fix:TCP硬件通信方法修改，机械臂操作增加队列

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

@@ -40,4 +40,11 @@ public class TestController {
         }
     }
 
+    @Operation(summary = "队列测试")
+    @GetMapping("/test")
+    public Result<DeviceStatus> test() {
+        boolean success = deviceService.test();
+        return Result.success();
+    }
+
 }

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

@@ -2,13 +2,16 @@ 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 jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
 import java.util.Map;
+import java.util.concurrent.*;
 
 @Slf4j
 @Service
@@ -17,20 +20,72 @@ public class DeviceService {
 
     private final TcpClient tcpClient;
 
+    private final BlockingDeque<Callable<Boolean>> taskQueue = new LinkedBlockingDeque<>();
+
+    private final ExecutorService executorService = Executors.newSingleThreadExecutor();
+
+
+    @PostConstruct
+    private void initExecutorThread() {
+        new Thread(this::executeTasks).start();
+    }
+
+    private boolean enqueueMoveRailTask(String method) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        return this.enqueueMoveRailTask(request);
+    }
+
+    private boolean enqueueMoveRailTask(String method, Map<String, Object> params) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        request.setParams(params);
+        return this.enqueueMoveRailTask(request);
+    }
+
+    private boolean enqueueMoveRailTask(JsonRpcRequest request) {
+        Callable<Boolean> task = () -> {
+            DeviceFeedback deviceFeedback = tcpClient.sendCommand(request);
+            if (deviceFeedback == null || deviceFeedback.getError() != null) {
+                log.error("TCP 指令执行错误 request:{} feedback:{}", JSONUtil.toJsonStr(request), JSONUtil.toJsonStr(deviceFeedback));
+                return false;
+            }
+            Thread.sleep(5000);
+            return true;
+        };
+        try {
+            taskQueue.put(task);
+            return executorService.submit(taskQueue.take()).get();
+        } catch (Exception e) {
+            log.error("TCP 指令执行错误 request:{}", JSONUtil.toJsonStr(request), e);
+        }
+        return false;
+    }
+
+    private void executeTasks() {
+        while (true) {
+            try {
+                Callable<Boolean> task = taskQueue.take();
+                task.call();
+            } catch (Exception e) {
+                Thread.currentThread().interrupt();
+            }
+        }
+    }
+
+    public boolean test() {
+        return this.enqueueMoveRailTask("moveRailArmRail", null);
+    }
+
     /**
      * 移动导轨机械臂的导轨
      *
      * @param distance 移动距离
      */
-    public synchronized boolean moveRailArmRail(double distance) {
+    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;
+        return this.enqueueMoveRailTask("moveRailArmRail", params);
     }
 
     /**
@@ -40,17 +95,12 @@ public class DeviceService {
      * @param joint2   关节2角度
      * @param distance 移动距离
      */
-    public synchronized boolean moveRailArmJoint(double joint1, double joint2, double distance) {
+    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;
+        return this.enqueueMoveRailTask("moveRailArmJoint", params);
     }
 
     /**
@@ -60,17 +110,12 @@ public class DeviceService {
      * @param y 坐标y
      * @param z 坐标z
      */
-    public synchronized boolean moveRailArmToPoint(int x, int y, int 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;
+        return this.enqueueMoveRailTask("moveRailArmToPoint", params);
     }
 
     /**
@@ -78,27 +123,17 @@ public class DeviceService {
      *
      * @param speed 速度值
      */
-    public synchronized boolean setRailArmSpeed(int speed) {
+    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;
+        return this.enqueueMoveRailTask("setRailArmSpeed", params);
     }
 
     /**
      * 轨道机械臂移动停止移动
      */
-    public synchronized boolean stopRailArm() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setRailArmSpeed");
-        if (deviceFeedback == null || deviceFeedback.getError() != null) {
-            log.error("TCP stopRailArm 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
-            return false;
-        }
-        return true;
+    public boolean stopRailArm() {
+        return this.enqueueMoveRailTask("stopRailArm");
     }
 
     /**
@@ -111,12 +146,7 @@ public class DeviceService {
         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;
+        return this.enqueueMoveRailTask("moveLiquidArmJoint", params);
     }
 
     /**
@@ -131,12 +161,7 @@ public class DeviceService {
         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;
+        return this.enqueueMoveRailTask("moveLiquidArmToPoint", params);
     }
 
     /**
@@ -221,12 +246,7 @@ public class DeviceService {
         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;
+        return this.enqueueMoveRailTask("addLiquid", params);
     }
 
     /**
@@ -252,24 +272,14 @@ public class DeviceService {
      * 开门
      */
     public synchronized boolean openDoor() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("openDoor");
-        if (deviceFeedback == null || deviceFeedback.getError() != null) {
-            log.error("TCP openDoor 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
-            return false;
-        }
-        return true;
+        return this.enqueueMoveRailTask("openDoor");
     }
 
     /**
      * 关门
      */
     public synchronized 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;
+        return this.enqueueMoveRailTask("openDoor");
     }
 
     /**