fix:调整设备状态结构，增加机械臂申请使用方法

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

@@ -17,9 +17,8 @@ import java.util.Map;
 @Component
 @JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
 public class DeviceState {
-
     @Schema(description = "滴定模块")
-    private final Map<MultipleModuleCode, TitrationModule> titrationModuleStateMap = new HashMap<>();
+    private final Map<MultipleModuleCode, TitrationModuleState> titrationModuleStateMap = new HashMap<>();
 
     @Schema(description = "加热模块")
     private final Map<MultipleModuleCode, HeatModuleState> heatModuleStateMap = new HashMap<>();

src/main/java/com/iflytop/colortitration/app/core/state/TitrationModule.java → src/main/java/com/iflytop/colortitration/app/core/state/TitrationModuleState.java

@@ -14,7 +14,7 @@ import org.springframework.stereotype.Component;
 @Scope("prototype")
 @RequiredArgsConstructor
 @JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
-public class TitrationModule {
+public class TitrationModuleState {
     @Schema(description = "滴定模块code")
     private MultipleModuleCode moduleCode;
 

src/main/java/com/iflytop/colortitration/app/core/state/TubeState.java

@@ -43,6 +43,9 @@ public class TubeState {
     @Schema(description = "可以使用的滴定模块")
     private List<MultipleModuleCode> titrationModuleCodes;
 
+    @Schema(description = "当前试管工艺队列的编号")
+    private Integer queueNum;
+
     public TubeState(Integer bubeNum) {
         this.bubeNum = bubeNum;
     }

src/main/java/com/iflytop/colortitration/app/service/DeviceInitService.java

@@ -2,7 +2,7 @@ package com.iflytop.colortitration.app.service;
 
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
 import com.iflytop.colortitration.app.core.state.DeviceState;
-import com.iflytop.colortitration.app.core.state.TitrationModule;
+import com.iflytop.colortitration.app.core.state.TitrationModuleState;
 import com.iflytop.colortitration.hardware.service.AppEventBusService;
 import com.iflytop.colortitration.hardware.type.appevent.A8kCanBusOnConnectEvent;
 import com.iflytop.colortitration.hardware.type.appevent.AppEvent;
@@ -19,7 +19,7 @@ public class DeviceInitService {
     private final AppEventBusService eventBus;
     private boolean isLink = false;
     private final DeviceState deviceState;
-    private final ObjectProvider<TitrationModule> titrationModuleObjectProvider;
+    private final ObjectProvider<TitrationModuleState> titrationModuleObjectProvider;
 
     @PostConstruct
     public void init() {
@@ -47,10 +47,10 @@ public class DeviceInitService {
 
     public void initDeviceState() {
         log.info("初始化 initDeviceState");
-        TitrationModule trayModule1 = titrationModuleObjectProvider.getObject();
+        TitrationModuleState trayModule1 = titrationModuleObjectProvider.getObject();
         trayModule1.setModuleCode(MultipleModuleCode.MODULE_1);
         deviceState.getTitrationModuleStateMap().put(MultipleModuleCode.MODULE_1, trayModule1);
-        TitrationModule trayModule2 = titrationModuleObjectProvider.getObject();
+        TitrationModuleState trayModule2 = titrationModuleObjectProvider.getObject();
         trayModule2.setModuleCode(MultipleModuleCode.MODULE_2);
         deviceState.getTitrationModuleStateMap().put(MultipleModuleCode.MODULE_2, trayModule2);
         log.info("初始化 initDeviceState完毕");

src/main/java/com/iflytop/colortitration/app/service/module/TransferModuleService.java

@@ -13,6 +13,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.concurrent.Semaphore;
+
 /**
  * 转运模块
  */
@@ -22,6 +24,36 @@ import org.springframework.stereotype.Service;
 public class TransferModuleService {
     private final DeviceCommandService deviceCommandService;
     private final PositionService positionService;
+    private final Semaphore armSemaphore = new Semaphore(1, true);
+
+    /**
+     * 申请使用机械臂
+     */
+    public void requestTransferModule() {
+        log.info("申请使用转运机械臂");
+        try {
+            armSemaphore.acquire();
+            log.info("转运机械臂申请成功");
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+            throw new RuntimeException("等待转运机械臂空闲失败", e);
+        }
+    }
+
+    /**
+     * 释放机械臂
+     */
+    public void releaseTransferModule() {
+        log.info("释放转运机械臂占用");
+        armSemaphore.release();  //释放许可证
+    }
+
+    /**
+     * 查询机械臂是否繁忙
+     */
+    public boolean isTransferModuleBusy() {
+        return armSemaphore.availablePermits() == 0;
+    }
 
     /**
      * 机械臂回原点
@@ -63,10 +95,8 @@ public class TransferModuleService {
      */
     public void roboticMoveToTitration(MultipleModuleCode moduleCode) throws Exception {
         Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
-            case MultipleModuleCode.MODULE_1 ->
-                    positionService.getPositionByCode(DevicePositionCode.titrationArea_1).getPoint3D();
-            case MultipleModuleCode.MODULE_2 ->
-                    positionService.getPositionByCode(DevicePositionCode.titrationArea_2).getPoint3D();
+            case MultipleModuleCode.MODULE_1 -> positionService.getPositionByCode(DevicePositionCode.titrationArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 -> positionService.getPositionByCode(DevicePositionCode.titrationArea_2).getPoint3D();
         };
         // Z轴回零点
         DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
@@ -86,10 +116,8 @@ public class TransferModuleService {
      */
     public void roboticMoveToHeat(MultipleModuleCode moduleCode) throws Exception {
         Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
-            case MultipleModuleCode.MODULE_1 ->
-                    positionService.getPositionByCode(DevicePositionCode.heatArea_1).getPoint3D();
-            case MultipleModuleCode.MODULE_2 ->
-                    positionService.getPositionByCode(DevicePositionCode.heatArea_2).getPoint3D();
+            case MultipleModuleCode.MODULE_1 -> positionService.getPositionByCode(DevicePositionCode.heatArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 -> positionService.getPositionByCode(DevicePositionCode.heatArea_2).getPoint3D();
         };
         // Z轴回零点
         DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);