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

package com.iflytop.gd.app.cmd;

import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.core.device.TrayState;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.DevicePositionService;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.app.service.GantryArmService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import com.iflytop.gd.common.exception.AppException;
import com.iflytop.gd.common.result.ResultCode;
import com.iflytop.gd.hardware.service.GDDeviceStatusService;
import com.iflytop.gd.hardware.type.IO.InputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import java.util.concurrent.CompletableFuture;
import java.util.concurrent.atomic.AtomicBoolean;

/**
 * 移至加热
 */
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("move_to_heat_area")//业务指令注解
public class MoveToHeatAreaCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final DevicePositionService devicePositionService;
    private final GantryArmService gantryArmService;
    private final DeviceStateService deviceStateService;
    private final AtomicBoolean isExecuting = new AtomicBoolean(false);

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
        if (isExecuting.get()) {
            throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
        }
        deviceStateService.setGantryArmStateIdle(true);
        isExecuting.set(true);
        String heatId = cmdDTO.getStringParam("heatId");
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        //校验目标加热位是否有托盘
        try{
            Boolean heatModuleTray = deviceCommandUtilService.heatModuleTray(heatModuleId);
            if (!heatModuleTray) {
                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
            }
        }finally {
            deviceStateService.setGantryArmStateIdle(false);
            isExecuting.set(false);
        }
        return runAsync(() -> {
            try {
                TrayState trayState = deviceStateService.getTrayInSolutionModule();

                Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
                deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液区托盘上方
                double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
                deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪张开
                double clawDescend = devicePositionService.getPosition(DevicePositionCode.clawDescend).getDistance();//获取下降机械臂使夹爪可以夹住的距离
                deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住托盘
                double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
                deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧
                double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
                deviceStateService.setSolutionModuleStateTrayStatus(0);
                Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
                Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
                deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加热区
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//将机械臂提升至托盘上方高度
                Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
                deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
                double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离
                deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
                deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住拍子
                double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
                deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧
                double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
                Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
                deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
                trayState.setHeatModuleId(heatModuleId);
                trayState.setInHeatModule(true);
                deviceStateService.setHeatModuleStateCapExist(heatModuleId, true);
                deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
                deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
                gantryArmService.setLiquidIdleTrue();//释放加液区等待
                deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
                double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
                deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);
            } finally {
                deviceStateService.setGantryArmStateIdle(false);
                isExecuting.set(false);
            }
        });
    }
}