1

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

@@ -1,5 +1,6 @@
 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;
@@ -26,26 +27,18 @@ 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);
-//                    }
-//                });
-//            }
-            for (AcidPumpDeviceCode acidPumpDeviceCode : AcidPumpDeviceCode.values()) {
+            JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
+            for (int i = 0; i < idJsonArray.size(); i++) {
+                String idStr = idJsonArray.getStr(i);
+                CompletableFuture.runAsync(() -> {
                     try {
-                    solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDeviceCode);
+                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr));
+                        solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice);
                     } catch (Exception e) {
-                    log.error("停止预充错误", e);
+                        log.error("停止预充失败", e);
                     }
+                });
             }
-            Thread.sleep(1000);
             solutionModuleService.dualRobotOrigin();
         });
     }

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

@@ -32,7 +32,7 @@ public class HeatStartCommand extends BaseCommandHandler {
             double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature();
             //开启加热
             heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, temperature);
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeating(true);
+//            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeating(true);
         });
     }
 }

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

@@ -30,7 +30,7 @@ public class HeatStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             //关闭加热
             heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeating(false);
+//            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeating(false);
         });
     }
 }

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

@@ -69,10 +69,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true);
-            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-            if (heatModuleTray) {
+//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+//            if (heatModuleTray) {
 //                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
-            }
+//            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
             throw e;
@@ -109,8 +109,8 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
 //                trayState.setHeatModuleId(heatModuleId);
 //                trayState.setInHeatModule(true);
-                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);//下降加热模块托盘
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
+//                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);//下降加热模块托盘
+//                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
                 capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
             } finally {

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

@@ -72,10 +72,10 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true);
-            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-            if (!heatModuleTray) {
+//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+//            if (!heatModuleTray) {
 //                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
-            }
+//            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
             throw e;

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

@@ -5,7 +5,6 @@ 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;
@@ -47,13 +46,13 @@ 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);
@@ -67,29 +66,22 @@ public class SolutionAddCommand extends BaseCommandHandler {
                         List<CommandFuture> futuresList = new ArrayList<>();
                         for (int k = 0; k < solutionList.size(); k++) {
                             JSONObject addSolution = solutionList.getJSONObject(k);
-                            Long solId = addSolution.getLong("solutionId");//实际前端传递的是容器id
+                            Long solId = addSolution.getLong("solutionId");
                             Double volume = addSolution.getDouble("volume");
-                            //AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                            Container container = containerService.getById(solId);
-                            if (container == null) {
-                                throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器
+                            AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
+                            if (acidPumpDevice == 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
-//                            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
+                            CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                             futuresList.add(deviceCommandFuture);
                         }
                         CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
                     }
                 }
-                Thread.sleep(1000);
                 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

@@ -40,11 +40,22 @@ 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

@@ -61,10 +61,12 @@ public class TestController {
         return Result.success(deviceStateService.getCommandMutexState().get());
     }
 
-
-    @Operation(summary = "获取加液区锁状态")
-    @GetMapping("/module-lock-try-lock")
-    public Result<Boolean> getModuleLockTryLock() {
-        return Result.success(solutionModuleService.getModuleLockTryLock());
+    @Operation(summary = "重置状态")
+    @PostMapping("/reset")
+    public Result<?> reset() throws Exception {
+        testService.reset();
+        return Result.success();
     }
+
+
 }

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

@@ -9,8 +9,6 @@ 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
@@ -30,29 +28,17 @@ public class HeatModuleState {
     @Schema(description = "当前加热类型")
     private HeatingType heatingType =  HeatingType.stop;
 
-    @Schema(description = "是否正在加热，true为正在加热，false为未加热")//可能去掉这个状态
-    private boolean heating = false;
-
     @Schema(description = "是否启动散热，true为正在散热，false为未在散热")
     private boolean fanOpen = false;
 
     @Schema(description = "是否存在拍子，true为存在拍子，false无拍子")
     private boolean capExist = false;
 
-    @Schema(description = "加热器加热温度")
-    private Double heatTemperature = null;
-
-    @Schema(description = "加热器预热温度")
-    private Double warmUpTemperature = null;
-
     @Schema(description = "加热器目标温度")
     private Double targetTemperature = null;
 
     @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;
+    private Long targetTime = 0L;
 
     @Schema(description = "加热器当前温度")
     private Double temperature = null;

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

@@ -1,6 +1,7 @@
 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.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
@@ -17,6 +18,7 @@ import java.util.List;
 @RequiredArgsConstructor
 public class TestService {
     private final GDDeviceStatusService gdDeviceStatusService;
+    private final DeviceStateService deviceStateService;
 
     public List<AllSensorDTO> getAllSensor() throws HardwareException {
         List<AllSensorDTO> allSensorDTOList = new ArrayList<>();
@@ -38,4 +40,9 @@ public class TestService {
         return allSensorDTOList;
     }
 
+    public void reset(){
+        deviceStateService.getCommandMutexState().get().reset();
+        deviceStateService.getDeviceState().reset();
+    }
+
 }

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

@@ -65,7 +65,12 @@ public class CraftsStepService {
      */
     private boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception {
         //TODO 判断加液区是否有托盘，如果没有托盘的话，判断加热区是否有托盘，然后将其移动至加液区
-        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
+        if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 )
+                && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 0) {
+            throw new AppException(ResultCode.CRAFT_NO_TRAY);
+        }
+        if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 )
+                && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
             moveToSolutionModule(heatModuleCode);
         }
         JSONArray tubeSolList = params.getJSONArray("tubeSolList");

