预充关闭阀门

加液增加阀门打开和关闭指令

src/main/java/com/iflytop/handacid/app/controller/FormulationController.java

@@ -1,5 +1,6 @@
 package com.iflytop.handacid.app.controller;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.iflytop.handacid.app.model.dto.FormulationListDTO;
 import com.iflytop.handacid.app.model.vo.FormulationListVO;
 import com.iflytop.handacid.common.base.BasePageQuery;
@@ -51,8 +52,14 @@ public class FormulationController {
     @PostMapping
     @Operation(summary = "创建配方")
     public Result<String> create(@RequestBody Formulation formulation) {
-        boolean flag = formulationService.save(formulation);
-        return flag ? Result.success() : Result.failed();
+        Formulation existFormulation = formulationService.getOne(new LambdaQueryWrapper<Formulation>().eq(Formulation::getSolutionId, formulation.getSolutionId())
+                .eq(Formulation::getConcentration, formulation.getConcentration()).eq(Formulation::getVolume, formulation.getVolume()).last("limit 1"));
+        if (existFormulation != null) {
+            existFormulation.setRevolutions(formulation.getRevolutions());
+            return formulationService.updateById(existFormulation) ? Result.success() : Result.failed();
+        } else {
+            return formulationService.save(formulation) ? Result.success() : Result.failed();
+        }
     }
 
     @PutMapping

src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java

@@ -11,6 +11,62 @@ import com.iflytop.handacid.common.enums.MotorDirection;
 public class DeviceCommandGenerator {
 //=========================================== 阀 =================================================================
 
+    /**
+     * 阀1 打开
+     */
+    public static DeviceCommand valve1Open() {
+        return controlCmd(Device.VALVE_1, Action.OPEN, null);
+    }
+
+    /**
+     * 阀2 打开
+     */
+    public static DeviceCommand valve2Open() {
+        return controlCmd(Device.VALVE_2, Action.OPEN, null);
+    }
+
+    /**
+     * 阀3 打开
+     */
+    public static DeviceCommand valve3Open() {
+        return controlCmd(Device.VALVE_3, Action.OPEN, null);
+    }
+
+    /**
+     * 阀4 打开
+     */
+    public static DeviceCommand valve4Open() {
+        return controlCmd(Device.VALVE_4, Action.OPEN, null);
+    }
+
+    /**
+     * 阀1 关闭
+     */
+    public static DeviceCommand valve1Close() {
+        return controlCmd(Device.VALVE_1, Action.CLOSE, null);
+    }
+
+    /**
+     * 阀2 关闭
+     */
+    public static DeviceCommand valve2Close() {
+        return controlCmd(Device.VALVE_2, Action.CLOSE, null);
+    }
+
+    /**
+     * 阀3 关闭
+     */
+    public static DeviceCommand valve3Close() {
+        return controlCmd(Device.VALVE_3, Action.CLOSE, null);
+    }
+
+    /**
+     * 阀4 关闭
+     */
+    public static DeviceCommand valve4Close() {
+        return controlCmd(Device.VALVE_4, Action.CLOSE, null);
+    }
+
 //=========================================== 泵 =================================================================
 
     /**

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

@@ -42,6 +42,10 @@ public class BleGamepadEventListener {
             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.isSolutionPreFillStart()) {//正在预充 忽略加液按钮事件
+                    log.info("正在与预充中...");
+                    return;
+                }
                 if (deviceState.isSolutionAdding()) {
                     channelCtrlService.solutionAddStop();
                 } else {
@@ -49,6 +53,10 @@ public class BleGamepadEventListener {
                 }
             } else if (CmdId.event_ble_gamepad_liquid_acid_prefilling.equals(cmdId)) {
                 log.info("蓝牙手柄 预充按钮 按下");
+                if (deviceState.isSolutionAdding()) {//正在加液 忽略预充按钮事件
+                    log.info("正在加液中...");
+                    return;
+                }
                 if (deviceState.isSolutionPreFillStart()) {
                     channelCtrlService.solutionPreFillStop();
                 } else {

