feat:添加溶液指令支持多试管添加一种溶液

src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

@@ -15,6 +15,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.Arrays;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -37,19 +38,23 @@ public class SolutionAddCommand extends BaseCommandHandler {
             JSONArray dataList = (JSONArray) 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);
-                Integer tubeNum = tubeSol.getInt("tubeNum");//获取试管编号
+                String tubeNum = tubeSol.getStr("tubeNum");//获取试管编号
+                int[] tubeNums = Arrays.stream(tubeNum.split(","))
+                        .mapToInt(s -> Integer.parseInt(s.trim()))
+                        .toArray();
                 JSONArray solutionList = tubeSol.getJSONArray("solutionList");
-                for (int j = 0; j < solutionList.size(); j++) {//遍历该试管应该加哪种液
-                    JSONObject addSolution = solutionList.getJSONObject(j);
-                    Long solId = addSolution.getLong("solId");
-                    Double volume = addSolution.getDouble("volume");
-                    AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                    if (acidPumpDevice == null) {
-                        throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//工艺未找到对应溶液容器
+                for (int num : tubeNums) {
+                    for (int k = 0; k < solutionList.size(); k++) {
+                        JSONObject addSolution = solutionList.getJSONObject(k);
+                        Long solId = addSolution.getLong("solId");
+                        Double volume = addSolution.getDouble("volume");
+                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
+                        if (acidPumpDevice == null) {
+                            throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//工艺未找到对应溶液容器
+                        }
+                        deviceCommandUtilService.dualRobotMovePoint(num);//移动加液机械臂到指定试管点位
+                        deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                     }
-                    deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位
-                    deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(),
-                            cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                 }
             }
             deviceCommandUtilService.dualRobotOrigin();