            return Result.success();
+        }
+
         return Result.failed();
     }
 
@@ -88,5 +90,4 @@ public class DeviceCtrlController {
     }
 
 
-
 }

src/main/java/com/qyft/gd/device/model/bo/DeviceCtrlFuncCMD.java

@@ -9,9 +9,10 @@ import lombok.EqualsAndHashCode;
 @Data
 public class DeviceCtrlFuncCMD {
 
-    public DeviceCtrlFuncCMD(String name, String deviceCmd) {
+    public DeviceCtrlFuncCMD(String name, String deviceCmd, String params) {
         this.name = name;
         this.deviceCmd = deviceCmd;
+        this.params = params;
     }
 
     @Schema(description = "指令名称")
@@ -20,4 +21,7 @@ public class DeviceCtrlFuncCMD {
     @Schema(description = "设备指令")
     private String deviceCmd;
 
+    @Schema(description = "参数")
+    private String params;
+
 }

src/main/java/com/qyft/gd/device/model/form/CtrlFuncForm.java

@@ -5,9 +5,10 @@ import lombok.Data;
 import lombok.EqualsAndHashCode;
 
 import java.util.List;
+import java.util.Map;
 
 @EqualsAndHashCode(callSuper = false)
-@Schema(description = "获取所有设备控制方法表单")
+@Schema(description = "设备控制方法表单")
 @Data
 public class CtrlFuncForm {
 
@@ -23,14 +24,11 @@ public class CtrlFuncForm {
     @Data
     public static class CtrlFuncStepForm {
 
-        @Schema(description = "控制方法的id")
-        private Long funcId;
-
         @Schema(description = "设备指令")
         private String deviceCmd;
 
         @Schema(description = "设备指令的参数，为null则动态传入")
-        private String params;
+        private Map<String, Object> params;
 
     }
 

src/main/java/com/qyft/gd/device/service/ICtrlFuncService.java

@@ -15,7 +15,7 @@ public interface ICtrlFuncService extends IService<CtrlFunc> {
 
     List<CtrlFunc> findAll();
 
-    DeviceCtrlFuncVO findById(Long id);
+    DeviceCtrlFuncVO findVOById(Long id);
 
     long countFuncCmdByFuncCmd(String funcCmd);
 

src/main/java/com/qyft/gd/device/service/impl/CtrlFuncServiceImpl.java

@@ -1,5 +1,6 @@
 package com.qyft.gd.device.service.impl;
 
+import cn.hutool.json.JSONUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.qyft.gd.device.mapper.CtrlFuncMapper;
@@ -27,22 +28,22 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
     private static final List<DeviceCtrlFuncCMD> ctrlFuncDeviceCMDList = new ArrayList<>();
 
     static {
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开门", "openDoor"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("关门", "closeDoor"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂运动到指定点位", "moveRailArmToPoint"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂相对运动", "moveRailArmRelative"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至加液区上方", "moveToActionArea"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("打开导轨机械臂夹爪", "openClaw"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("收合导轨机械臂夹爪", "closeClaw"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区开始加热", "startHeating"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区停止加热", "stopHeating"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区抬起托盘", "raiseTray"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区放下托盘", "lowerTray"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("依次添加溶液", "addLiquid"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开始摇匀", "startShaking"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("停止摇匀", "stopShaking"));
-        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍照", "takePhoto"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开门", "openDoor", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("关门", "closeDoor", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂运动到指定点位", "moveRailArmToPoint", "{\"x\":0,\"y\":0,\"z\":0}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂相对运动", "moveRailArmRelative", "{\"x\":0,\"y\":0,\"z\":0}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至加液区上方", "moveToActionArea", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("打开导轨机械臂夹爪", "openClaw", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("收合导轨机械臂夹爪", "closeClaw", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区开始加热", "startHeating", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区停止加热", "stopHeating", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区抬起托盘", "raiseTray", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区放下托盘", "lowerTray", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("依次添加溶液", "addLiquid", "{\"tubeSolList\":[{\"tubeNum\":1,\"solId\":15,\"volume\":20}]}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开始摇匀", "startShaking", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("停止摇匀", "stopShaking", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍照", "takePhoto", "{}"));
     }
 
     @Override
@@ -56,7 +57,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
     }
 