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

@@ -20,8 +20,6 @@ import org.springframework.stereotype.Service;
 
 import java.util.concurrent.ArrayBlockingQueue;
 import java.util.concurrent.BlockingQueue;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
 
 /**
  * 加液模块
@@ -35,7 +33,6 @@ public class SolutionModuleService {
     private final LiquidDistributionArmDriver liquidDistributionArmDriver;
     private final WebSocketSender webSocketService;
 
-    private final Lock moduleLock = new ReentrantLock();
     private final BlockingQueue<Thread> waitingQueue = new ArrayBlockingQueue<>(1);
 
     /**
@@ -48,8 +45,9 @@ public class SolutionModuleService {
     /**
      * 申请使用加液模块
      */
-    public void requestSolutionModule(String commandId, String command) {
+    public synchronized void requestSolutionModule(String commandId, String command) {
         try {
+            log.info("申请使用加液模块");
             // 如果加液模块繁忙，加入队列等待
             while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
                 if (commandId != null && command != null) {
@@ -59,7 +57,8 @@ public class SolutionModuleService {
                 // 把当前线程放到队列中等待
                 waitingQueue.put(Thread.currentThread()); // 阻塞当前线程直到被唤醒
             }
-            occupySolutionModule();
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
+            log.info("加液模块申请成功");
         } catch (InterruptedException e) {
             Thread.currentThread().interrupt();
             throw new RuntimeException("等待加液区空闲错误", e);
@@ -67,18 +66,9 @@ public class SolutionModuleService {
     }
 
     /**
-     * 占用加液模块
-     */
-    private void occupySolutionModule() {
-        moduleLock.lock();
-        deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
-    }
-
-    /**
      * 释放加液区
      */
-    public void releaseSolutionModule() throws InterruptedException {
-        try {
+    public synchronized void releaseSolutionModule() throws InterruptedException {
         deviceStateService.getDeviceState().getSolutionModule().setIdle(true);
         // 唤醒队列中的第一个线程
         if (!waitingQueue.isEmpty()) {
@@ -87,29 +77,21 @@ public class SolutionModuleService {
                 waitingThread.notify();  // 唤醒队列中的第一个等待线程
             }
         }
-        } finally {
-            if (moduleLock.tryLock()) {
-                moduleLock.unlock();
-            }
-        }
     }
 
-    public boolean getModuleLockTryLock(){
-        return moduleLock.tryLock();
-    }
 
     /**
      * 双轴械臂 移动至指定试管
      */
     public void dualRobotMovePoint(int index) throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, index);
+        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin() throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
+        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
     }
 
     /**
@@ -210,7 +192,7 @@ public class SolutionModuleService {
     /**
      * 添加溶液
      */
-    public void acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
+    public CommandFuture acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
         DeviceCommandBundle deviceCommand;
         switch (acidPumpDevice) {
             case acid_pump_01 -> {
@@ -239,8 +221,7 @@ public class SolutionModuleService {
             }
             default -> throw new RuntimeException("index 未找到");
         }
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-        CommandUtil.wait(deviceCommandFuture);
+        return deviceCommandService.sendCommand(commandId, command, deviceCommand);
     }
 
     /**

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

@@ -19,7 +19,7 @@ public class FetchTemperatureScheduledTask {
     private final GDDeviceStatusService gdDeviceStatusService;
     private final DeviceStateService deviceStateService;
 
-    @Scheduled(fixedRate = 10000)
+    @Scheduled(fixedRate = 30000)
     public void fetchTemperature() {
         try {
             if (!deviceStateService.getDeviceState().isVirtual()) {
@@ -42,14 +42,12 @@ 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()) {
-                        heatModuleState.setTemperature(heatModuleState.getTargetTemperature());
-                    } else {
-                        heatModuleState.setTemperature(26.0);
-                    }
-                }
+//                List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+//                for (HeatModuleState heatModuleState : heatModuleStateList) {
+//                    if (heatModuleState.isHeating()) {
+//                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleState.getModuleCode()).setTemperature(123.0);
+//                    }
+//                }
             }
         } catch (Exception e) {
             log.error("定时采集加热棒温度错误", e);

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

@@ -8,20 +8,6 @@ import lombok.Getter;
 @Getter
 public enum HeatingType {
     stop,
-    /**
-     * 预热中
-     */
-    warm_up,
-    /**
-     * 加热中
-     */
+    preheating,
     thermostatic,
-    /**
-     * 恒温中
-     */
-    constant,
-    /**
-     * 加热完成
-     */
-    finish,
 }

src/main/java/com/iflytop/gd/common/result/ResultCode.java

@@ -40,6 +40,7 @@ public enum ResultCode implements IResultCode, Serializable {
     CRAFT_RUNNING("4101", "工艺正在执行"),
     CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"),
     CRAFT_CONTAINER_NOT_FOUND("4005", "工艺未找到对应溶液容器"),
+    CRAFT_NO_TRAY("4005", "工艺未找到托盘"),
     //============================ 5xxx：系统 & 第三方 ============================
     SYSTEM_ERROR("5000", "系统内部错误"),
     SERVICE_UNAVAILABLE("5001", "服务暂不可用"),