graphite-digester-service/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

package com.iflytop.gd.app.cmd;

import cn.hutool.json.JSONArray;
import cn.hutool.json.JSONObject;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.ContainerService;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
import com.iflytop.gd.common.exception.AppException;
import com.iflytop.gd.common.result.ResultCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import java.util.concurrent.CompletableFuture;

/**
 * 添加溶液
 */
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("solution_add")//业务指令注解
public class SolutionAddCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final ContainerService containerService;
    private final DeviceStateService deviceStateService;

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        deviceStateService.setSolutionModuleStatePumping(true);
        return runAsync(() -> {
            JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList");
            for (int i = 0; i < dataList.size(); i++) {
                JSONObject tubeSol = dataList.getJSONObject(i);
                Integer tubeNum = tubeSol.getInt("tubeNum");
                JSONArray solutionList = tubeSol.getJSONArray("solutionList");
                for (int j = 0; j < solutionList.size(); j++) {
                    JSONObject addSolution = solutionList.getJSONObject(j);
                    Long solId = addSolution.getLong("solId");
                    Double volume = addSolution.getDouble("volume");
                    AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
                    if (acidPumpDevice == null) {
                        throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
                    }
                    deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位
                    deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                }
            }
            deviceCommandUtilService.dualRobotOrigin();
            deviceStateService.setSolutionModuleStatePumping(false);
        });
    }
}