     @Override
-    public DeviceCtrlFuncVO findById(Long id) {
+    public DeviceCtrlFuncVO findVOById(Long id) {
         CtrlFunc ctrlFunc = this.getById(id);
         List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepService.selectListByFuncCmd(ctrlFunc.getFuncCmd());
         DeviceCtrlFuncVO ctrlFuncVO = new DeviceCtrlFuncVO();
@@ -78,7 +79,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
         ctrlFunc.setFuncCmd(ctrlFuncForm.getFuncCmd());
         ctrlFunc.setName(ctrlFuncForm.getName());
         if (this.save(ctrlFunc)) {
-            return saveCtrlFunc(ctrlFuncForm, ctrlFunc);
+            return reSaveCtrlFunc(ctrlFuncForm, ctrlFunc);
         }
         return false;
     }
@@ -90,7 +91,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
             ctrlFunc.setFuncCmd(ctrlFuncForm.getFuncCmd());
             ctrlFunc.setName(ctrlFuncForm.getName());
             if (this.updateById(ctrlFunc)) {
-                return saveCtrlFunc(ctrlFuncForm, ctrlFunc);
+                return reSaveCtrlFunc(ctrlFuncForm, ctrlFunc);
             }
         }
         return false;
@@ -102,19 +103,21 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
                 .map(Long::parseLong)
                 .collect(Collectors.toList());
         for (Long id : ids) {
-            ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, id));
+            String funcCmd = this.getById(id).getFuncCmd();
+            ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, funcCmd));
         }
         return this.removeByIds(ids);
     }
 
-    private boolean saveCtrlFunc(CtrlFuncForm ctrlFuncForm, CtrlFunc ctrlFunc) {
+    private boolean reSaveCtrlFunc(CtrlFuncForm ctrlFuncForm, CtrlFunc ctrlFunc) {
+        ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, ctrlFunc.getFuncCmd()));
         List<CtrlFuncForm.CtrlFuncStepForm> ctrlFuncStepFormList = ctrlFuncForm.getCtrlFuncStepList();
         List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepFormList.stream()
                 .map(ctrlFuncStepForm -> {
                     CtrlFuncStep ctrlFuncStep = new CtrlFuncStep();
                     ctrlFuncStep.setFuncCmd(ctrlFunc.getFuncCmd());
                     ctrlFuncStep.setDeviceCmd(ctrlFuncStepForm.getDeviceCmd());
-                    ctrlFuncStep.setParams(ctrlFuncStepForm.getParams());
+                    ctrlFuncStep.setParams(JSONUtil.toJsonStr(ctrlFuncStepForm.getParams()));
                     return ctrlFuncStep;
                 }).toList();
         return ctrlFuncStepService.saveBatch(ctrlFuncStepList);

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

@@ -45,7 +45,7 @@ public class CMDService {
 
             int index = 0;
             for (CtrlFuncStep ctrlFuncStep : ctrlFuncStepList) {
-                Map<String, Object> params = null;
+                Map<String, Object> params;
                 if (ctrlFuncStep.getParams() == null) { // 如果没有参数定义，使用传入的参数
                     try {
                         params = (Map<String, Object>) paramsList.get(index);
@@ -57,14 +57,15 @@ public class CMDService {
                         return;
                     }
                     index++; // 移动到下一个参数
+                }else{//如果有参数定义，使用参数定义
+                    params = JSONUtil.toBean(ctrlFuncStep.getParams(), Map.class);
                 }
-
                 String deviceCmd = ctrlFuncStep.getDeviceCmd();
                 Method method = getMethodByName(deviceCmd);
                 if (method != null) {
                     boolean success = (boolean) method.invoke(deviceCtrlService, params);
                     if (!success) {
-                        log.error("指令执行错误，执行{}返回false: {}", deviceCmd, JSONUtil.toJsonStr(cmdForm));
+                        log.error("指令执行错误，执行设备指令{}时返回false: {}", deviceCmd, JSONUtil.toJsonStr(cmdForm));
                         executionResult.setStatus(CMDResultCode.FAILURE.getCode());
                         executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
                         webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);

src/main/java/com/qyft/gd/system/config/WebConfig.java

@@ -0,0 +1,16 @@
+package com.qyft.gd.system.config;
+
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.servlet.config.annotation.CorsRegistry;
+import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
+
+@Configuration
+public class WebConfig implements WebMvcConfigurer {
+    @Override
+    public void addCorsMappings(CorsRegistry registry) {
+        registry.addMapping("/api/**")
+                .allowedOrigins("*")
+                .allowedMethods("GET", "POST", "PUT", "DELETE")
+                .allowedHeaders("*");
+    }
+}