feat:定义分区

src/main/java/com/iflytop/gd/app/mapper/SystemConfigMapper.java

@@ -0,0 +1,14 @@
+package com.iflytop.gd.app.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.gd.app.model.entity.Ores;
+import com.iflytop.gd.app.model.entity.SystemConfig;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 系统配置持久层接口
+ */
+@Mapper
+public interface SystemConfigMapper extends BaseMapper<SystemConfig> {
+
+}

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

@@ -0,0 +1,22 @@
+package com.iflytop.gd.app.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.gd.infrastructure.repository.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "系统配置")
+@TableName("system_config")
+@Data
+public class SystemConfig extends BaseEntity {
+
+    @NotBlank
+    @Schema(description = "配置键")
+    private String key;
+
+    @Schema(description = "配置值")
+    private String value;
+}

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

@@ -18,7 +18,6 @@ public class CraftsStepService {
      * @param heatId 加热区 ID
      * @param step    工艺步骤，包括 method 和 params
      * @return        true 表示执行成功，false 表示失败
-     * @throws InterruptedException 如果延时被中断
      */
     public boolean executeStep(String heatId, CraftsStep step){
         String method = step.getMethod();
@@ -26,7 +25,8 @@ public class CraftsStepService {
         delay(3);
         return switch (method) {
             case "ADD_LIQUID"     -> addLiquid(heatId, params);
-            case "SHAKING"        -> shaking(heatId, params);
+            case "SHAKING"        -> shaking(params);
+            case "HEATING"        -> heating(heatId, params);
             case "TAKE_PHOTO"     -> takePhoto(heatId);
             default                 -> true;
         };
@@ -36,15 +36,38 @@ public class CraftsStepService {
      * 添加溶液
      */
     private boolean addLiquid(String heatId, JSONObject params) {
-        // TODO: 从 params 中获取溶液类型、体积等参数并调用设备服务
+        //if 判断加液区是否空闲
+            //等待空闲
+        //if 判断托盘电机是否升起
+            //升起托盘
+        //if 判断托盘是否有拍子
+            //将机械臂移动至托盘上方
+            //下降机械臂使夹爪可以夹住拍子
+            //夹住拍子
+            //机械臂提升至安全高度
+            //下降拍子存放区1个位置
+            //将机械臂移动至拍子存放区上方
+            //下降机械臂
+            //松开夹爪
+        //将机械臂移动至托盘上方
+        //下降机械臂使夹爪可以夹住托盘
+        //机械臂提升至安全位置
+        //移动机械臂至加液区
+        //下降机械臂将托盘与试管落入加液区
+        //松开夹爪
+        //提升机械臂至安全高度
+        //for 根据工艺配置添加溶液
+            //加液机械臂移动至第N个试管
+            //启动x加液泵添加m毫升溶液
         return true;
     }
 
     /**
      * 摇匀操作
      */
-    private boolean shaking(String heatId, JSONObject params) {
-        // TODO: 从 params 中获取速度、时长等参数并调用设备服务
+    private boolean shaking(JSONObject params) {
+        //判断加液区是否有托盘
+        //进行摇匀
         return true;
     }
 
@@ -52,7 +75,26 @@ public class CraftsStepService {
      * 加热
      */
     private boolean heating(String heatId, JSONObject params) {
-        // TODO: 从 params 中获取温度、时长等参数并调用设备服务
+        //if 判断加液区是否有托盘
+            //将机械臂移动至加液区托盘上方
+            //下降机械臂使夹爪可以夹住托盘
+            //夹住托盘
+            //将托盘提升至安全高度
+            //将机械臂移动至加热区上方
+            //下降机械臂使托盘与试管落入加热区
+            //将机械臂提升至安全高度
+            //移动机械臂至拍子存放区上方
+            //下降机械臂使夹爪可以夹住拍子
+            //提升机械臂携带拍子至安全高度
+            //将机械臂移动至加热区托盘上方
+            //降下机械臂使拍子盖住托盘试管
+            //松开夹爪
+            //提升机械臂至安全高度
+            //降下托盘
+            //根据配置开始加热
+        //else
+            //根据配置开始加热
+        //加热结束，提升托盘
         return true;
     }
 
