1

src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java

@@ -1,6 +1,5 @@
 package com.iflytop.gd.app.command.control;
 
-import cn.hutool.json.JSONArray;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.api.ContainerService;
@@ -27,17 +26,24 @@ public class FilledSolutionStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
-            for (int i = 0; i < idJsonArray.size(); i++) {
-                String idStr = idJsonArray.getStr(i);
-                CompletableFuture.runAsync(() -> {
-                    try {
-                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr));
-                        solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice);
-                    } catch (Exception e) {
-                        log.error("停止预充失败", e);
-                    }
-                });
+//            JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
+//            for (int i = 0; i < idJsonArray.size(); i++) {
+//                String idStr = idJsonArray.getStr(i);
+//                CompletableFuture.runAsync(() -> {
+//                    try {
+//                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr));
+//                        solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice);
+//                    } catch (Exception e) {
+//                        log.error("停止预充失败", e);
+//                    }
+//                });
+//            }
+            for (AcidPumpDeviceCode acidPumpDeviceCode : AcidPumpDeviceCode.values()) {
+                try {
+                    solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDeviceCode);
+                } catch (Exception e) {
+                    log.error("停止预充错误", e);
+                }
             }
             Thread.sleep(1000);
             solutionModuleService.dualRobotOrigin();

src/main/java/com/iflytop/gd/app/controller/SystemController.java

@@ -12,9 +12,6 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
-import java.time.Instant;
-import java.time.LocalDateTime;
-
 @Tag(name = "系统")
 @RestController
 @RequestMapping("/api/sys")
@@ -24,6 +21,19 @@ public class SystemController {
     private final SystemConfigService systemConfigService;
     private final DeviceStateService deviceStateService;
 
+    @Operation(summary = "是否启动虚拟模式")
+    @PostMapping("/virtual")
+    public Result<?> changeVirtualMode(Boolean mode) {
+        deviceStateService.getDeviceState().setVirtual(mode);
+        return Result.success();
+    }
+
+    @Operation(summary = "模拟向硬件写入完毕")
+    @PostMapping("/initComplete")
+    public Result<?> setInitComplete(Boolean initComplete) {
+        deviceStateService.getDeviceState().setInitComplete(initComplete);
+        return Result.success();
+    }
 
     @Operation(summary = "系统状态")
     @GetMapping("/device-status")
@@ -38,10 +48,10 @@ public class SystemController {
         return Result.success();
     }
 
-    @Operation(summary = "获取系统时间")
+    @Operation(summary = "获取系统时间 yyyy-MM-dd HH:mm:ss")
     @GetMapping("/datetime")
     public Result<?> getDatetime() {
-        return Result.success(Instant.now().toEpochMilli());
+        return Result.success(deviceStateService.getDeviceState());
     }
 
 }

src/main/java/com/iflytop/gd/app/controller/TestController.java

@@ -7,7 +7,7 @@ import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.CapModuleService;
 import com.iflytop.gd.app.service.device.module.OtherModuleService;
-import com.iflytop.gd.app.service.device.module.SolutionModuleService;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import io.swagger.v3.oas.annotations.Operation;
@@ -92,4 +92,11 @@ public class TestController {
         otherModuleService.craftsFinishBeepRemind();
         return Result.success();
     }
+
+    @Operation(summary = "设置当前温度")
+    @PostMapping("/set-temperature")
+    public Result<?> setTemperature(HeatModuleCode code, Double temperature) throws Exception {
+        testService.setTemperature(code, temperature);
+        return Result.success();
+    }
 }

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

@@ -83,4 +83,10 @@ public class SystemConfigService extends ServiceImpl<SystemConfigMapper, SystemC
         }
     }
 
+    public String getDatetime(){
+        LocalDateTime now = LocalDateTime.now();
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+        return now.format(formatter);
+    }
+
 }

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

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.service.api;
 
 import com.iflytop.gd.app.model.dto.AllSensorDTO;
 import com.iflytop.gd.app.service.device.DeviceStateService;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
@@ -45,4 +46,8 @@ public class TestService {
         deviceStateService.getDeviceState().reset();
     }
 
