feat:开始排空、停止排空指令

src/main/java/com/iflytop/handacid/app/command/control/SolutionDrainStartCommand.java

@@ -0,0 +1,48 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.common.enums.ChannelStateCode;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.state.ChannelState;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.service.ChannelCtrlService;
+import com.iflytop.handacid.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始排空
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("solution_drain_start")
+public class SolutionDrainStartCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        List<ChannelState> channelCodeList = deviceState.filterChannelStatesIsPre();
+        return runAsync(() -> {
+            List<CommandFuture> commandFutureList = new ArrayList<>();
+            for (ChannelState channelState : channelCodeList) {
+                channelState.setStateCode(ChannelStateCode.DRAIN);
+                DeviceCommand deviceCommand = channelCtrlService.getPumpBackwardRotateCommandByChannel(channelState.getChannelCode());
+                commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+            }
+            CommandUtil.wait(commandFutureList);
+        });
+    }
+}
+

src/main/java/com/iflytop/handacid/app/command/control/SolutionDrainStopCommand.java

@@ -0,0 +1,48 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.common.enums.ChannelStateCode;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.state.ChannelState;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.service.ChannelCtrlService;
+import com.iflytop.handacid.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止排空
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("solution_drain_stop")
+public class SolutionDrainStopCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.DRAIN);
+        return runAsync(() -> {
+            List<CommandFuture> commandFutureList = new ArrayList<>();
+            for (ChannelState channelState : channelCodeList) {
+                channelState.setStateCode(ChannelStateCode.DRAIN);
+                DeviceCommand deviceCommand = channelCtrlService.getPumpStopCommandByChannel(channelState.getChannelCode());
+                commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+            }
+            CommandUtil.wait(commandFutureList);
+        });
+    }
+}
+

src/main/java/com/iflytop/handacid/app/command/control/SolutionPreFillStopCommand.java

@@ -46,6 +46,7 @@ public class SolutionPreFillStopCommand extends BaseCommandHandler {
                 CommandUtil.wait(commandFutureList);
             } finally {
                 for (ChannelState channelCode : channelCodeList) {
+                    channelCode.setPre(true);
                     channelCode.setStateCode(ChannelStateCode.IDLE);
                 }
             }

src/main/java/com/iflytop/handacid/app/core/state/ChannelState.java

@@ -3,7 +3,6 @@ package com.iflytop.handacid.app.core.state;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
 import com.iflytop.handacid.app.common.enums.ChannelStateCode;
-import com.iflytop.handacid.app.model.bo.ChannelSolution;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -23,6 +22,9 @@ public class ChannelState {
     @Schema(description = "当前通道状态")
     private ChannelStateCode stateCode = ChannelStateCode.IDLE;
 
+    @Schema(description = "是否已预充")
+    private volatile boolean pre = false;
+
     @Schema(description = "剩余容量（单位：mL）")
     private Double remainingVolume;
 

src/main/java/com/iflytop/handacid/app/core/state/DeviceState.java

@@ -50,4 +50,13 @@ public class DeviceState {
                 .filter(cs -> cs.getStateCode() == stateCode)
                 .collect(Collectors.toList());
     }
+
+    /**
+     * 获取已经预充过的通道
+     */
+    public List<ChannelState> filterChannelStatesIsPre() {
+        return channelStateMap.values().stream()
+                .filter(ChannelState::isPre)
+                .collect(Collectors.toList());
+    }
 }

src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java

@@ -45,6 +45,18 @@ public class ChannelCtrlService {
     }
 
     /**
+     * 根据通道code获取泵反转指令
+     */
+    public DeviceCommand getPumpBackwardRotateCommandByChannel(ChannelCode channelCode) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.pump1BackwardRotate();
+            case CHANNEL_2 -> DeviceCommandGenerator.pump2BackwardRotate();
+            case CHANNEL_3 -> DeviceCommandGenerator.pump3BackwardRotate();
+            case CHANNEL_4 -> DeviceCommandGenerator.pump4BackwardRotate();
+        };
+    }
+
+    /**
      * 根据通道code获取停止泵指令
      */
     public DeviceCommand getPumpStopCommandByChannel(ChannelCode channelCode) {