同步现场代码

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

@@ -2,15 +2,18 @@ package com.iflytop.gd.app.command.control;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.HeatingType;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -24,14 +27,16 @@ public class HeatStartCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
 
+
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         String heatId = cmdDTO.getStringParam("heatId");
-        Integer time =  cmdDTO.getIntegerParam("time");
-        Integer minutes =  cmdDTO.getIntegerParam("minutes");
-        Integer seconds =  cmdDTO.getIntegerParam("seconds");
+        Integer time = cmdDTO.getIntegerParam("time");
+        Integer minutes = cmdDTO.getIntegerParam("minutes");
+        Integer seconds = cmdDTO.getIntegerParam("seconds");
         Double temperature = cmdDTO.getDoubleParam("temperature");
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+
         return runAsync(() -> {
             heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, temperature);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(time);

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

@@ -11,6 +11,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -31,6 +32,7 @@ public class HeatStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             //关闭加热
             heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setStartHeatTime(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setWarmUpTemperature(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatTemperature(null);

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

@@ -5,6 +5,7 @@ import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
@@ -21,6 +22,7 @@ import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Optional;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -46,13 +48,13 @@ public class SolutionAddCommand extends BaseCommandHandler {
                 || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() != 1){
+        if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() != 1) {
             throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY);
         }
         deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(true);
         deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
         return runAsync(() -> {
-            try{
+            try {
                 JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList"));
                 for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置
                     JSONObject tubeSol = dataList.getJSONObject(i);
@@ -68,11 +70,17 @@ public class SolutionAddCommand extends BaseCommandHandler {
                             JSONObject addSolution = solutionList.getJSONObject(k);
                             Long solId = addSolution.getLong("solutionId");
                             Double volume = addSolution.getDouble("volume");
-                            AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                            if (acidPumpDevice == null) {
+                            //AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
+                            Container container = containerService.getContainerBySolutionId(solId);
+                            if (container == null) {
                                 throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
                             }
-                            CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
+                            AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵
+                            int scale = container.getScale() == null ? 120 : container.getScale();//系数
+//                            Integer scale = Optional.ofNullable(container)
+//                                    .map(Container::getScale)
+//                                    .orElse(500);
+                            CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume * ((double) scale /100));//添加溶液
                             futuresList.add(deviceCommandFuture);
                         }
                         CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
@@ -81,7 +89,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                 solutionModuleService.dualRobotOrigin();
                 deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
-            }finally {
+            } finally {
                 deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
             }
 

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

@@ -40,22 +40,11 @@ public class TrayDownCommand extends BaseCommandHandler {
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         //从数据库获取加热位下降托盘位置
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance();
-        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
         return runAsync(() -> {
             try {
                 //下降加热位托盘
                 heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);
-//                if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) {
-//                    schedulerManager.scheduleOnce(heatModuleCode,() -> {
-//                        try {
-//                            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
-//                            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);
-//                        } catch (Exception e) {
-//                            log.error("加热完毕抬起托盘错误{}", heatModuleCode, e);
-//                        }
-//                    }, deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTargetTime(), TimeUnit.SECONDS);
-//                }
             } catch (Exception e) {
                 log.error("降下托盘失败", e);
             }

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

@@ -6,6 +6,7 @@ import com.iflytop.gd.app.service.api.TestService;
 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.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
@@ -32,7 +33,7 @@ public class TestController {
     private final TestService testService;
     private final CapModuleService capModuleService;
     private final DeviceStateService deviceStateService;
-    private final SolutionModuleService solutionModuleService;
+    private final OtherModuleService otherModuleService;
     private final DeviceEmergencyStopService deviceEmergencyStopService;
 
     @Operation(summary = "获取所有传感器读数")
@@ -84,4 +85,11 @@ public class TestController {
         deviceEmergencyStopService.release();
         return Result.success();
     }
+
+    @Operation(summary = "工艺执行完毕蜂鸣器提醒")
+    @PostMapping("/crafts-finish-beep-remind")
+    public Result<?> craftsFinishBeepRemind() throws Exception {
+        otherModuleService.craftsFinishBeepRemind();
+        return Result.success();
+    }
 }

src/main/java/com/iflytop/gd/app/core/CraftsContext.java

@@ -94,7 +94,7 @@ public class CraftsContext implements Runnable {
                 }
             }
             if (sm.getState().getId() == CraftStates.RUNNING) {
-                craftsStepService.finish(heatModuleCode);
+                craftsStepService.finish(heatModuleCode);//工艺执行完毕将托盘移动至加液模块
                 Message<CraftEvents> finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build();
                 Mono.from(sm.sendEvent(Mono.just(finishMsg))).block();
             }

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

@@ -9,6 +9,8 @@ import lombok.RequiredArgsConstructor;
 import org.springframework.context.annotation.Scope;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
+
 @Schema(description = "加热模块")
 @Data
 @Component
@@ -46,6 +48,9 @@ public class HeatModuleState {
     @Schema(description = "加热器目标加热时间，单位秒")
     private Integer targetTime = null;
 
+    @Schema(description = "开始加热时间")
+    private LocalDateTime startHeatTime = null;
+
     @Schema(description = "加热器当前温度")
     private Double temperature = null;
 

src/main/java/com/iflytop/gd/app/model/entity/Container.java

@@ -34,6 +34,10 @@ public class Container extends BaseEntity {
     @Schema(description = "泵id")
     private String pumpId;
 
+
+    @Schema(description = "加液系数")
+    private Integer scale=120;
+
     @Positive(message = "总容量 必须是正数")
     @NotNull
     @Schema(description = "总容量")

