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refactor(ft546): share pure PLC command encoding

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This commit is contained in:
zgw
2026-08-12 13:27:30 +08:00
parent d30fa0bd1c
commit 778444e5ea
28 changed files with 1021 additions and 265 deletions
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32
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/Ft546StandardWcsEndToEndTest.java
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@@ -12,7 +12,7 @@ import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.project.ft546.config.Ft546CapabilityGate;
import com.ruoyi.project.ft546.config.Ft546CapabilityEvidence;
import com.ruoyi.project.ft546.config.Ft546DeviceProfile;
import com.ruoyi.ft546.protocol.Ft546DeviceProfile;
import com.ruoyi.project.ft546.config.Ft546WcsProperties;
import com.ruoyi.project.ft546.device.Ft546DeviceRuntimeRegistry;
import com.ruoyi.project.ft546.device.shuttle.Ft546LegacySrgvAdapter;
@@ -614,27 +614,27 @@ class Ft546StandardWcsEndToEndTest {
profile.setDeviceType("SHUTTLE");
profile.setAdapterType("FT546_LEGACY_SRGV");
profile.setProfileVersion(1L);
profile.getCapabilities().add("POINT_TO_POINT_COMMAND");
profile.getRegisters().put("taskNo", "4000");
profile.getRegisters().put("taskType", "4002");
profile.getRegisters().put("path", "4004");
profile.getRegisters().put("trigger", "4021");
profile.getRegisters().put("crossFloorFlag", "4020");
profile.getRegisters().put("crossFloorTarget", "4022");
profile.getRegisters().put("status", "4068");
profile.getRegisters().put("execution", "4060");
profile.addCapability("POINT_TO_POINT_COMMAND");
profile.putRegister("taskNo", "4000");
profile.putRegister("taskType", "4002");
profile.putRegister("path", "4004");
profile.putRegister("trigger", "4021");
profile.putRegister("crossFloorFlag", "4020");
profile.putRegister("crossFloorTarget", "4022");
profile.putRegister("status", "4068");
profile.putRegister("execution", "4060");
return profile;
}
private static Ft546DeviceProfile integrationProfile() {
Ft546DeviceProfile profile = pointProfile();
profile.getCapabilities().add("TWO_STAGE_ATOMIC_TASK");
profile.addCapability("TWO_STAGE_ATOMIC_TASK");
profile.setProtocolCorpusHash("sha256:ft546-two-stage-v1");
profile.getRegisters().put("secondTaskNo", "4400");
profile.getRegisters().put("secondTaskType", "4402");
profile.getRegisters().put("secondPath", "4404");
profile.getRegisters().put("secondStageFlag", "4422");
profile.getRegisters().put("secondComplete", "4423");
profile.putRegister("secondTaskNo", "4400");
profile.putRegister("secondTaskType", "4402");
profile.putRegister("secondPath", "4404");
profile.putRegister("secondStageFlag", "4422");
profile.putRegister("secondComplete", "4423");
return profile;
}

10
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/config/Ft546ConfigurationValidatorTest.java
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@@ -1,5 +1,7 @@
package com.ruoyi.project.ft546.config;
import com.ruoyi.ft546.protocol.Ft546DeviceProfile;
import org.junit.jupiter.api.Test;
import java.nio.charset.StandardCharsets;
@@ -31,7 +33,7 @@ class Ft546ConfigurationValidatorTest {
@Test
void rejectsLegacyProfileThatClaimsPrepareCommit() {
Ft546DeviceProfile profile = legacySrgvProfile();
profile.getCapabilities().add("PREPARE_COMMIT_SEGMENT");
profile.addCapability("PREPARE_COMMIT_SEGMENT");
assertThrows(IllegalArgumentException.class,
