1

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

@@ -19,6 +19,7 @@ import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.statemachine.config.StateMachineFactory;
 import org.springframework.stereotype.Service;
 
@@ -34,6 +35,7 @@ import java.util.stream.Collectors;
 /**
  * 工艺接口服务
  */
+@Slf4j
 @Service
 @RequiredArgsConstructor
 public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
@@ -89,27 +91,30 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
      */
     public synchronized SetCraftsVO startCrafts(Long craftId, HeatModuleCode heatModuleCode) {
         Crafts craft = this.getById(craftId);
-        if(craft == null) {
+        if (craft == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
         }
         Ores ores = oresService.getById(craft.getOresId());
-        if(ores == null) {
+        if (ores == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
         }
         //判断是否指定加热区id
         if (heatModuleCode == null) {
             //如果没有指定加热区id，则自动获取一个
             HeatModuleState heatModuleState = heatModuleService.getIdleHeatModule();
-            if(heatModuleState == null){
+            if (heatModuleState == null) {
+                log.error("自动分配工艺失败，无空闲加热模块。");
                 throw new AppException(ResultCode.HEAT_MODULE_NO_IDLE);
-            }else{
+            } else {
                 heatModuleCode = heatModuleState.getModuleCode();
             }
-        }else{
+        } else {
             if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺
+                log.error("工艺正在执行中，不可重复开始执行。");
                 throw new AppException(ResultCode.CRAFT_RUNNING);
             }
         }
+        log.info("准备开始工艺，加热模块{},工艺{}", heatModuleCode, craft.getName());
         //TODO 传感器校验heatModuleCode是否被占用
 
         // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置

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

@@ -65,7 +65,9 @@ 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){
             moveToSolutionModule(heatModuleCode);
+        }
         JSONArray tubeSolList = params.getJSONArray("tubeSolList");
         for (int i = 0; i < tubeSolList.size(); i++) {
             JSONObject tubeSol = tubeSolList.getJSONObject(i);

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

@@ -26,6 +26,7 @@ import java.util.concurrent.CompletableFuture;
 @Service
 @RequiredArgsConstructor
 public class DeviceCommandTempUtilService {
+    private final DeviceCommandService deviceCommandService;
     private final HeatModuleService heatModuleService;
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
@@ -37,7 +38,7 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会恢复之前升起的状态
      */
-    public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) {
+    public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
     }
 
@@ -46,29 +47,24 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会恢复之前升起的状态
      */
-    public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) {
+    public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
+        List<CommandFuture> futuresList = new ArrayList<>();
         for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
             if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
-                CompletableFuture.runAsync(() -> {
-                    try {
-                        heatModuleService.heaterMotorMove(cmdId, cmdCode, heatModuleCode, trayLift);
-                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态
-                    } catch (Exception e) {
-                        log.error("避让抬升错误:{}", heatModuleCode, e);
-                    }
-                });
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                futuresList.add(deviceCommandFuture);
             }
         }
         if (targetHeatModuleCode != null) {
-            CompletableFuture.runAsync(() -> {
-                try {
-                    heatModuleService.heaterMotorMove(cmdId, cmdCode, targetHeatModuleCode, trayLift);
-                    deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayUp(1);//加热模块托盘升降状态
-                } catch (Exception e) {
-                    log.error("避让抬升错误:{}", targetHeatModuleCode, e);
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            futuresList.add(deviceCommandFuture);
         }
-            });
+        CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态
         }
     }
 
@@ -86,7 +82,7 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会下降所有升起的加热模块并且记录
      */
-    public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) {
+    public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUpStateList.clear();
         List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
@@ -95,26 +91,21 @@ public class DeviceCommandTempUtilService {
             if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) {
                 if (heatModuleState.getTrayUp() == 1) {
                     HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
-                    CompletableFuture.runAsync(() -> {
-                        try {
-                            heatModuleService.heaterMotorMove(cmdId, cmdCode, heatModuleCode, trayLower);
-                            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
-                        } catch (Exception e) {
-                            log.error("避让下降错误:{}", heatModuleCode, e);
-                        }
-                    });
+                    DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                    moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
+                    futuresList.add(deviceCommandFuture);
                 }
             }
         }
         if (targetHeatModuleCode != null) {
-            CompletableFuture.runAsync(() -> {
-                try {
-                    heatModuleService.heaterMotorMove(cmdId, cmdCode, targetHeatModuleCode, trayLower);
-                    deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayUp(0);//加热模块托盘升降状态
-                } catch (Exception e) {
-                    log.error("避让下降错误:{}", targetHeatModuleCode, e);
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            futuresList.add(deviceCommandFuture);
         }
-            });
+        CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
         }
     }