与前端的ws通信，接收前端指令

src/main/java/com/qyft/gd/common/constant/Commands.java

@@ -0,0 +1,92 @@
+package com.qyft.gd.common.constant;
+
+/**
+ * 操作指令
+ */
+public class Commands {
+    /**
+     * 抬起托盘
+     */
+    public static final String UP_TRAY = "upTray";
+
+    /**
+     * 降下托盘
+     */
+    public static final String DOWN_TRAY = "downTray";
+
+    /**
+     * 添加溶液
+     */
+    public static final String INJECT_FLUID = "injectFluid";
+
+    /**
+     * 恒温
+     */
+    public static final String KEEP_HEAT = "keepHeat";
+
+    /**
+     * 移至加液
+     */
+    public static final String MOVE_TO_ACTION_AREA = "moveToActionArea";
+
+    /**
+     * 检查加液位状态（是否被占用）
+     */
+    public static final String CHECK_ACTION_AREA = "checkActionArea";
+
+    /**
+     * 摇匀试管架
+     */
+    public static final String SHAKE_UP = "shakeUp";
+
+    /**
+     * 开始加热
+     */
+    public static final String START_HEAT = "startHeat";
+
+    /**
+     * 停止加热
+     */
+    public static final String STOP_HEAT = "stopHeat";
+
+    /**
+     * 拍照
+     */
+    public static final String TAKE_PHOTO = "takePhoto";
+
+    /**
+     * 移至异常区
+     */
+    public static final String MOVE_TO_UNUSUAL = "moveToUnusual";
+
+    /**
+     * 从异常区移回加热区
+     */
+    public static final String MOVE_TO_HEAT_AREA = "moveToHeatArea";
+
+    /**
+     * 取试管架盖
+     */
+    public static final String TAKE_OFF_CAP = "takeOffCap";
+
+    /**
+     * 装回试管架盖
+     */
+    public static final String PUT_BACK_CAP = "putBackCap";
+
+    /**
+     * 机械臂移动至指定坐标（x, y, z）
+     */
+    public static final String MOVE_MACHINE_ARM = "moveMachineArm";
+
+    /**
+     * 获取当前某种溶液的数量
+     */
+    public static final String GET_LIQUID_AMOUNT = "getLiquidAmount";
+
+    /**
+     * 移动单个试管
+     */
+    public static final String MOVE_TUBE = "moveTube";
+
+}

src/main/java/com/qyft/gd/common/result/CMDResultCode.java

@@ -0,0 +1,28 @@
+package com.qyft.gd.common.result;
+
+import com.qyft.gd.system.common.result.IResultCode;
+import lombok.AllArgsConstructor;
+import lombok.NoArgsConstructor;
+
+import java.io.Serializable;
+
+@AllArgsConstructor
+@NoArgsConstructor
+public enum CMDResultCode implements IResultCode, Serializable {
+    SUCCESS("D0000", "执行完毕"),
+    FAILURE("D0000", "执行失败");
+
+    @Override
+    public String getCode() {
+        return code;
+    }
+
+    @Override
+    public String getMsg() {
+        return msg;
+    }
+
+    private String code;
+
+    private String msg;
+}

src/main/java/com/qyft/gd/system/config/WebSocketConfig.java → src/main/java/com/qyft/gd/config/WebSocketConfig.java

@@ -1,4 +1,4 @@
-package com.qyft.gd.system.config;
+package com.qyft.gd.config;
 
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

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

@@ -0,0 +1,46 @@
+package com.qyft.gd.controller;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.gd.model.form.CMDForm;
+import com.qyft.gd.service.CMDService;
+import com.qyft.gd.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.UUID;
+
+@Tag(name = "控制指令")
+@RestController
+@RequestMapping("/api/cmd")
+@RequiredArgsConstructor
+@Slf4j
+public class CMDController {
+
+    private final CMDService cmdService;
+
+    @Operation(summary = "发送指令")
+    @PostMapping("/")
+    public Result<String> send(@RequestBody CMDForm cmdForm) {
+        try {
+            String commandId = UUID.randomUUID().toString();
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                cmdForm.setCommandId(commandId);
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.executeCommand(cmdForm)) {
+                return Result.success(commandId);
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+}

src/main/java/com/qyft/gd/system/controller/WebSocketController.java → src/main/java/com/qyft/gd/controller/WebSocketController.java

@@ -1,15 +1,19 @@
-package com.qyft.gd.system.controller;
+package com.qyft.gd.controller;
 
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.messaging.handler.annotation.MessageMapping;
 import org.springframework.messaging.handler.annotation.SendTo;
+import org.springframework.messaging.simp.SimpMessagingTemplate;
 import org.springframework.stereotype.Controller;
 
+import java.security.Principal;
+
 @Controller
 @RequiredArgsConstructor
 @Slf4j
 public class WebSocketController {
+    private final SimpMessagingTemplate messagingTemplate;
 
     @MessageMapping("/hello")
     @SendTo("/topic/greetings")
@@ -17,4 +21,5 @@ public class WebSocketController {
         // 处理收到的消息并发送到主题 "/topic/greetings"
         return "Hello, " + message;
     }
+
 }

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

@@ -0,0 +1,10 @@
+package com.qyft.gd.device.service;
+
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+public class DeviceService {
+
+}

src/main/java/com/qyft/gd/model/form/CMDForm.java

@@ -0,0 +1,23 @@
+package com.qyft.gd.model.form;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+import java.util.Map;
+
+@Schema(description = "指令")
+@Data
+public class CMDForm {
+
+    @Schema(description = "指令id，不指定后台会自动生成uuid")
+    private String commandId;
+
+    @NotBlank()
+    @Schema(description = "指令类型", example = "upTray")
+    private String command;
+
+    @Schema(description = "参数")
+    private Map<String, Object> params;
+
+}

src/main/java/com/qyft/gd/model/vo/ExecutionResult.java

@@ -0,0 +1,20 @@
+package com.qyft.gd.model.vo;
+
+import lombok.Data;
+
+@Data
+public class ExecutionResult {
+    /**
+     * 任务id
+     */
+    private String commandId;
+    /**
+     * 执行结果
+     */
+    private String status;
+    /**
+     * 结果描述
+     */
+    private String message;
+
+}

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

@@ -0,0 +1,41 @@
+package com.qyft.gd.service;
+
+import com.qyft.gd.common.constant.Commands;
+import com.qyft.gd.common.result.CMDResultCode;
+import com.qyft.gd.device.service.DeviceService;
+import com.qyft.gd.model.form.CMDForm;
+import com.qyft.gd.model.vo.ExecutionResult;
+import lombok.RequiredArgsConstructor;
+import org.springframework.messaging.simp.SimpMessagingTemplate;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+public class CMDService {
+
+    DeviceService deviceService;
+
+    private final SimpMessagingTemplate messagingTemplate;
+
+    public boolean executeCommand(CMDForm cmdForm) {
+        switch (cmdForm.getCommand()) {
+            case Commands.UP_TRAY:
+                upTray(cmdForm);
+                break;
+            case Commands.DOWN_TRAY:
+                break;
+            default:
+                return false;
+        }
+        return true;
+    }
+
+    private void upTray(CMDForm cmdForm) {
+        ExecutionResult executionResult = new ExecutionResult();
+        executionResult.setCommandId(cmdForm.getCommandId());
+        executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
+        executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
+        messagingTemplate.convertAndSend("/topic/cmd", executionResult);
+    }
+
+}