() -> new Ft546ConfigurationValidator().validate(profile));
@@ -40,7 +42,7 @@ class Ft546ConfigurationValidatorTest {
@Test
void rejectsDuplicateRegisterOwnershipWithinOneDevice() {
Ft546DeviceProfile profile = legacySrgvProfile();
profile.getRegisters().put("taskType", "4000");
profile.putRegister("taskType", "4000");
assertThrows(IllegalArgumentException.class,
() -> new Ft546ConfigurationValidator().validate(profile));
@@ -49,7 +51,7 @@ class Ft546ConfigurationValidatorTest {
@Test
void rejectsTwoStageCapabilityWithoutPassingEvidenceForExactProfile() {
Ft546DeviceProfile profile = legacySrgvProfile();
profile.getCapabilities().add("TWO_STAGE_ATOMIC_TASK");
profile.addCapability("TWO_STAGE_ATOMIC_TASK");
Ft546CapabilityGate gate = gate();
CapabilityGateResult result = gate.evaluate(profile, null);
@@ -62,7 +64,7 @@ class Ft546ConfigurationValidatorTest {
@Test
void enablesTwoStageOnlyForPassingUnexpiredEvidenceBoundToProfile() {
Ft546DeviceProfile profile = legacySrgvProfile();
profile.getCapabilities().add("TWO_STAGE_ATOMIC_TASK");
profile.addCapability("TWO_STAGE_ATOMIC_TASK");
Ft546CapabilityEvidence evidence = new Ft546CapabilityEvidence(
1L, "CORPUS-SHA256", "RUN-1", "COMMIT-1", true,
Instant.parse("2026-08-10T00:00:00Z"),

2
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/device/Ft546DeviceRuntimeRegistryTest.java
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@@ -3,7 +3,7 @@ package com.ruoyi.project.ft546.device;
import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.common.domain.CustomThread;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.project.ft546.config.Ft546DeviceProfile;
import com.ruoyi.ft546.protocol.Ft546DeviceProfile;
import com.ruoyi.project.ft546.device.shuttle.Ft546SrgvRuntimeFactory;
import com.ruoyi.schedule.ScheduleThread;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;

6
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/device/Ft546EquipmentAdaptersTest.java
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@@ -5,7 +5,7 @@ import com.ruoyi.device.cdz.domain.DeviceCdz;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.device.tsj.domain.DeviceTsj;
import com.ruoyi.project.ft546.config.Ft546DeviceProfile;
import com.ruoyi.ft546.protocol.Ft546DeviceProfile;
import com.ruoyi.project.ft546.device.charger.Ft546ChargerAdapter;
import com.ruoyi.project.ft546.device.conveyor.Ft546ConveyorAdapter;
import com.ruoyi.project.ft546.device.lift.Ft546LiftAdapter;
@@ -220,8 +220,8 @@ class Ft546EquipmentAdaptersTest {
profile.setDeviceType(deviceType);
profile.setAdapterType("FT546_LEGACY_" + deviceType);
profile.setProfileVersion(1L);
profile.getCapabilities().add(capability);
profile.getRegisters().put("command", commandAddress);
profile.addCapability(capability);
profile.putRegister("command", commandAddress);
return profile;
}

110
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/device/shuttle/Ft546CommandIntentMapperTest.java Normal file
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@@ -0,0 +1,110 @@
package com.ruoyi.project.ft546.device.shuttle;
import com.ruoyi.ft546.protocol.Ft546SrgvCommandIntent;
import com.ruoyi.wcs.application.device.DeviceCommandEnvelope;
import com.ruoyi.wcs.domain.execution.DeviceCommandType;
import org.junit.jupiter.api.Test;
import java.util.Arrays;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertThrows;
class Ft546CommandIntentMapperTest {
