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fix:调用设备同步修改为异步调用

master
白凤吉 6 months ago
parent
12ee2b9838
commit
fb17da42a8
3 changed files with 72 additions and 149 deletions
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  1. 39
      src/main/java/com/qyft/gd/device/client/TcpClient.java
  2. 13
      src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java
  3. 169
      src/main/java/com/qyft/gd/device/service/DeviceService.java

39
src/main/java/com/qyft/gd/device/client/TcpClient.java
View File

@ -98,14 +98,13 @@ public class TcpClient {
}
}
public DeviceFeedback sendCommand(String method) {
public boolean sendCommand(String method) {
JsonRpcRequest request = new JsonRpcRequest();
request.setMethod(method);
return this.sendCommand(request);
}
public DeviceFeedback sendCommand(String method, Map<String, Object> params) {
public boolean sendCommand(String method, Map<String, Object> params) {
JsonRpcRequest request = new JsonRpcRequest();
request.setMethod(method);
request.setParams(params);
@ -113,21 +112,49 @@ public class TcpClient {
}
public DeviceFeedback sendCommand(JsonRpcRequest request) {
public boolean sendCommand(JsonRpcRequest request) {
if (request.getId() == null) {
request.setId(UUID.randomUUID().toString());
}
try {
log.info("发送TCP指令 {}", JSONUtil.toJsonStr(request));
this.send(JSONUtil.toJsonStr(request));
return true;
} catch (Exception e) {
log.error("发送TCP指令错误 {}", JSONUtil.toJsonStr(request), e);
}
return false;
}
public DeviceFeedback sendCommandSync(String method) {
JsonRpcRequest request = new JsonRpcRequest();
request.setMethod(method);
return this.sendCommandSync(request);
}
public DeviceFeedback sendCommandSync(String method, Map<String, Object> params) {
JsonRpcRequest request = new JsonRpcRequest();
request.setMethod(method);
request.setParams(params);
return this.sendCommandSync(request);
}
public DeviceFeedback sendCommandSync(JsonRpcRequest request) {
if (request.getId() == null) {
request.setId(UUID.randomUUID().toString());
}
CompletableFuture<DeviceFeedback> future = new CompletableFuture<>();
deviceMessageHandler.responseMap.put(request.getId(), future);
try {
log.info("发送TCP指令 {}", JSONUtil.toJsonStr(request));
log.info("发送TCP指令（同步） {}", JSONUtil.toJsonStr(request));
if (this.send(JSONUtil.toJsonStr(request))) {
return future.get(tcpConfig.getFeedbackTimeout(), TimeUnit.MILLISECONDS); // 等待 FEEDBACK 响应
} else {
return null;
}
} catch (Exception e) {
log.error("发送TCP指令错误 {}", JSONUtil.toJsonStr(request), e);
log.error("发送TCP指令错误（同步） {}", JSONUtil.toJsonStr(request), e);
} finally {
deviceMessageHandler.responseMap.remove(request.getId()); //确保完成后移除
}

13
src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java
View File

@ -1,12 +1,14 @@
package com.qyft.gd.device.handler;
import cn.hutool.json.JSONUtil;
import com.qyft.gd.config.WebSocketServer;
import com.qyft.gd.device.common.constant.TcpMessageType;
import com.qyft.gd.device.common.jsonrpc.JsonRpcResponse;
import com.qyft.gd.device.model.bo.DeviceAlarm;
import com.qyft.gd.device.model.bo.DeviceFeedback;
import com.qyft.gd.device.model.bo.DeviceStatus;
import com.qyft.gd.device.service.DeviceStateService;
import com.qyft.gd.model.vo.WebsocketResult;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandler;
import io.netty.channel.ChannelHandlerContext;
@ -45,20 +47,23 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
} else if (TcpMessageType.FEEDBACK.equals(jsonRpcResponse.getType())) {//设备指令反馈
DeviceFeedback deviceFeedback = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceFeedback.class);
this.handleTcpResponse(deviceFeedback);
if(!this.handleTcpResponse(deviceFeedback)){
//TODO 前端任务回调在这里
}
}
} catch (Exception e) {
log.error("TCP服务消息处理错误: {}, error: {}", serverMsg, e.getMessage(), e);
}
}
private void handleTcpResponse(DeviceFeedback deviceFeedback) {
private boolean handleTcpResponse(DeviceFeedback deviceFeedback) {
String requestId = deviceFeedback.getId();
CompletableFuture<DeviceFeedback> future = responseMap.remove(requestId);
if (future != null) {
future.complete(deviceFeedback);
} else {
log.error("未找到 requestId: {} 对应的等待请求", requestId);
return true;
}
return false;
}
}

