From 47e25c23bec3c847ab8463fadb3cb4fe81685d17 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com>
Date: Sat, 26 Jul 2025 19:10:30 +0800
Subject: [PATCH] =?UTF-8?q?=E8=AE=BE=E5=A4=87=E7=8A=B6=E6=80=81=E7=9A=84?=
 =?UTF-8?q?=E8=B5=8B=E5=80=BC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../app/command/control/heat/HeatRodCloseCommand.java               | 5 +++++
 .../colortitration/app/command/control/heat/HeatRodOpenCommand.java | 6 ++++++
 .../command/control/transfer/HeatAreaMoveTitrationAreaCommand.java  | 2 ++
 .../command/control/transfer/TitrationAreaMoveHeatAreaCommand.java  | 2 ++
 .../app/command/control/transfer/TitrationMoveTrayAreaCommand.java  | 4 ++++
 .../app/command/control/transfer/TrayMoveTitrationAreaCommand.java  | 4 ++++
 .../com/iflytop/colortitration/app/controller/CraftsController.java | 1 +
 7 files changed, 24 insertions(+)

diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodCloseCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodCloseCommand.java
index 8824375..f4ea92c 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodCloseCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodCloseCommand.java
@@ -3,6 +3,7 @@ package com.iflytop.colortitration.app.command.control.heat;
 import com.iflytop.colortitration.app.common.annotation.CommandMapping;
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
 import com.iflytop.colortitration.app.model.dto.CommandDTO;
 import com.iflytop.colortitration.app.service.module.HeatModuleService;
 import com.iflytop.colortitration.common.exception.AppException;
@@ -23,6 +24,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("heater_stop")
 public class HeatRodCloseCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
+    private final DeviceState deviceState;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
@@ -33,6 +35,9 @@ public class HeatRodCloseCommand extends BaseCommandHandler {
         MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
             heatModuleService.closeHeatRod(heatModuleCode);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setOpen(false);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setTargetTemperature(null);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setStartHeatTime(null);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodOpenCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodOpenCommand.java
index 904ef48..be5096a 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodOpenCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodOpenCommand.java
@@ -3,6 +3,7 @@ package com.iflytop.colortitration.app.command.control.heat;
 import com.iflytop.colortitration.app.common.annotation.CommandMapping;
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
 import com.iflytop.colortitration.app.model.dto.CommandDTO;
 import com.iflytop.colortitration.app.service.module.HeatModuleService;
 import com.iflytop.colortitration.common.exception.AppException;
@@ -12,6 +13,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.StringUtils;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -23,6 +25,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("heater_start")
 public class HeatRodOpenCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
+    private final DeviceState deviceState;
 
     @Override
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
@@ -34,6 +37,9 @@ public class HeatRodOpenCommand extends BaseCommandHandler {
         MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
             heatModuleService.openHeatRod(heatModuleCode, temperature);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setTargetTemperature(temperature);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setOpen(true);
+            deviceState.getHeatModuleStateMap().get(heatModuleCode).setStartHeatTime(LocalDateTime.now());
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/HeatAreaMoveTitrationAreaCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/HeatAreaMoveTitrationAreaCommand.java
index 0df3193..9bb8183 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/HeatAreaMoveTitrationAreaCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/HeatAreaMoveTitrationAreaCommand.java
@@ -68,6 +68,8 @@ public class HeatAreaMoveTitrationAreaCommand extends BaseCommandHandler {
             transferModuleService.clawOpen();
             //机械臂回到原点
             transferModuleService.roboticMoveToOrigin();
+            deviceState.getHeatModuleStateMap().get(titrationModuleCode).setTubeExist(false);
+            deviceState.getTitrationModuleStateMap().get(titrationModuleCode).setTubeExist(true);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationAreaMoveHeatAreaCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationAreaMoveHeatAreaCommand.java
index c7cffe0..f889cfc 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationAreaMoveHeatAreaCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationAreaMoveHeatAreaCommand.java
@@ -68,6 +68,8 @@ public class TitrationAreaMoveHeatAreaCommand extends BaseCommandHandler {
             transferModuleService.clawOpen();
             //机械臂回到原点
             transferModuleService.roboticMoveToOrigin();
+            deviceState.getHeatModuleStateMap().get(titrationModuleCode).setTubeExist(true);
+            deviceState.getTitrationModuleStateMap().get(titrationModuleCode).setTubeExist(false);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationMoveTrayAreaCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationMoveTrayAreaCommand.java
index e2ea262..1d6cec9 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationMoveTrayAreaCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationMoveTrayAreaCommand.java
@@ -2,6 +2,7 @@ package com.iflytop.colortitration.app.command.control.transfer;
 
 import com.iflytop.colortitration.app.common.annotation.CommandMapping;
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.common.enums.TitrationStatus;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
 import com.iflytop.colortitration.app.core.state.DeviceState;
 import com.iflytop.colortitration.app.model.dto.CommandDTO;
@@ -64,6 +65,9 @@ public class TitrationMoveTrayAreaCommand extends BaseCommandHandler {
             transferModuleService.clawOpen();
             //机械臂回到原点
             transferModuleService.roboticMoveToOrigin();
+            deviceState.getTitrationModuleStateMap().get(titrationModuleCode).setTubeExist(false);
+            deviceState.getTrayTubeStateMap().get(tubeNum).setTubeExist(true);
+            deviceState.getTrayTubeStateMap().get(tubeNum).setTitrationStatus(TitrationStatus.COMPLETED);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java
index f7988c6..b58cd75 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java
@@ -2,6 +2,7 @@ package com.iflytop.colortitration.app.command.control.transfer;
 
 import com.iflytop.colortitration.app.common.annotation.CommandMapping;
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.common.enums.TitrationStatus;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
 import com.iflytop.colortitration.app.core.state.DeviceState;
 import com.iflytop.colortitration.app.model.dto.CommandDTO;
@@ -84,6 +85,9 @@ public class TrayMoveTitrationAreaCommand extends BaseCommandHandler {
             transferModuleService.clawOpen();
             //机械臂回到原点
             transferModuleService.roboticMoveToOrigin();
+            deviceState.getTitrationModuleStateMap().get(titrationModuleCode).setTubeExist(true);
+            deviceState.getTrayTubeStateMap().get(tubeNum).setTubeExist(false);
+            deviceState.getTrayTubeStateMap().get(tubeNum).setTitrationStatus(TitrationStatus.IN_PROGRESS);
         });
     }
 }
diff --git a/src/main/java/com/iflytop/colortitration/app/controller/CraftsController.java b/src/main/java/com/iflytop/colortitration/app/controller/CraftsController.java
index cf02588..641eb87 100644
--- a/src/main/java/com/iflytop/colortitration/app/controller/CraftsController.java
+++ b/src/main/java/com/iflytop/colortitration/app/controller/CraftsController.java
@@ -105,5 +105,6 @@ public class CraftsController {
         });
         return Result.success();
     }
+    
 
 }