private final Ft546CommandIntentMapper mapper =
new Ft546CommandIntentMapper();
@Test
void oldPayloadUsesDeterministicEvidenceFallbacks() {
Ft546SrgvCommandIntent intent = mapper.from(envelope("CMD-1",
"KEY-1", "taskNo=30001|taskType=1|"
+ "route=070501>070502", 9L));
assertEquals("1", intent.getDeviceId());
assertEquals("CMD-1", intent.getParentTaskId());
assertEquals("LEGACY_MOVE_ROUTE", intent.getPhase());
assertEquals("KEY-1", intent.getCommandKey());
assertEquals(9L, intent.getRouteVersion());
assertEquals(30001, intent.getTaskNo());
assertEquals((short) 1, intent.getTaskType());
assertEquals(Arrays.asList(70501, 70502),
intent.getPathPoints());
assertNull(intent.getCrossFloorTarget());
assertNull(intent.getTwoStageNumber());
}
@Test
void explicitEvidenceFieldsOverrideOldFallbacks() {
Ft546SrgvCommandIntent intent = mapper.from(envelope("CMD-1",
"KEY-1", "parentTaskId=PARENT-1|phase=LOADED_TO_PLACE|"
+ "routeVersion=3|taskNo=30001|taskType=8|"
+ "route=070501>070502|crossFloorTarget=8", 9L));
assertEquals("PARENT-1", intent.getParentTaskId());
assertEquals("LOADED_TO_PLACE", intent.getPhase());
assertEquals(3L, intent.getRouteVersion());
assertEquals(Short.valueOf((short) 8),
intent.getCrossFloorTarget());
}
@Test
void orderIdIsTheOldPayloadParentTaskFallback() {
Ft546SrgvCommandIntent intent = mapper.from(envelope("CMD-1",
"KEY-1", "orderId=ORDER-1|taskNo=30001|taskType=1|"
+ "route=070501>070502", 9L));
assertEquals("ORDER-1", intent.getParentTaskId());
}
@Test
void twoStagePayloadUsesStableStagePhase() {
Ft546SrgvCommandIntent intent = mapper.from(envelope("CMD-1",
"KEY-1", "taskNo=30001|taskType=9|stage=2|"
+ "route=070501>070502", 9L));
assertEquals("TWO_STAGE_2", intent.getPhase());
assertEquals(Integer.valueOf(2), intent.getTwoStageNumber());
}
@Test
void irrelevantCrossFloorValueDoesNotRejectOrdinaryOrTwoStagePayload() {
Ft546SrgvCommandIntent ordinary = mapper.from(envelope("CMD-1",
"KEY-1", "taskNo=30001|taskType=1|"
+ "route=070501>070502|crossFloorTarget=dirty", 9L));
Ft546SrgvCommandIntent stage = mapper.from(envelope("CMD-2",
"KEY-2", "taskNo=30001|taskType=9|stage=2|"
+ "route=070501>070502|crossFloorTarget=dirty", 9L));
assertNull(ordinary.getCrossFloorTarget());
assertNull(stage.getCrossFloorTarget());
}
@Test
void malformedDuplicateAndWrongTypeKeepLegacyRejections() {
assertMessage("invalid command payload segment: broken",
envelope("CMD-1", "KEY-1", "broken", 9L));
assertMessage("duplicate command payload field: taskNo",
envelope("CMD-1", "KEY-1", "taskNo=1|taskNo=2|"
+ "taskType=1|route=1>2", 9L));
assertMessage("legacy shuttle supports MOVE_ROUTE only",
new DeviceCommandEnvelope("CMD-1", "KEY-1", "1",
DeviceCommandType.CHARGE, "taskNo=1", 1, 9L, 17L));
}
private void assertMessage(String message,
DeviceCommandEnvelope envelope) {
RuntimeException failure = assertThrows(RuntimeException.class,
() -> mapper.from(envelope));
assertEquals(message, failure.getMessage());
}
private static DeviceCommandEnvelope envelope(String commandId,
String commandKey,
String payload,
long topologyVersion) {
return new DeviceCommandEnvelope(commandId, commandKey, "1",
DeviceCommandType.MOVE_ROUTE, payload, 1,
topologyVersion, 17L);
}
}

36
ruoyi-admin/src/test/java/com/ruoyi/project/ft546/device/shuttle/Ft546LegacySrgvAdapterTest.java
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@@ -6,7 +6,7 @@ import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.project.ft546.config.Ft546CapabilityEvidence;
