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

package com.iflytop.gd.app.service;

import com.iflytop.gd.app.core.device.HeatModuleState;
import com.iflytop.gd.common.cmd.CommandFuture;
import com.iflytop.gd.common.cmd.DeviceCommandBundle;
import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.TimeUnit;

/**
 * 临时方法 以后应该会废弃
 */
@Slf4j
@Service
@RequiredArgsConstructor
public class DeviceCommandTempUtilService {
    private final DeviceCommandService deviceCommandService;
    private final DevicePositionService devicePositionService;

    private final DeviceStateService deviceStateService;

    private List<HeatModuleCode> moveTrayHeatModuleAvoidUpStateList = Collections.synchronizedList(new ArrayList<>());

    /**
     * 抬升
     * 临时移动托盘的时候，加热模块升降避让
     * 该方法会恢复之前升起的状态
     */
    public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
        List<CommandFuture> futuresList = new ArrayList<>();
        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
            futuresList.add(deviceCommandFuture);
        }
        if(targetHeatModuleCode != null) {
            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
            futuresList.add(deviceCommandFuture);
        }
        commandWait(futuresList.toArray(new CommandFuture[0]));
        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
            deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 1);//加热模块托盘升降状态
        }
    }

    /**
     * 下降
     * 临时移动托盘的时候，加热模块升降避让
     * 该方法会下降所有升起的加热模块并且记录
     */
    public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
        moveTrayHeatModuleAvoidUpStateList.clear();
        List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
        List<CommandFuture> futuresList = new ArrayList<>();
        for (HeatModuleState heatModuleState : heatModuleStateList) {
            if (heatModuleState.getTrayUp() == 1) {
                HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
                moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
                futuresList.add(deviceCommandFuture);
            }
        }
        if(targetHeatModuleCode != null) {
            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower);
            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
            futuresList.add(deviceCommandFuture);
        }
        commandWait(futuresList.toArray(new CommandFuture[0]));
        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
            deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 0);//加热模块托盘升降状态
        }
    }

    public DeviceCommandBundle getHeaterMotorMoveDeviceCommand(HeatModuleCode heatModuleCode, Double position) {
        return switch (heatModuleCode) {
            case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
            case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
            case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
            case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
            case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
            case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
        };
    }

    protected void commandWait(CommandFuture... futures) throws Exception {
        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
                .map(CommandFuture::getResponseFuture)
                .toArray(CompletableFuture[]::new);
        CompletableFuture.allOf(responseFutures)
                .get(120, TimeUnit.SECONDS);
    }
}