From 87360634894ba7ff8e890bec1dca4bb818ead9fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= <baifengji@163.com>
Date: Thu, 5 Jun 2025 17:15:56 +0800
Subject: [PATCH] 1

---
 .../gd/app/service/crafts/CraftsStepService.java   | 52 ++++++++++------------
 1 file changed, 23 insertions(+), 29 deletions(-)

diff --git a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
index f6dd6f7..62b9f1b 100644
--- a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
+++ b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
@@ -5,6 +5,8 @@ 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.bo.status.device.TrayState;
+import com.iflytop.gd.app.model.bo.status.device.TubeState;
 import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
@@ -66,7 +68,6 @@ public class CraftsStepService {
      * 将托盘从加热区移动至加液区并且添加溶液
      */
     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 )
                 && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 0) {
             throw new AppException(ResultCode.CRAFT_NO_TRAY);
@@ -75,33 +76,26 @@ public class CraftsStepService {
                 && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
             moveToSolutionModule(heatModuleCode);
         }
-
-        JSONArray tubeNums = params.getJSONArray("tubeNums");
-        for (int i = 0; i < tubeNums.size(); i++) {
-            JSONObject tubeSol = tubeNums.getJSONObject(i);
-            Integer tubeNum = tubeSol.getInt("tubeNum");
-
-        }
-
-
-        JSONArray tubeSolList = params.getJSONArray("tubeSolList");
-        for (int i = 0; i < tubeSolList.size(); i++) {
-            JSONObject tubeSol = tubeSolList.getJSONObject(i);
-            Integer tubeNum = tubeSol.getInt("tubeNum");
-            JSONArray addLiquidList = tubeSol.getJSONArray("addLiquidList");
-            for (int j = 0; j < addLiquidList.size(); j++) {
-                JSONObject addLiquid = addLiquidList.getJSONObject(j);
-                Long solId = addLiquid.getLong("solId");
-                Double volume = addLiquid.getDouble("volume");
-                Container container = containerService.getContainerBySolutionId(solId);
-                if (container == null) {
-                    throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器
+        JSONArray addLiquidList = params.getJSONArray("addLiquidList");
+        TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode);
+        TubeState[] tubeArray = trayState.getTubes();
+        for (TubeState tubeState : tubeArray) {
+            int tubeNum = tubeState.getTubeNum();
+            if(tubeNum > 0){
+                for (int i = 0; i < addLiquidList.size(); i++) {
+                    JSONObject addLiquid = addLiquidList.getJSONObject(i);
+                    Long containerId = addLiquid.getLong("containerId");
+                    Double volume = addLiquid.getDouble("volume");
+                    Container container = containerService.getById(containerId);
+                    if (container == null) {
+                        throw new AppException(ResultCode.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
+                    solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
+                    CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液
+                    CommandUtil.wait(deviceCommandFuture);
                 }
-                AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵
-                int scale = container.getScale() == null ? 120 : container.getScale();//系数
-                solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
-                CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液
-                CommandUtil.wait(deviceCommandFuture);
             }
         }
         solutionModuleService.dualRobotOrigin();
@@ -112,7 +106,7 @@ public class CraftsStepService {
      * 摇匀操作
      */
     private boolean shaking(HeatModuleCode heatModuleCode, JSONObject params) throws Exception {
-        if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {//TODO 实际应该从传感器获取托盘状态
+        if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {
             moveToSolutionModule(heatModuleCode);
         }
         Integer second = params.getInt("second");
@@ -154,7 +148,7 @@ public class CraftsStepService {
             moveToSolutionModule(heatModuleCode);
         }
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开启补光灯", 100.0));
-        solutionModuleService.fillLightOpen(100.0);//TODO 开启补光灯 亮度从数据库获取
+        solutionModuleService.fillLightOpen(100.0);
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "拍照", null));
         solutionModuleService.takePhoto();//拍照
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "关闭补光灯", null));