@@ -60,7 +102,28 @@ public class CraftsStepService {
      * 拍照操作·
      */
     private boolean takePhoto(String heatId) {
-        // TODO: 调用相机或设备服务执行拍照
+        //if 判断加液位是否有托盘
+            //进行拍照
+        //else
+            //if 判断托盘电机是否升起
+                //升起托盘
+            //if 判断托盘是否有拍子
+                //将机械臂移动至托盘上方
+                //下降机械臂使夹爪可以夹住拍子
+                //夹住拍子
+                //机械臂提升至安全高度
+                //下降拍子存放区1个位置
+                //将机械臂移动至拍子存放区上方
+                //下降机械臂
+                //松开夹爪
+            //将机械臂移动至托盘上方
+            //下降机械臂使夹爪可以夹住托盘
+            //机械臂提升至安全位置
+            //移动机械臂至加液区
+            //下降机械臂将托盘与试管落入加液区
+            //松开夹爪
+            //提升机械臂至安全高度
+            //进行拍照
         return true;
     }
 

src/main/java/com/iflytop/gd/app/service/SystemConfigService.java

@@ -0,0 +1,19 @@
+package com.iflytop.gd.app.service;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.iflytop.gd.app.mapper.SystemConfigMapper;
+import com.iflytop.gd.app.model.entity.SystemConfig;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 系统配置业务实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class SystemConfigService extends ServiceImpl<SystemConfigMapper, SystemConfig> {
+
+    private final SystemConfigMapper systemConfigMapper;
+
+
+}

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

@@ -0,0 +1,34 @@
+package com.iflytop.gd.common.enums;
+
+/**
+ * 加热模块id枚举
+ * 格式为 "heat_module_01" ~ "heat_module_06"
+ */
+public enum HeatModuleId {
+    MODULE_01("heat_module_01"),
+    MODULE_02("heat_module_02"),
+    MODULE_03("heat_module_03"),
+    MODULE_04("heat_module_04"),
+    MODULE_05("heat_module_05"),
+    MODULE_06("heat_module_06");
+
+    private final String id;
+
+    HeatModuleId(String id) {
+        this.id = id;
+    }
+
+    /**
+     * 获取对应的加热模块 ID
+     *
+     * @return 模块唯一标识
+     */
+    public String getId() {
+        return id;
+    }
+
+    @Override
+    public String toString() {
+        return id;
+    }
+}

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

@@ -0,0 +1,9 @@
+package com.iflytop.gd.common.enums;
+
+/**
+ * 托盘升降状态
+ */
+public enum TrayLiftStatus {
+    UP,
+    DOWN
+}

src/main/java/com/iflytop/gd/infrastructure/modules/CapArea.java

@@ -1,7 +0,0 @@
-package com.iflytop.gd.infrastructure.modules;
-
-/**
- * 拍子存放区
- */
-public class CapArea {
-}

src/main/java/com/iflytop/gd/infrastructure/modules/Device.java

@@ -0,0 +1,36 @@
+package com.iflytop.gd.infrastructure.modules;
+
+import com.iflytop.gd.infrastructure.modules.area.*;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Component;
+
+@Component
+@RequiredArgsConstructor
+public class Device {
+    /**
+     * 加热区
+     */
+    private final HeatArea heatArea;
+    /**
+     * 加液区
+     */
+    private final LiquidArea liquidArea;
+    /**
+     * 导轨机械臂
+     */
+    private final RailArmArea railArmArea;
+    /**
+     * 拍子存放区
+     */
+    private final CapArea capArea;
+    /**
+     * 冷阱
+     */
+    private final ColdTrapArea coldTrapArea;
+    /**
+     * 门
+     */
+    private final DoorArea doorArea;
+
+
+}

src/main/java/com/iflytop/gd/infrastructure/modules/HeatArea.java

@@ -1,7 +0,0 @@
-package com.iflytop.gd.infrastructure.modules;
-
-/**
- * 加热区
- */
-public class HeatArea {
-}

src/main/java/com/iflytop/gd/infrastructure/modules/LiquidArea.java

@@ -1,7 +0,0 @@
-package com.iflytop.gd.infrastructure.modules;
-
-/**
- * 加液区
- */
-public class LiquidArea {
-}

src/main/java/com/iflytop/gd/infrastructure/modules/RailArm.java

@@ -1,7 +0,0 @@
-package com.iflytop.gd.infrastructure.modules;
-
-/**
- * 导轨机械臂
- */
-public class RailArm {
-}

src/main/java/com/iflytop/gd/infrastructure/modules/area/CapArea.java

@@ -0,0 +1,10 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import org.springframework.stereotype.Component;
+
+/**
+ * 拍子存放区
+ */
+@Component
+public class CapArea {
+}

