feat:手柄控制是否开始预充、加液

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

@@ -27,28 +27,13 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("solution_add_stop")
 public class SolutionAddStopCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
     private final ChannelCtrlService channelCtrlService;
-    private final DeviceState deviceState;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
 
         return runAsync(() -> {
-            List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.ADD);
-            deviceState.setSolutionAddStop(true);
-            try {
-                List<CommandFuture> commandFutureList = new ArrayList<>();
-                for (ChannelState channelState : channelCodeList) {
-                    DeviceCommand deviceCommand = channelCtrlService.getPumpStopCommandByChannel(channelState.getChannelCode());
-                    commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
-                }
-                CommandUtil.wait(commandFutureList);
-            } finally {
-                for (ChannelState channelCode : channelCodeList) {
-                    channelCode.setStateCode(ChannelStateCode.IDLE);
-                }
-            }
+            channelCtrlService.solutionAddStop();
         });
     }
 }

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

@@ -27,29 +27,13 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("solution_pre_fill_stop")
 public class SolutionPreFillStopCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
     private final ChannelCtrlService channelCtrlService;
-    private final DeviceState deviceState;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
 
         return runAsync(() -> {
-            List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.PRE);
-            deviceState.setSolutionAddStop(true);
-            try {
-                List<CommandFuture> commandFutureList = new ArrayList<>();
-                for (ChannelState channelState : channelCodeList) {
-                    DeviceCommand deviceCommand = channelCtrlService.getPumpStopCommandByChannel(channelState.getChannelCode());
-                    commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
-                }
-                CommandUtil.wait(commandFutureList);
-            } finally {
-                for (ChannelState channelCode : channelCodeList) {
-                    channelCode.setPre(true);
-                    channelCode.setStateCode(ChannelStateCode.IDLE);
-                }
-            }
+            channelCtrlService.solutionPreFillStop();
         });
     }
 }

src/main/java/com/iflytop/handacid/app/core/listener/BleGamepadEventListener.java

@@ -1,5 +1,7 @@
 package com.iflytop.handacid.app.core.listener;
 
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.service.ChannelCtrlService;
 import com.iflytop.handacid.hardware.service.AppEventBusService;
 import com.iflytop.handacid.hardware.type.A8kPacket;
 import com.iflytop.handacid.hardware.type.CmdId;
@@ -12,7 +14,6 @@ import org.springframework.stereotype.Component;
 
 /**
  * 蓝牙手柄按钮事件监听
- *
  */
 
 @Component
@@ -20,6 +21,8 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 public class BleGamepadEventListener {
     private final AppEventBusService eventBus;
+    private final ChannelCtrlService channelCtrlService;
+    private final DeviceState deviceState;
 
     @PostConstruct
     synchronized public void init() {
@@ -28,23 +31,34 @@ public class BleGamepadEventListener {
 
     /**
      * 事件总线事件处理
+     *
      * @param event e
      */
     private void onAppEvent(AppEvent event) {
         if (event instanceof A8kHardwareReport canPacket) {
             A8kPacket packet = canPacket.getReportPacket();
-            CmdId cmdId  = CmdId.valueOf(packet.getCmdId());
+            CmdId cmdId = CmdId.valueOf(packet.getCmdId());
             if (CmdId.event_ble_gamepad_liquid_acid.equals(cmdId)) {
                 //判断当前的设备状态
                 log.info("蓝牙手柄 加酸按钮 按下");
+                if(deviceState.isSolutionAdding()){
+                    channelCtrlService.solutionAddStop();
+                }else{
+                    channelCtrlService.solutionAddStart();
+                }
             } else if (CmdId.event_ble_gamepad_liquid_acid_prefilling.equals(cmdId)) {
                 log.info("蓝牙手柄 预充按钮 按下");
-            }
-            else if (CmdId.event_ble_gamepad_connected.equals(cmdId)) {
+                if(deviceState.isSolutionPreFillStart()){
+                    channelCtrlService.solutionPreFillStart();
+                }else{
+                    channelCtrlService.solutionPreFillStop();
+                }
+            } else if (CmdId.event_ble_gamepad_connected.equals(cmdId)) {
                 log.info("蓝牙手柄 连接成功");
-            }
-            else if (CmdId.event_ble_gamepad_disconnected.equals(cmdId)) {
+                deviceState.setBluetoothConnected(true);
+            } else if (CmdId.event_ble_gamepad_disconnected.equals(cmdId)) {
                 log.info("蓝牙手柄 连接断开");
+                deviceState.setBluetoothConnected(false);
             }
 