+    public void setTemperature(HeatModuleCode code, Double temperature){
+        deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature);
+    }
+
 }

src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java

@@ -29,7 +29,7 @@ public class DeviceEmergencyStopService {
     }
 
     /**
-     * 处理接触急停
+     * 处理解除急停
      */
     public void release(){
         commandPoolManager.restartExecutor();

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

@@ -32,7 +32,7 @@ public class HeatCountdownScheduledTask {
     private final HeatModuleService heatModuleService;
     private final WebSocketSender webSocketSender;
 
-    @Scheduled(fixedRate = 1000)
+    @Scheduled(fixedDelay = 1000)
     public void fetchTemperature() {
         try {
             LocalDateTime now = LocalDateTime.now();
@@ -40,39 +40,43 @@ public class HeatCountdownScheduledTask {
             for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) {
                 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);
                         heatModuleState.setHeatingType(HeatingType.constant);//修改状态为恒温中
-                        if (heatModuleState.getStartHeatTime() == null) {
-                            //设定开始加热时间
-                            heatModuleState.setStartHeatTime(now);
-                        } else {
-                            LocalDateTime endTime = heatModuleState.getStartHeatTime().minusSeconds(heatModuleState.getTargetTime());
-                            //判断是否达到目标加热时间
-                            if (endTime.isBefore(now)) {//加热完毕
-                                double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
-                                //抬起托盘
-                                heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
-                                heatModuleState.setTrayUp(1);
-                                //关闭加棒
-                                heatModuleService.heatRodClose(heatModuleState.getModuleCode());
-                                heatModuleState.setHeatingType(HeatingType.stop);
-                                //还原状态
-                                heatModuleState.setStartHeatTime(null);
-                                heatModuleState.setTargetTime(null);
-                                heatModuleState.setWarmUpTemperature(null);
-                                heatModuleState.setHeatTemperature(null);
-                                heatModuleState.setTargetTemperature(null);
-                                heatModuleState.setHeatingType(HeatingType.stop);
-                            } else {//加热中
-                                long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
-                                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);
-                            }
-                        }
+                    }
+                } else if (heatModuleState.getHeatingType() == HeatingType.constant) {
+                    LocalDateTime endTime = heatModuleState.getStartHeatTime().plusSeconds(heatModuleState.getTargetTime());
+                    //判断是否达到目标加热时间
+                    long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
+                    if (diffSeconds <= 0) {//加热完毕
+                        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
+                        //抬起托盘
+                        heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
+                        heatModuleState.setTrayUp(1);
+                        //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.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);
                     }
                 }
             }

src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java

@@ -1,10 +1,6 @@
 package com.iflytop.gd.app.ws.client;
 
-import com.iflytop.gd.app.core.CommandPoolManager;
-import com.iflytop.gd.app.service.api.CraftsService;
 import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
-import com.iflytop.gd.app.service.device.DeviceStateService;
-import com.iflytop.gd.app.service.device.DeviceStepCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;

src/main/java/com/iflytop/gd/common/enums/HeatingType.java

@@ -20,4 +20,8 @@ public enum HeatingType {
      * 恒温中
      */
     constant,
+    /**
+     * 加热完成
+     */
+    finish,
 }

src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java

@@ -3,16 +3,13 @@ package com.iflytop.gd.common.utils;
 public class LocalDateTimeUtil {
 
     /**
-     * 秒数格式化为 “HH:mm:ss” 格式。
-     * @param diffSeconds 两个时间点相差的秒数（可以为正或负）
-     * @return 格式化后的 “HH:mm:ss” 字符串
+     * 秒数格式化为 “mm:ss” 格式。
      */
     public static String formatSecondsToHMS(long diffSeconds) {
         long absSeconds = Math.abs(diffSeconds);
-        long hours = absSeconds / 3600;
-        long minutes = (absSeconds % 3600) / 60;
+        long minutes = absSeconds / 60;
         long seconds = absSeconds % 60;
-        return String.format("%02d:%02d:%02d", hours, minutes, seconds);
+        return String.format("%02d:%02d", minutes, seconds);
     }
 
 }