src/main/java/com/iflytop/gd/infrastructure/modules/area/ColdTrapArea.java

@@ -0,0 +1,10 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import org.springframework.stereotype.Component;
+
+/**
+ * 冷阱
+ */
+@Component
+public class ColdTrapArea {
+}

src/main/java/com/iflytop/gd/infrastructure/modules/area/DoorArea.java

@@ -0,0 +1,10 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import org.springframework.stereotype.Component;
+
+/**
+ * 门
+ */
+@Component
+public class DoorArea {
+}

src/main/java/com/iflytop/gd/infrastructure/modules/area/HeatArea.java

@@ -0,0 +1,36 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import com.iflytop.gd.common.enums.HeatModuleId;
+import com.iflytop.gd.infrastructure.modules.model.bo.HeatModule;
+import com.iflytop.gd.system.devices.StepMotor;
+import jakarta.annotation.PostConstruct;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+/**
+ * 加热区
+ */
+@Component
+public class HeatArea {
+    /**
+     * 加热模块
+     */
+    private final List<HeatModule> heatModuleList = Collections.synchronizedList(new ArrayList<>());
+
+    @PostConstruct
+    private void init(){
+        for (HeatModuleId moduleId : HeatModuleId.values()) {
+            HeatModule heatModule = new HeatModule();
+            heatModule.setHeatId(moduleId);
+//            heatModule.setLiftMotor();
+
+
+            heatModuleList.add(heatModule);
+            System.out.println("模块枚举名: " + moduleId.name()
+                    + "，模块 ID: " + moduleId.getId());
+        }
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/modules/area/LiquidArea.java

@@ -0,0 +1,10 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液区
+ */
+@Component
+public class LiquidArea {
+}

src/main/java/com/iflytop/gd/infrastructure/modules/area/RailArmArea.java

@@ -0,0 +1,10 @@
+package com.iflytop.gd.infrastructure.modules.area;
+
+import org.springframework.stereotype.Component;
+
+/**
+ * 导轨机械臂
+ */
+@Component
+public class RailArmArea {
+}

src/main/java/com/iflytop/gd/infrastructure/modules/model/bo/HeatModule.java

@@ -0,0 +1,67 @@
+package com.iflytop.gd.infrastructure.modules.model.bo;
+
+import com.iflytop.gd.common.enums.HeatModuleId;
+import com.iflytop.gd.common.enums.TrayLiftStatus;
+import com.iflytop.gd.system.devices.StepMotor;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Duration;
+import java.time.LocalDateTime;
+
+/**
+ * 加热区的加热模块
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+@Builder
+public class HeatModule {
+    /**
+     * 加热区ID
+     */
+    private HeatModuleId heatId;
+
+    /**
+     * 升降电机
+     */
+    private StepMotor liftMotor;
+
+    /**
+     * 当前升降状态：抬起(RAISED) 或 降下(LOWERED)
+     */
+    private TrayLiftStatus liftStatus = TrayLiftStatus.DOWN;
+
+    /**
+     * 是否正在加热
+     */
+    private boolean heating = false;
+
+    /**
+     * 目标温度，单位：摄氏度
+     */
+    private double targetTemperature = 0;
+
+    /**
+     * 开始加热时间
+     */
+    private LocalDateTime startHeatingTime;
+
+    /**
+     * 加热持续时间
+     */
+    private Duration heatingDuration;
+
+    /**
+     * 是否存在托盘
+     */
+    private boolean hasTray = false;
+
+    /**
+     * 是否存在拍子
+     */
+    private boolean hasCap = false;
+
+}

src/main/resources/sql/init.sql

@@ -78,7 +78,7 @@ VALUES
     (6, '磷酸',   '2025-02-18 02:46:43', '2025-02-18 02:46:43'),
     (7, '纯水',   '2025-02-18 02:46:50', '2025-02-18 02:46:50');
 
--- 设备参数配置表
+-- 设备参数配置 表
 CREATE TABLE IF NOT EXISTS device_param_config (
     id           INTEGER PRIMARY KEY AUTOINCREMENT,
     mid          TEXT,
@@ -87,3 +87,12 @@ CREATE TABLE IF NOT EXISTS device_param_config (
     create_time  TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time  TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
+
+-- 系统配置 表
+CREATE TABLE IF NOT EXISTS system_config (
+     id            INTEGER PRIMARY KEY AUTOINCREMENT,
+     key    TEXT    NOT NULL UNIQUE,
+     value  TEXT,
+     create_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+     update_time   TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);