         }

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

@@ -40,6 +40,9 @@ public class DeviceState {
     @Schema(description = "是否是急停状态，true为急停")
     private volatile boolean emergencyStop = false;
 
+    @Schema(description = "蓝牙是否连接")
+    private volatile boolean bluetoothConnected = false;
+
     @Schema(description = "当前登录用户")
     private volatile User currentUser;
 
@@ -51,6 +54,7 @@ public class DeviceState {
         json.putOnce("virtual", virtual);
         json.putOnce("initComplete", initComplete);
         json.putOnce("emergencyStop", emergencyStop);
+        json.putOnce("bluetoothConnected", bluetoothConnected);
         json.putOnce("currentUser", currentUser);
         return json;
     }
@@ -81,4 +85,22 @@ public class DeviceState {
                 .filter(ChannelState::isSelected)
                 .collect(Collectors.toList());
     }
+
+    /**
+     * 是否正在加液
+     * 如果有任何通道处于 ADD 状态
+     */
+    public boolean isSolutionAdding() {
+        return channelStateMap.values().stream()
+                .anyMatch(cs -> cs.getStateCode() == ChannelStateCode.ADD);
+    }
+
+    /**
+     * 是否正在预充
+     * 如果有任何通道处于 PRE 状态
+     */
+    public boolean isSolutionPreFillStart() {
+        return channelStateMap.values().stream()
+                .anyMatch(cs -> cs.getStateCode() == ChannelStateCode.ADD);
+    }
 }

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

@@ -74,6 +74,28 @@ public class ChannelCtrlService {
     }
 
     /**
+     * 停止加液
+     */
+    public void solutionAddStop() {
+        List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.ADD);
+        deviceState.setSolutionAddStop(true);
+        try {
+            List<CommandFuture> commandFutureList = new ArrayList<>();
+            for (ChannelState channelState : channelCodeList) {
+                DeviceCommand deviceCommand = getPumpStopCommandByChannel(channelState.getChannelCode());
+                commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+            }
+            CommandUtil.wait(commandFutureList);
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        } finally {
+            for (ChannelState channelCode : channelCodeList) {
+                channelCode.setStateCode(ChannelStateCode.IDLE);
+            }
+        }
+    }
+
+    /**
      * 开始预充
      */
     public void solutionPreFillStart() {
@@ -96,6 +118,31 @@ public class ChannelCtrlService {
     }
 
     /**
+     * 结束预充
+     */
+    public void solutionPreFillStop() {
+        CompletableFuture.runAsync(() -> {
+            List<ChannelState> channelCodeList = deviceState.filterChannelStatesByState(ChannelStateCode.PRE);
+            deviceState.setSolutionAddStop(true);
+            try {
+                List<CommandFuture> commandFutureList = new ArrayList<>();
+                for (ChannelState channelState : channelCodeList) {
+                    DeviceCommand deviceCommand = getPumpStopCommandByChannel(channelState.getChannelCode());
+                    commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
+                }
+                CommandUtil.wait(commandFutureList);
+            } catch (Exception e) {
+                throw new RuntimeException(e);
+            } finally {
+                for (ChannelState channelCode : channelCodeList) {
+                    channelCode.setPre(true);
+                    channelCode.setStateCode(ChannelStateCode.IDLE);
+                }
+            }
+        });
+    }
+
+    /**
      * 根据通道code获取泵相对移动指令
      */
     public DeviceCommand getPumpMoveByCommandByChannel(ChannelCode channelCode, Double position) {
@@ -143,23 +190,5 @@ public class ChannelCtrlService {
         };
     }
 
-    /**
-     * 加液
-     *
-     * @param channelCode 通道code
-     * @param volume      加液量
-     */
-    public void solutionAddStart(ChannelCode channelCode, Double volume) {
-
-    }
-
-    /**
-     * 停止加液
-     *
-     * @param channelCode 通道code
-     */
-    public void solutionAddStop(ChannelCode channelCode) {
-        deviceState.getChannelStateMap().get(channelCode).setStateCode(ChannelStateCode.IDLE);
 
-    }
 }