import com.ruoyi.project.ft546.config.Ft546CapabilityGate;
import com.ruoyi.project.ft546.config.Ft546DeviceProfile;
import com.ruoyi.ft546.protocol.Ft546DeviceProfile;
import com.ruoyi.project.ft546.device.Ft546DeviceRuntimeRegistry;
import com.ruoyi.project.ft546.device.Ft546MotionCommandGuard;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
@@ -108,8 +108,8 @@ class Ft546LegacySrgvAdapterTest {
JsonNode fixture = fixture("srgv-point-to-point.json");
FakePlcSrgvRead runtime = connectedRuntime("1");
Ft546DeviceProfile profile = pointProfile();
profile.getRegisters().put("crossFloorFlag", "4020");
profile.getRegisters().put("crossFloorTarget", "4022");
profile.putRegister("crossFloorFlag", "4020");
profile.putRegister("crossFloorTarget", "4022");
Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
null, (deviceId, commandId) -> false);
@@ -127,7 +127,7 @@ class Ft546LegacySrgvAdapterTest {
Ft546DeviceProfile profile = pointProfile();
Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
null, (deviceId, commandId) -> false);
profile.getRegisters().put("path", "9999");
profile.putRegister("path", "9999");
SendReceipt receipt = adapter.send(envelope("CMD-1",
fixture.get("payload").asText()));
@@ -223,7 +223,7 @@ class Ft546LegacySrgvAdapterTest {
throws Exception {
JsonNode fixture = fixture("srgv-two-stage-gate.json");
Ft546DeviceProfile profile = twoStageProfile();
profile.getCapabilities().remove("POINT_TO_POINT_COMMAND");
profile.removeCapability("POINT_TO_POINT_COMMAND");
FakePlcSrgvRead runtime = connectedRuntime("1");
Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
passingEvidence(profile),
@@ -295,19 +295,19 @@ class Ft546LegacySrgvAdapterTest {
private static Ft546DeviceProfile pointProfile() {
Ft546DeviceProfile profile = baseProfile();
profile.getCapabilities().add("POINT_TO_POINT_COMMAND");
profile.addCapability("POINT_TO_POINT_COMMAND");
return profile;
}
private static Ft546DeviceProfile twoStageProfile() {
Ft546DeviceProfile profile = pointProfile();
profile.getCapabilities().add("TWO_STAGE_ATOMIC_TASK");
profile.addCapability("TWO_STAGE_ATOMIC_TASK");
profile.setProtocolCorpusHash("sha256:ft546-two-stage-v1");
profile.getRegisters().put("secondTaskNo", "4400");
profile.getRegisters().put("secondTaskType", "4402");
profile.getRegisters().put("secondPath", "4404");
profile.getRegisters().put("secondStageFlag", "4422");
profile.getRegisters().put("secondComplete", "4423");
profile.putRegister("secondTaskNo", "4400");
profile.putRegister("secondTaskType", "4402");
profile.putRegister("secondPath", "4404");
profile.putRegister("secondStageFlag", "4422");
profile.putRegister("secondComplete", "4423");
return profile;
}
@@ -317,12 +317,12 @@ class Ft546LegacySrgvAdapterTest {
profile.setDeviceType("SHUTTLE");
profile.setAdapterType("FT546_LEGACY_SRGV");
profile.setProfileVersion(1L);
profile.getRegisters().put("taskNo", "4000");
profile.getRegisters().put("taskType", "4002");
profile.getRegisters().put("path", "4004");
profile.getRegisters().put("trigger", "4021");
profile.getRegisters().put("status", "4068");
profile.getRegisters().put("execution", "4060");
profile.putRegister("taskNo", "4000");
profile.putRegister("taskType", "4002");
profile.putRegister("path", "4004");
profile.putRegister("trigger", "4021");
profile.putRegister("status", "4068");
profile.putRegister("execution", "4060");
return profile;
}