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

@@ -48,20 +48,27 @@ public class ChannelCtrlService {
                     while (!deviceState.isSolutionAddStop()) {
                         List<CommandFuture> commandFutureList = new ArrayList<>();
                         for (ChannelState channelState : channelStateList) {
+                            //打开阀门
+                            DeviceCommand valveOpenDeviceCommand = getValveOpenCommandByChannel(channelState.getChannelCode());
+                            CommandFuture valveOpenCommandFuture = deviceCommandService.sendCommand(valveOpenDeviceCommand);
+                            CommandUtil.wait(valveOpenCommandFuture);
+
                             DeviceCommand currentPositionDeviceCommand = getPumpPositionCommandByChannel(channelState.getChannelCode());
                             CommandFuture currentPositionCommandFuture = deviceCommandService.sendCommand(currentPositionDeviceCommand);
                             CommandUtil.wait(currentPositionCommandFuture);
                             Double currentPosition = currentPositionCommandFuture.getResponseResult().getJSONObject("data").getDouble("position");
                             channelState.setPumpPositionCache(currentPosition);
+
                             Formulation formulation = formulationService.getOne(new LambdaQueryWrapper<Formulation>().eq(Formulation::getSolutionId, channelState.getSolutionId())
                                     .eq(Formulation::getConcentration, channelState.getConcentration()).eq(Formulation::getVolume, channelState.getTargetVolume()).last("limit 1"));
                             DeviceCommand deviceCommand = getPumpMoveByCommandByChannel(channelState.getChannelCode(), formulation.getRevolutions());
                             commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
                             AuditRecord auditRecord = new AuditRecord(deviceState.getCurrentUser().getId(), deviceState.getCurrentUser().getNickname(), channelState.getSolutionId(),
-                                    channelState.getSolutionName(), formulation.getConcentration(), channelState.getChannelCode().name(), formulation.getVolume());
+                                    channelState.getSolutionName(), formulation.getConcentration(), channelState.getChannelCode().name(), channelState.getTargetVolume());
                             auditRecordService.saveOrUpdate(auditRecord);
                         }
                         CommandUtil.wait(commandFutureList);
+
                         for (ChannelState channelState : channelStateList) {//与缓存的位置比较计算加液量
                             DeviceCommand currentPositionDeviceCommand = getPumpPositionCommandByChannel(channelState.getChannelCode());
                             CommandFuture currentPositionCommandFuture = deviceCommandService.sendCommand(currentPositionDeviceCommand);
@@ -80,7 +87,7 @@ public class ChannelCtrlService {
                         DeviceCommand deviceCommand = getPumpMoveByCommandByChannel(channelState.getChannelCode(), formulation.getRevolutions());
                         commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
                         AuditRecord auditRecord = new AuditRecord(deviceState.getCurrentUser().getId(), deviceState.getCurrentUser().getNickname(), channelState.getSolutionId(),
-                                channelState.getSolutionName(), formulation.getConcentration(), channelState.getChannelCode().name(), formulation.getVolume());
+                                channelState.getSolutionName(), formulation.getConcentration(), channelState.getChannelCode().name(), channelState.getTargetVolume());
                         auditRecordService.saveOrUpdate(auditRecord);
                     }
                     CommandUtil.wait(commandFutureList);
@@ -90,6 +97,9 @@ public class ChannelCtrlService {
             } finally {
                 for (ChannelState channelState : channelStateList) {
                     channelState.setStateCode(ChannelStateCode.IDLE);
+                    //关闭阀门
+                    DeviceCommand valveCloseDeviceCommand = getValveCloseCommandByChannel(channelState.getChannelCode());
+                    deviceCommandService.sendCommand(valveCloseDeviceCommand);
                 }
                 deviceState.setSolutionAddStop(false);
             }
@@ -130,6 +140,11 @@ public class ChannelCtrlService {
                 }
                 List<CommandFuture> commandFutureList = new ArrayList<>();
                 for (ChannelState channelState : channelStateList) {
+                    //打开阀门
+                    DeviceCommand valveOpenDeviceCommand = getValveOpenCommandByChannel(channelState.getChannelCode());
+                    CommandFuture valveOpenCommandFuture = deviceCommandService.sendCommand(valveOpenDeviceCommand);
+                    CommandUtil.wait(valveOpenCommandFuture);
+
                     DeviceCommand deviceCommand = getPumpForwardRotateCommandByChannel(channelState.getChannelCode());
                     commandFutureList.add(deviceCommandService.sendCommand(deviceCommand));
                     AuditRecord auditRecord = new AuditRecord(deviceState.getCurrentUser().getId(), deviceState.getCurrentUser().getNickname(), channelState.getSolutionId(),
@@ -163,12 +178,39 @@ public class ChannelCtrlService {
                 for (ChannelState channelCode : channelCodeList) {
                     channelCode.setPre(true);
                     channelCode.setStateCode(ChannelStateCode.IDLE);
+                    //关闭阀门
+                    DeviceCommand valveCloseDeviceCommand = getValveCloseCommandByChannel(channelCode.getChannelCode());
+                    deviceCommandService.sendCommand(valveCloseDeviceCommand);
                 }
             }
         });
     }
 
     /**
+     * 根据通道code获取阀打开指令
+     */
+    public DeviceCommand getValveOpenCommandByChannel(ChannelCode channelCode) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.valve1Open();
+            case CHANNEL_2 -> DeviceCommandGenerator.valve2Open();
+            case CHANNEL_3 -> DeviceCommandGenerator.valve3Open();
+            case CHANNEL_4 -> DeviceCommandGenerator.valve4Open();
+        };
+    }
+
+    /**
+     * 根据通道code获取阀关闭指令
+     */
+    public DeviceCommand getValveCloseCommandByChannel(ChannelCode channelCode) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.valve1Close();
+            case CHANNEL_2 -> DeviceCommandGenerator.valve2Close();
+            case CHANNEL_3 -> DeviceCommandGenerator.valve3Close();
+            case CHANNEL_4 -> DeviceCommandGenerator.valve4Close();
+        };
+    }
+
+    /**
      * 根据通道code获取泵相对移动指令
      */
     public DeviceCommand getPumpMoveByCommandByChannel(ChannelCode channelCode, Double position) {