169
src/main/java/com/qyft/gd/device/service/DeviceService.java
View File

@ -22,15 +22,10 @@ public class DeviceService {
*
* @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 tcpClient.sendCommand("moveRailArmRail", params);
}
/**
@ -40,17 +35,12 @@ 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 tcpClient.sendCommand("moveRailArmJoint", params);
}
/**
@ -60,17 +50,12 @@ 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 tcpClient.sendCommand("moveRailArmToPoint", params);
}
/**
@ -81,60 +66,35 @@ public class DeviceService {
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 tcpClient.sendCommand("setRailArmSpeed", params);
}
/**
* 开门
*/
public 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 tcpClient.sendCommand("openDoor");
}
/**
* 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;
return tcpClient.sendCommand("closeDoor");
}
/**
* 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;
return tcpClient.sendCommand("openClaw");
}
/**
* 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;
return tcpClient.sendCommand("closeClaw");
}
/**
@ -143,16 +103,11 @@ public class DeviceService {
* @param joint1 关节1角度
* @param joint2 关节2角度
*/
public synchronized boolean moveLiquidArmJoint(double joint1, double joint2) {
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;
return tcpClient.sendCommand("moveLiquidArmJoint", params);
}
/**
@ -162,17 +117,12 @@ public class DeviceService {
* @param y 坐标y
* @param z 坐标z
*/
public synchronized boolean moveLiquidArmToPoint(int x, int y, int 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;
return tcpClient.sendCommand("moveLiquidArmToPoint", params);
}
/**
@ -183,12 +133,7 @@ public class DeviceService {
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;
return tcpClient.sendCommand("setLiquidArmSpeed", params);
}
/**
@ -197,16 +142,11 @@ public class DeviceService {
* @param pumpId 泵id
* @param volume 液体体积
*/
public synchronized boolean addLiquid(String pumpId, int volume) {
public boolean addLiquid(String 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;
return tcpClient.sendCommand("addLiquid", params);
}
@ -220,36 +160,21 @@ public class DeviceService {
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;
return tcpClient.sendCommand("setFlowRate", params);
}
/**
* 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;
return tcpClient.sendCommand("startShaking");
}
/**
* 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;
return tcpClient.sendCommand("stopShaking");
}
/**
@ -260,12 +185,7 @@ public class DeviceService {
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;
return tcpClient.sendCommand("setShakingSpeed", params);
}
/**
@ -278,27 +198,18 @@ public class DeviceService {
Map<String, Object> params = new HashMap<>();
params.put("heaterId", heaterId);
params.put("temperature", temperature);
DeviceFeedback deviceFeedback = tcpClient.sendCommand("startHeating", params);
if (deviceFeedback == null || deviceFeedback.getError() != null) {
log.error("TCP startHeating 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
return false;
}
return true;
return tcpClient.sendCommand("startHeating", params);
}
/**
* 停止加热
* @param heaterId 加热器id
*
* @param heaterId 加热器id
*/
public boolean stopHeating(String heaterId) {
Map<String, Object> params = new HashMap<>();
params.put("heaterId", heaterId);
DeviceFeedback deviceFeedback = tcpClient.sendCommand("stopHeating", params);
if (deviceFeedback == null || deviceFeedback.getError() != null) {
log.error("TCP stopHeating 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
return false;
}
return true;
return tcpClient.sendCommand("stopHeating", params);
}
@ -310,12 +221,7 @@ public class DeviceService {
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;
return tcpClient.sendCommand("moveTrayToHeight", params);
}
/**
@ -326,24 +232,14 @@ public class DeviceService {
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;
return tcpClient.sendCommand("setTraySpeed", params);
}
/**
* 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;
return tcpClient.sendCommand("takePhoto");
}
/**
@ -354,11 +250,6 @@ public class DeviceService {
params.put("code", code);
params.put("msg", msg);
params.put("module", module);
DeviceFeedback deviceFeedback = tcpClient.sendCommand("alarmTest", params);
if (deviceFeedback == null || deviceFeedback.getError() != null) {
log.error("TCP alarmTest 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
return false;
}
return true;
return tcpClient.sendCommand("alarmTest", params);
}
}
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