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src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java

@@ -75,7 +75,7 @@ public class DeviceState {
 
     public synchronized TrayState getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) {
         for (TrayState t : tray) {
-            if (t.getHeatModuleId().equals(heatModuleCode)) {
+            if (heatModuleCode.equals(t.getHeatModuleId())) {
                 return t;
             }
         }

src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java

@@ -1,13 +1,22 @@
 package com.iflytop.gd.app.model.bo.status.device;
 
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.annotation.PostConstruct;
 import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import org.springframework.context.annotation.Scope;
+import org.springframework.stereotype.Component;
 
 import java.util.UUID;
 
 @Schema(description = "托盘")
 @Data
+@Component
+@Scope("prototype")
+@RequiredArgsConstructor
+@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
 public class TrayState {
     @Schema(description = "托盘唯一id")
     private String uuid = UUID.randomUUID().toString();
@@ -27,11 +36,13 @@ public class TrayState {
     @Schema(description = "当前托盘的工艺")
     private CraftsState crafts = null;
 
-    public TrayState() {
+    @PostConstruct
+    private void init(){
         for (int i = 0; i < tubes.length; i++) {
             TubeState tubeState = new TubeState();
             tubeState.setTubeNum(i + 1);
             tubes[i] = tubeState;
         }
     }
+
 }

src/main/java/com/iflytop/gd/app/model/bo/status/device/TubeState.java

@@ -9,12 +9,13 @@ public class TubeState {
     @Schema(description = "试管编号")
     private int tubeNum;
 
+    @Schema(description = "是否需要添加溶液 true需要")
+    private boolean addSolution = true;
+
     @Schema(description = "是否添加过溶液 true添加过")
-    private boolean addSolution = false;
+    private boolean existSolution = false;
 
     @Schema(description = "是否存在试管 true存在")
     private boolean exists = true;
 
-    @Schema(description = "是否需要添加溶液 true需要")
-    private boolean needAddSolution = true;
 }

src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
+import com.iflytop.gd.app.model.bo.status.device.TubeState;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotNull;
@@ -16,4 +17,7 @@ public class StartCraftsDTO {
 
     @Schema(description = "加热区id，非必填，如果不传递则自动分配加热区")
     private HeatModuleCode heatId;
+
+    @Schema(description = "试管")
+    private TubeState[] tubes;
 }

src/main/java/com/iflytop/gd/app/service/api/CraftsService.java

@@ -157,6 +157,7 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
         craftsState.setOres(ores);
         craftsState.setState(CraftStates.READY);
         craftsState.setCurrentIndex(0);
+        trayState.setHeatModuleId(heatModuleCode);
         trayState.setCrafts(craftsState);
 
         SetCraftsVO setCraftsVO = new SetCraftsVO();

src/main/java/com/iflytop/gd/app/service/api/TrayService.java

@@ -1,10 +1,12 @@
 package com.iflytop.gd.app.service.api;
 
+import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.model.bo.status.device.TrayState;
 import com.iflytop.gd.app.model.vo.SetTrayTubeVO;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
 import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
@@ -17,12 +19,13 @@ import java.util.List;
 public class TrayService {
     private final DeviceStateService deviceStateService;
     private final SolutionModuleService solutionModuleService;
+    private final ObjectProvider<TrayState> trayStateObjectProvider;
 
     /**
      * 放入了新托盘
      */
     public synchronized TrayState trayIn() {
-        TrayState trayState = new TrayState();
+        TrayState trayState = trayStateObjectProvider.getObject();
         trayState.setInSolutionModule(true);
         deviceStateService.getDeviceState().getTray().add(trayState);
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);

src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

@@ -75,6 +75,15 @@ public class CraftsStepService {
                 && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
             moveToSolutionModule(heatModuleCode);
         }
+
+        JSONArray tubeNums = params.getJSONArray("tubeNums");
+        for (int i = 0; i < tubeNums.size(); i++) {
+            JSONObject tubeSol = tubeNums.getJSONObject(i);
+            Integer tubeNum = tubeSol.getInt("tubeNum");
+
+        }
+
+
         JSONArray tubeSolList = params.getJSONArray("tubeSolList");
         for (int i = 0; i < tubeSolList.size(); i++) {
             JSONObject tubeSol = tubeSolList.getJSONObject(i);
@@ -90,9 +99,7 @@ public class CraftsStepService {
                 }
                 AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵
                 int scale = container.getScale() == null ? 120 : container.getScale();//系数
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", tubeNum));
                 solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquid));
                 CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液
                 CommandUtil.wait(deviceCommandFuture);
             }
@@ -131,9 +138,10 @@ public class CraftsStepService {
         while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) {
             delay(1);
         }
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.constant);
         delay(second);
         heatModuleService.heatRodClose(heatModuleCode);//停止加热
-        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.finish);
         heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
         return true;
     }

src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java

@@ -85,29 +85,60 @@ public class SolutionModuleService {
      * 双轴械臂 移动至指定试管
      */
     public void dualRobotMovePoint(int index) throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
+        } else {
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
+        }
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin() throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
+        } else {
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
+        }
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin(String commandId, String command, CmdAxis cmdAxis) throws Exception {
-        if (cmdAxis == CmdAxis.joint1) {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            if (cmdAxis == CmdAxis.joint1) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            } else {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            }
         } else {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
         }
+
     }
 
