完善device service实现

src/main/java/com/qyft/gd/device/client/TcpClient.java

@@ -19,6 +19,7 @@ import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 
 import java.net.InetSocketAddress;
+import java.util.Map;
 import java.util.UUID;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.TimeUnit;
@@ -98,6 +99,20 @@ public class TcpClient {
     }
 
 
+    public DeviceFeedback sendCommand(String method) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        return this.sendCommand(request);
+    }
+
+    public DeviceFeedback sendCommand(String method, Map<String, Object> params) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        request.setParams(params);
+        return this.sendCommand(request);
+    }
+
+
     public DeviceFeedback sendCommand(JsonRpcRequest request) {
         if (request.getId() == null) {
             request.setId(UUID.randomUUID().toString());

src/main/java/com/qyft/gd/device/common/jsonrpc/JsonRpcRequest.java

@@ -2,7 +2,7 @@ package com.qyft.gd.device.common.jsonrpc;
 
 import lombok.Data;
 
-import java.util.List;
+import java.util.Map;
 
 /**
  * TCP JSON RPC请求
@@ -20,5 +20,5 @@ public class JsonRpcRequest {
     /**
      * 请求参数
      */
-    private List<String> params;
+    private Map<String, Object> params;
 }

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

@@ -2,14 +2,13 @@ package com.qyft.gd.device.service;
 
 import cn.hutool.json.JSONUtil;
 import com.qyft.gd.device.client.TcpClient;
-import com.qyft.gd.device.common.jsonrpc.JsonRpcRequest;
 import com.qyft.gd.device.model.bo.DeviceFeedback;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.ArrayList;
-import java.util.List;
+import java.util.HashMap;
+import java.util.Map;
 
 @Slf4j
 @Service
@@ -24,6 +23,13 @@ public class DeviceService {
      * @param distance 移动距离
      */
     public boolean moveRailArmRail(double distance) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("distance", distance);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveRailArmRail", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveRailArmRail 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -35,6 +41,15 @@ public class DeviceService {
      * @param distance 移动距离
      */
     public boolean moveRailArmJoint(double joint1, double joint2, double distance) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("joint1", joint1);
+        params.put("joint2", joint2);
+        params.put("distance", distance);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveRailArmJoint", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveRailArmJoint 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -46,6 +61,15 @@ public class DeviceService {
      * @param z 坐标z
      */
     public boolean moveRailArmToPoint(int x, int y, int z) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("x", x);
+        params.put("y", y);
+        params.put("z", z);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveRailArmToPoint", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveRailArmToPoint 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -55,6 +79,13 @@ public class DeviceService {
      * @param speed 速度值
      */
     public boolean setRailArmSpeed(int speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("speed", speed);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setRailArmSpeed", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setRailArmSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -62,16 +93,9 @@ public class DeviceService {
      * 开门
      */
     public boolean openDoor() {
-        JsonRpcRequest request = new JsonRpcRequest();
-        request.setMethod("openDoor");
-        List<String> list = new ArrayList<>();
-        list.add("1");
-        list.add("2");
-        list.add("3");
-        request.setParams(list);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand(request);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("openDoor");
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
-            log.info("TCP openDoor指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            log.error("TCP openDoor 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
         }
         return true;
@@ -81,6 +105,35 @@ public class DeviceService {
      * 关门
      */
     public boolean closeDoor() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("closeDoor");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP closeDoor 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     * 张开夹爪
+     */
+    public boolean openClaw() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("openClaw");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP openClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     * 收合夹爪
+     */
+    public boolean closeClaw() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("closeClaw");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP closeClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -91,6 +144,14 @@ public class DeviceService {
      * @param joint2 关节2角度
      */
     public boolean moveLiquidArmJoint(double joint1, double joint2) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("joint1", joint1);
+        params.put("joint2", joint2);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveLiquidArmJoint", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveLiquidArmJoint 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -102,6 +163,15 @@ public class DeviceService {
      * @param z 坐标z
      */
     public boolean moveLiquidArmToPoint(int x, int y, int z) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("x", x);
+        params.put("y", y);
+        params.put("z", z);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveLiquidArmToPoint", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveLiquidArmToPoint 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -111,6 +181,13 @@ public class DeviceService {
      * @param speed 速度值
      */
     public boolean setLiquidArmSpeed(int speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("speed", speed);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setLiquidArmSpeed", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setLiquidArmSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -121,6 +198,14 @@ public class DeviceService {
      * @param volume 液体体积
      */
     public boolean addLiquid(int pumpId, int volume) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("pumpId", pumpId);
+        params.put("volume", volume);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("addLiquid", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP addLiquid 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -132,6 +217,14 @@ public class DeviceService {
      * @param flowRate 流量值
      */
     public boolean setFlowRate(int pumpId, int flowRate) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("pumpId", pumpId);
+        params.put("flowRate", flowRate);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setFlowRate", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setFlowRate 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -139,6 +232,11 @@ public class DeviceService {
      * 开始摇匀
      */
     public boolean startShaking() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("startShaking");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP startShaking 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -146,6 +244,11 @@ public class DeviceService {
      * 停止摇匀
      */
     public boolean stopShaking() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("stopShaking");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP stopShaking 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -155,6 +258,13 @@ public class DeviceService {
      * @param speed 速度值
      */
     public boolean setShakingSpeed(int speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("speed", speed);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setShakingSpeed", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setShakingSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -164,6 +274,13 @@ public class DeviceService {
      * @param distance 距离
      */
     public boolean moveTrayToHeight(double distance) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("distance", distance);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveTrayToHeight", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP moveTrayToHeight 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -173,6 +290,13 @@ public class DeviceService {
      * @param speed 速度值
      */
     public boolean setTraySpeed(int speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("speed", speed);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setTraySpeed", params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setTraySpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 
@@ -180,6 +304,11 @@ public class DeviceService {
      * 拍照
      */
     public boolean takePhoto() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand("takePhoto");
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP takePhoto 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
         return true;
     }
 }