1

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

@@ -5,18 +5,21 @@ import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.CraftsDebugGenerator;
 import com.iflytop.gd.app.model.bo.CraftsStep;
 import com.iflytop.gd.app.model.bo.Point3D;
+import com.iflytop.gd.app.model.entity.Container;
 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.*;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
+import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.HeatingType;
 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.common.utils.CommandUtil;
 import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
 import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
 import com.iflytop.gd.hardware.exception.HardwareException;
@@ -88,14 +91,17 @@ public class CraftsStepService {
                 JSONObject addLiquid = addLiquidList.getJSONObject(j);
                 Long solId = addLiquid.getLong("solId");
                 Double volume = addLiquid.getDouble("volume");
-                AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
-                if (acidPumpDevice == null) {
-                    throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
+                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
                 }
+                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));
-                solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
+                CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液
+                CommandUtil.wait(deviceCommandFuture);
             }
         }
         solutionModuleService.dualRobotOrigin();
@@ -127,12 +133,14 @@ public class CraftsStepService {
         Double temperature = params.getDouble("temperature");
         Integer second = params.getInt("second");
         heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic);
         //达到目标温度后才算开始加热
         while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) {
             delay(1);
         }
         delay(second);
         heatModuleService.heatRodClose(heatModuleCode);//停止加热
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);
         heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
         return true;
     }
@@ -171,7 +179,7 @@ public class CraftsStepService {
     public void finish(HeatModuleCode heatModuleCode) throws Exception {
         moveToSolutionModule(heatModuleCode);
         //蜂鸣器提示
-        otherModuleService.craftsFinishBeepRemind();
+//        otherModuleService.craftsFinishBeepRemind();
     }
 
     /**

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

@@ -186,8 +186,8 @@ public class SolutionModuleService {
     /**
      * 添加溶液
      */
-    public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
-        acidPumpMoveBy(null, null, acidPumpDevice, position);
+    public CommandFuture acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
+        return acidPumpMoveBy(null, null, acidPumpDevice, position);
     }
 
     /**

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

@@ -1,6 +1,5 @@
 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;
@@ -10,8 +9,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
-import java.util.List;
-
 @Slf4j
 @Service
 @RequiredArgsConstructor
@@ -19,7 +16,7 @@ public class FetchTemperatureScheduledTask {
     private final GDDeviceStatusService gdDeviceStatusService;
     private final DeviceStateService deviceStateService;
 
-    @Scheduled(fixedRate = 300000)
+    @Scheduled(fixedRate = 10000)
     public void fetchTemperature() {
         try {
             if (!deviceStateService.getDeviceState().isVirtual()) {

src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java

@@ -61,6 +61,9 @@ public class DoorHandler extends CommandHandler {
         } else if (command.getAction() == CmdAction.move_end) {
             driver_.moveToEnd(stepMotorMId);
         }
+        else if(command.getAction() == CmdAction.move_end) {
+            driver_.moveToEnd(stepMotorMId);
+        }
     }
 }