fix:完善工艺流程

src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java

@@ -54,7 +54,7 @@ public class TrayMoveTitrationAreaCommand extends BaseCommandHandler {
             transferModuleService.zMoveDownWithTrayArea();
             //关闭夹爪
             transferModuleService.clawClose();
-            //判断滴定位传感器状态
+            //判断滴定位传感器状态 TODO 拍摄照片判断滴定位是否有试管
             boolean titrationExist = switch (titrationModuleCode) {  //1、首先检测试管所在的托盘传感器的值
                 case MultipleModuleCode.MODULE_1 ->
                         deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist();

src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsContext.java

@@ -23,7 +23,7 @@ public class CraftsContext {
     private int historyCommandCount = 0;
     private MultipleModuleCode currentTitrationModuleCode;
     private MultipleModuleCode currentHeatModuleCode;
-    private TubeCurrentLocal tubeCurrentLocal;
+    private TubeCurrentLocal tubeCurrentLocal = TubeCurrentLocal.TRAY;
 
     /**
      * 自增当前指令计数器

src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsExecutionService.java

@@ -3,14 +3,21 @@ package com.iflytop.colortitration.app.core.crafts;
 import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
 import com.iflytop.colortitration.app.common.enums.AddSolutionType;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.common.enums.TubeCurrentLocal;
 import com.iflytop.colortitration.app.common.utils.CommandUtil;
 import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.state.DeviceState;
+import com.iflytop.colortitration.app.core.state.HeatModuleState;
 import com.iflytop.colortitration.app.service.DeviceCommandService;
+import com.iflytop.colortitration.app.service.module.HeatModuleService;
 import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.time.LocalDateTime;
 import java.util.List;
 
 /**
@@ -22,6 +29,9 @@ import java.util.List;
 public class CraftsExecutionService {
     private final DeviceCommandService deviceCommandService;
     private final TitrationModuleService titrationModuleService;
+    private final HeatModuleService heatModuleService;
+    private final DeviceState deviceState;
+    private final TransferModuleService transferModuleService;
 
     /**
      * 执行工艺步骤，直接从 CraftsContext 中获取步骤
@@ -44,8 +54,6 @@ public class CraftsExecutionService {
     }
 
     private boolean addSolution(CraftsContext craftsContext, JSONObject params) throws Exception {
-        moveToTitration();//移动至滴定
-        //TODO 调用相机判断滴定位是否存在试管
         Long solutionId = params.getLong("solutionId");//使用的溶液id
         Double amount = params.getDouble("amount");//加液量
         Long colorId = params.getLong("colorId");//终点颜色
@@ -55,8 +63,11 @@ public class CraftsExecutionService {
         Double maxAmount = params.getDouble("maxAmount");//滴定最大体积
         Boolean stirFlag = params.getBool("stirFlag");//是否搅拌
 
-        if(stirFlag){
-            //调用开始搅拌
+        moveToTitration(craftsContext);//移动至滴定
+        //TODO 调用相机判断滴定位是否存在试管
+
+        if (stirFlag) {
+            //TODO 调用开始搅拌
         }
         if (AddSolutionType.fixed.equals(addSolutionType)) {//定量加液
             titrationModuleService.addSolutionStart(craftsContext.getCurrentTitrationModuleCode(), solutionId, amount);
@@ -72,20 +83,41 @@ public class CraftsExecutionService {
                 }
             }
         }
-        if(stirFlag){
-            //调用停止搅拌
+        if (stirFlag) {
+            //TODO 调用停止搅拌
         }
         return true;
     }
 
-    private boolean heat(CraftsContext craftsContext, JSONObject params) {
-        moveToHeat();//移动至加热
+    private boolean heat(CraftsContext craftsContext, JSONObject params) throws Exception {
+        Double temperature = params.getDouble("temperature");
+        Integer time = params.getInt("time");
+        Boolean preHeat = params.getBool("preHeat");
+        HeatModuleState heatModuleState = deviceState.getHeatModuleStateMap().get(craftsContext.getCurrentHeatModuleCode());
+        heatModuleState.setTargetTemperature(temperature);//设定目标温度
+        heatModuleState.setTargetTime(time);
+        if (preHeat) {
+            heatModuleService.openHeatRod(craftsContext.getCurrentHeatModuleCode(), temperature);
+            heatModuleState.setOpen(true);//开启加热
+            heatModuleState.setStartHeatTime(LocalDateTime.now());
+            //循环等待
+            while (heatModuleState.getTemperature() < temperature) {
+                sleep(5 * 1000L);
+            }
+        }
+        moveToHeat(craftsContext);//移动至加热
         //TODO 调用传感器判断加热位是否存在试管
-
+        if (!preHeat) {
+            heatModuleService.openHeatRod(craftsContext.getCurrentHeatModuleCode(), temperature);
+            heatModuleState.setOpen(true);//开启加热
+            heatModuleState.setStartHeatTime(LocalDateTime.now());
+            sleep(time * 1000L);
+        }
         return true;
     }
 
     private boolean addMagnet(CraftsContext craftsContext, JSONObject params) {
+        //TODO 添加磁子方式待定
         return true;
     }
 