 

src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.service.scheduled;
 
+import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
@@ -9,6 +10,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
@@ -39,12 +42,14 @@ public class FetchTemperatureScheduledTask {
                 deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_06).setTemperature(heatModule06Temperature);
 
             } else {//虚拟模式随便写个值
-//                List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
-//                for (HeatModuleState heatModuleState : heatModuleStateList) {
-//                    if (heatModuleState.isHeating()) {
-//                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleState.getModuleCode()).setTemperature(123.0);
-//                    }
-//                }
+                List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+                for (HeatModuleState heatModuleState : heatModuleStateList) {
+                    if (heatModuleState.isHeating()) {
+                        heatModuleState.setTemperature(heatModuleState.getTargetTemperature());
+                    } else {
+                        heatModuleState.setTemperature(26.0);
+                    }
+                }
             }
         } catch (Exception e) {
             log.error("定时采集加热棒温度错误", e);

src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.service.scheduled;
 
 import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
+import com.iflytop.gd.app.model.bo.status.device.TrayState;
 import com.iflytop.gd.app.model.vo.HeatCountdownVO;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
@@ -21,7 +22,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加热倒计时
+ * 加热时间到自动抬起
  */
 @Slf4j
 @Service
@@ -36,8 +37,12 @@ public class HeatCountdownScheduledTask {
     public void fetchTemperature() {
         try {
             LocalDateTime now = LocalDateTime.now();
-            List<HeatCountdownVO> heatCountdownVOList = new ArrayList<>();
             for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) {
+                //工艺除外
+                TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleState.getModuleCode());
+                if (trayState != null && trayState.getCrafts() != null) {
+                    continue;
+                }
                 if (heatModuleState.getHeatingType() == HeatingType.thermostatic) {//如果这个加热模块在加热中
                     if (heatModuleState.getTemperature() + 1 > heatModuleState.getHeatTemperature()) {//当前温度达到目标温度，允许有1度以内的误差
                         heatModuleState.setStartHeatTime(now);
@@ -55,34 +60,15 @@ public class HeatCountdownScheduledTask {
                         //关闭加棒
                         heatModuleService.heatRodClose(heatModuleState.getModuleCode());
                         //还原状态
-//                        heatModuleState.setStartHeatTime(null);
-//                        heatModuleState.setTargetTime(null);
-//                        heatModuleState.setWarmUpTemperature(null);
-//                        heatModuleState.setHeatTemperature(null);
-//                        heatModuleState.setTargetTemperature(null);
+                        heatModuleState.setStartHeatTime(null);//开始加热时间
+                        heatModuleState.setTargetTime(null);//加热器目标加热时间
+                        heatModuleState.setWarmUpTemperature(null);//加热器预热温度
+                        heatModuleState.setHeatTemperature(null);//加热器加热温度
+                        heatModuleState.setTargetTemperature(null);//加热器目标温度
                         heatModuleState.setHeatingType(HeatingType.finish);
-
-//                        HeatCountdownVO heatCountdownVO = new HeatCountdownVO();
-//                        heatCountdownVO.setHeatModuleCode(heatModuleState.getModuleCode());
-//                        heatCountdownVO.setCountdown((int) diffSeconds);
-//                        heatCountdownVO.setCountdownStr("加热完毕");
-//                        heatCountdownVO.setStartTime(heatModuleState.getStartHeatTime());
-//                        heatCountdownVO.setEndTime(endTime);
-//                        heatCountdownVOList.add(heatCountdownVO);
-                    } else {//加热中 推送倒计时
-//                        HeatCountdownVO heatCountdownVO = new HeatCountdownVO();
-//                        heatCountdownVO.setHeatModuleCode(heatModuleState.getModuleCode());
-//                        heatCountdownVO.setCountdown((int) diffSeconds);
-//                        heatCountdownVO.setCountdownStr(LocalDateTimeUtil.formatSecondsToHMS(diffSeconds));
-//                        heatCountdownVO.setStartTime(heatModuleState.getStartHeatTime());
-//                        heatCountdownVO.setEndTime(endTime);
-//                        heatCountdownVOList.add(heatCountdownVO);
                     }
                 }
             }
-            if (!heatCountdownVOList.isEmpty()) {
-                webSocketSender.pushHeatCountdown(heatCountdownVOList);
-            }
         } catch (Exception e) {
             log.error("加热倒计时错误", e);
         }

src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java

@@ -16,7 +16,7 @@ public class WebSocketSender {
         websocketResult.setType(type);
         websocketResult.setData(data);
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
-        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
+//        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
     }
 
     public void pushCraftsDebug(Object data) {