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

@@ -33,6 +33,13 @@ public class ContainerService extends ServiceImpl<ContainerMapper, Container> {
         }
         return null;
     }
+    /**
+     * 根据溶液id获取容器
+     */
+    public Container getContainerBySolutionId(Long solutionId) {
+        Container container = this.getOne(new LambdaQueryWrapper<Container>().eq(Container::getSolutionId, solutionId));
+        return container;
+    }
 
     /**
      * 根据容器id获取泵id

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

@@ -9,20 +9,24 @@ import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService;
 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.GantryModuleService;
-import com.iflytop.gd.app.service.device.module.HeatModuleService;
-import com.iflytop.gd.app.service.device.module.SolutionModuleService;
+import com.iflytop.gd.app.service.device.module.*;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 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.drivers.DODriver.OutputIOCtrlDriver;
+import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
+import com.iflytop.gd.hardware.exception.HardwareException;
+import com.iflytop.gd.hardware.type.IO.OutputIOMId;
+import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.concurrent.CompletableFuture;
+
 /**
  * 工艺步骤执行服务
  */
@@ -40,6 +44,7 @@ public class CraftsStepService {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final DeviceCommandTempUtilService deviceCommandTempUtilService;
+    private final OtherModuleService otherModuleService;
 
     /**
      * 执行单个工艺步骤
@@ -160,6 +165,8 @@ public class CraftsStepService {
      */
     public void finish(HeatModuleCode heatModuleCode) throws Exception {
         moveToSolutionModule(heatModuleCode);
+        //蜂鸣器提示
+        otherModuleService.craftsFinishBeepRemind();
     }
 
     /**

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

@@ -65,7 +65,7 @@ public class DeviceInitService {
                     try {
                         tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE);
                     } catch (HardwareException e) {
-                        log.error("设备初始化灯光失败，Color.BLUE");
+                        log.error("设备初始化灯光失败，Color.BLUE", e);
                     }
                 });
                 initDeviceState();
@@ -75,7 +75,7 @@ public class DeviceInitService {
                 try {
                     tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN);
                 } catch (HardwareException e) {
-                    log.error("设备初始化灯光失败，Color.GREEN");
+                    log.error("设备初始化灯光失败，Color.GREEN", e);
                 }
                 deviceStateService.getDeviceState().setInitComplete(true);
                 log.info("初始化完毕");

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

@@ -4,8 +4,10 @@ import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.app.model.bo.Notification;
 import com.iflytop.gd.app.model.dto.WebsocketResult;
 import com.iflytop.gd.common.constant.WebSocketMessageType;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+@Slf4j
 @Component
 public class WebSocketSender {
 
@@ -14,6 +16,7 @@ public class WebSocketSender {
         websocketResult.setType(type);
         websocketResult.setData(data);
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
+        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
     }
 
     public void pushCraftsDebug(Object data) {
@@ -32,6 +35,9 @@ public class WebSocketSender {
         push(WebSocketMessageType.SELF_MOVE_TEST, data);
     }
 
+    public void pushHeatCountdown(Object data) {
+        push(WebSocketMessageType.HEAT_COUNTDOWN, data);
+    }
 
     public void pushNotification(Notification notification) {
         push("notification", notification);

src/main/java/com/iflytop/gd/common/constant/WebSocketMessageType.java

@@ -43,4 +43,9 @@ public class WebSocketMessageType {
      */
     public static final String CMD_DEBUG = "cmd_debug";
 
+    /**
+     * 加热倒计时
+     */
+    public static final String HEAT_COUNTDOWN = "heat_countdown";
+
 }

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

@@ -8,6 +8,16 @@ import lombok.Getter;
 @Getter
 public enum HeatingType {
     stop,
+    /**
+     * 预热中
+     */
     warm_up,
+    /**
+     * 加热中
+     */
     thermostatic,
+    /**
+     * 恒温中
+     */
+    constant,
 }

src/main/resources/sql/init.sql

@@ -50,20 +50,21 @@ CREATE TABLE IF NOT EXISTS container
     capacity_total INTEGER,
     capacity_used  INTEGER,
     filled         REAL,
+    scale          INTEGER,
     create_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
 
-INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, capacity_total, capacity_used)
-VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 5000, 0),
-       (2, 0, 'container_02', 2, 'acid_pump_02', 5000, 2500),
-       (3, 0, 'container_03', 3, 'acid_pump_03', 5000, 2600),
-       (4, 0, 'container_04', 4, 'acid_pump_04', 5000, 4000),
-       (5, 0, 'container_05', 5, 'acid_pump_05', 5000, 2400),
-       (6, 0, 'container_06', 6, 'acid_pump_06', 5000, 4500),
-       (7, 0, 'container_07', 7, 'acid_pump_07', 5000, 4900),
-       (8, 0, 'container_08', 3, 'acid_pump_08', 5000, 100),
-       (9, 1, 'container_09', NULL, null, 5000, 0);
+INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, scale,capacity_total, capacity_used)
+VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 120,5000, 0),
+       (2, 0, 'container_02', 2, 'acid_pump_02', 100,5000, 2500),
+       (3, 0, 'container_03', 3, 'acid_pump_03', 111,5000, 2600),
+       (4, 0, 'container_04', 4, 'acid_pump_04', 107,5000, 4000),
+       (5, 0, 'container_05', 5, 'acid_pump_05', 117,5000, 2400),
+       (6, 0, 'container_06', 6, 'acid_pump_06', 105,5000, 4500),
+       (7, 0, 'container_07', 7, 'acid_pump_07', 187,5000, 4900),
+       (8, 0, 'container_08', 3, 'acid_pump_08', 120,5000, 100),
+       (9, 1, 'container_09', NULL, null, 120,5000, 0);
 
 
 -- solutions 溶液 表