@@ -96,13 +128,94 @@ public class CraftsExecutionService {
     }
 
     //移动至滴定
-    private void moveToTitration() {
-        //动态分配使用的模块
+    private void moveToTitration(CraftsContext craftsContext) throws Exception {
+        //动态分配滴定模块
+        if (!TubeCurrentLocal.TITRATION.equals(craftsContext.getTubeCurrentLocal())) {//如果试管不在滴定位的话
+            while (true) {
+                if (!deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist()) {//如果滴定位1没有试管的话
+                    deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).setTubeExist(true);
+                    craftsContext.setCurrentTitrationModuleCode(MultipleModuleCode.MODULE_1);
+                    break;
+                } else if (!deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_2).isTubeExist()) {//如果滴定位2没有试管的话
+                    deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_2).setTubeExist(true);
+                    craftsContext.setCurrentTitrationModuleCode(MultipleModuleCode.MODULE_2);
+                    break;
+                } else {
+                    //都没有空位置
+                    sleep(2 * 1000L);
+                }
+            }
+            transferModuleService.requestTransferModule();//申请使用机械臂
+            if (TubeCurrentLocal.TRAY.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在托盘中
+                titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
+                transferModuleService.roboticMoveToTubePosition(craftsContext.getTubeNum());  //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+                transferModuleService.clawOpen();//打开夹爪
+                transferModuleService.zMoveDownWithTrayArea(); //z轴下降
+                transferModuleService.clawClose(); //关闭夹爪
+                //TODO 拍摄照片判断滴定位是否有试管
+                transferModuleService.roboticMoveToTitration(craftsContext.getCurrentHeatModuleCode()); //移动到滴定位上方
+                transferModuleService.zMoveDownWithTitrationArea();//z轴下降
+                transferModuleService.clawOpen(); //打开夹爪
+                //TODO 拍摄照片判断滴定位是否有试管
+                transferModuleService.roboticMoveToOrigin();//机械臂回到原点
+            } else if (TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在加热位
+                titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
+                transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode()); //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+                transferModuleService.clawOpen();//打开夹爪
+                transferModuleService.zMoveDownWithHeatArea();//z轴下降
+                transferModuleService.clawClose(); //关闭夹爪
+                transferModuleService.roboticMoveToTitration(craftsContext.getCurrentHeatModuleCode());//移动到滴定位上方
+                transferModuleService.zMoveDownWithTitrationArea();//z轴下降
+                transferModuleService.clawOpen();//打开夹爪
+                //TODO 拍摄照片判断滴定位是否有试管
+                transferModuleService.roboticMoveToOrigin();//机械臂回到原点
+            }
+            transferModuleService.releaseTransferModule();//释放机械臂
+        }
     }
 
     //移动至加热
-    private void moveToHeat() {
+    private void moveToHeat(CraftsContext craftsContext) throws Exception {
         //动态分配使用的模块
+        if (!TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//如果试管不在滴定位的话
+            while (true) {
+                if (!deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist()) {//如果滴定位1没有试管的话
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).setTubeExist(true);
+                    craftsContext.setCurrentHeatModuleCode(MultipleModuleCode.MODULE_1);
+                    break;
+                } else if (!deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).isTubeExist()) {//如果滴定位2没有试管的话
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).setTubeExist(true);
+                    craftsContext.setCurrentHeatModuleCode(MultipleModuleCode.MODULE_2);
+                    break;
+                } else {
+                    //都没有空位置
+                    sleep(2 * 1000L);
+                }
+                transferModuleService.requestTransferModule();//申请使用机械臂
+                if (TubeCurrentLocal.TRAY.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在托盘中
+                    transferModuleService.roboticMoveToTubePosition(craftsContext.getTubeNum());//移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+                    transferModuleService.clawOpen();//打开夹爪
+                    transferModuleService.zMoveDownWithTitrationArea();//z轴下降
+                    transferModuleService.clawClose(); //关闭夹爪
+                    transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode());//移动到加热位上方
+                    transferModuleService.zMoveDownWithHeatArea();//z轴下降
+                    transferModuleService.clawOpen();//打开夹爪
+                    transferModuleService.roboticMoveToOrigin();//机械臂回到原点
+                } else if (TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在滴定位
+                    titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
+                    transferModuleService.roboticMoveToTitration(craftsContext.getCurrentTitrationModuleCode());//移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+                    transferModuleService.clawOpen();//打开夹爪
+                    transferModuleService.zMoveDownWithTitrationArea();//z轴下降
+                    transferModuleService.clawClose(); //关闭夹爪
+                    transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode());//移动到加热位上方
+                    transferModuleService.zMoveDownWithHeatArea();//z轴下降
+                    transferModuleService.clawOpen();//打开夹爪
+                    transferModuleService.roboticMoveToOrigin();//机械臂回到原点
+                }
+                transferModuleService.releaseTransferModule();//释放机械臂
+            }
+
+        }
     }
 
     /**

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

@@ -1,6 +1,9 @@
 package com.iflytop.colortitration.app.service.module;
 
+import cn.hutool.json.JSONObject;
 import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
 import com.iflytop.colortitration.app.core.command.DeviceCommand;
 import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
 import com.iflytop.colortitration.app.service.DeviceCommandService;
@@ -39,4 +42,18 @@ public class HeatModuleService {
         deviceCommandService.sendCommand(deviceCommand);
     }
 
+    /**
+     * 获取指定加热棒温度
+     */
+    public Double getHeatRodTemperature(MultipleModuleCode heatModuleCode) throws Exception {
+        DeviceCommand deviceCommand = switch (heatModuleCode) {
+            case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.heatRod1Get();
+            case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.heatRod2Get();
+        };
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+        JSONObject result = deviceCommandFuture.getResponseResult();
+        return result.getDouble("temperature");
+    }
+
 }

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

@@ -73,7 +73,7 @@ public class TransferModuleService {
     }
 
     /**
-     * 机械臂移动到指定试管为止
+     * 机械臂移动到指定托盘试管上方
      */
     public void roboticMoveToTubePosition(Integer index) throws Exception {
         Point3D position = positionService.getPositionByCode(DevicePositionCode.tube).getPoint3D(); //根据index和第一个托盘试管的位置计算index试管的位置 todo