编辑工艺功能优化，工艺优化

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

@@ -121,7 +121,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
                 capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);Thread.sleep(4000);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);Thread.sleep(2500);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子

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

@@ -103,20 +103,14 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起
-
-                double newTrayLift = trayLift; //TODO 临时调整位置
-                if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                    newTrayLift = trayLift - 10;
-                }
-
-                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
                 capModuleService.capMotorMoveByNumNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1);//拍子存放模块下降1个拍子位置
                 deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(4000);//抬升z轴
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(2000);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
                 deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 临时避 恢复抬起状态
                 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区

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

@@ -46,12 +46,7 @@ public class TrayUpCommand extends BaseCommandHandler {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
         return runAsync(() -> {
             try {
-                //抬升加热位托盘
-                double newTrayLift = trayLift; //TODO 临时调整位置
-                if (HeatModuleCode.heat_module_05.equals(heatModuleCode)) {
-                    newTrayLift = trayLift - 10;
-                }
-                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);
             } catch (Exception e) {
                 log.error("抬起托盘失败", e);

src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java

@@ -48,13 +48,7 @@ public class DebugShowSmogCommand extends BaseCommandHandler {
         Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位
         return runAsync(() -> {
             gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
-
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
-
-            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
+            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
             gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
             gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
             gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子

src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java

@@ -67,13 +67,7 @@ public class TrayOutCommand extends BaseCommandHandler {
                 solutionModuleService.requestSolutionModule();//申请使用加液区并等待
                 capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
-
-                double newTrayLift = trayLift; //TODO 临时调整位置
-                if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                    newTrayLift = trayLift - 10;
-                }
-
-                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子

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

@@ -29,6 +29,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -118,20 +119,26 @@ public class CraftsStepService {
                 && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
             moveToSolutionModule(heatModuleCode);
         }
-        JSONArray addLiquidList = params.getJSONArray("addLiquidList");
+        JSONArray addLiquidList = params.getJSONArray("list");
         TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode);
         TubeState[] tubeArray = trayState.getTubes();
-        for (TubeState tubeState : tubeArray) {
-            int tubeNum = tubeState.getTubeNum();
-            if (tubeNum > 0) {
-                log.info("工艺{},移动加液机械臂到指定试管", heatModuleCode);
+        for (int i = 0; i < addLiquidList.size(); i++) {
+            JSONObject addLiquidObject = addLiquidList.getJSONObject(i);
+            int tubeNum = addLiquidObject.getInt("tubeNum");
+            TubeState tubeState = tubeArray[tubeNum - 1];
+            if (tubeState.isNeedAddSolution()) {
+                log.info("工艺{},移动加液机械臂到指定试管（{}）", heatModuleCode, tubeNum);
                 solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
                 List<CommandFuture> futuresList = new ArrayList<>();
-                for (int i = 0; i < addLiquidList.size(); i++) {
-                    JSONObject addLiquid = addLiquidList.getJSONObject(i);
-                    Long containerId = addLiquid.getLong("containerId");
+                for (int j = 0; j < addLiquidList.size(); j++) {
+                    JSONObject addLiquid = addLiquidList.getJSONObject(j);
+                    Long solutionId = addLiquid.getLong("solutionId");
                     Double volume = addLiquid.getDouble("volume");
-                    Container container = containerService.getById(containerId);
+                    Double offset = addLiquid.getDouble("offset");
+                    if(offset != null){
+                        volume += offset;
+                    }
+                    Container container = containerService.getContainerBySolutionId(solutionId);
                     if (container == null) {
                         throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器
                     }
@@ -172,10 +179,13 @@ public class CraftsStepService {
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取托盘升降下降距离位置
         moveToHeatModule(heatModuleCode);
 
+        Double inTemperature = params.getDouble("inTemperature");
         Double targetTemperature = params.getDouble("temperature");
         Integer second = params.getInt("second");
-
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(second);
+        Integer coolingSecond = params.getInt("coolingSecond");
         Double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature();
+
         if (temperature > targetTemperature) {
             log.info("工艺{},开启风扇降温中", heatModuleCode);
             heatModuleService.fanStart(heatModuleCode);
@@ -191,6 +201,15 @@ public class CraftsStepService {
             heatModuleService.heatRodOpen(heatModuleCode, targetTemperature);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.warm_up);
             log.info("工艺{},等待升温", heatModuleCode);
+            if (inTemperature != null) {
+                while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 10 < inTemperature) {
+                    delay(1);
+                }
+                log.info("工艺{},温度达到可以放入的温度，下降加热模块托盘", heatModuleCode);
+                heatModuleService.heaterMotorMove(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
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setStartHeatTime(LocalDateTime.now());
+            }
             while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < targetTemperature) {
                 delay(1);
             }
@@ -201,10 +220,18 @@ public class CraftsStepService {
         log.info("工艺{},温度合适，下降加热模块托盘", heatModuleCode);
         heatModuleService.heaterMotorMove(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
-        delay(second);
+        if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getStartHeatTime() == null) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setStartHeatTime(LocalDateTime.now());
+        }
+        LocalDateTime startHeatTime = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getStartHeatTime();
+        LocalDateTime endHeatTime = startHeatTime.plusSeconds(second);
+        while (LocalDateTime.now().isBefore(endHeatTime)) {
+            delay(1);
+        }
         log.info("工艺{},加热完成", heatModuleCode);
         log.info("工艺{},抬升加热位托盘", heatModuleCode);
         heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
+        delay(coolingSecond);
         return true;
     }
 
@@ -351,13 +378,7 @@ public class CraftsStepService {
         gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起
         log.info("工艺{},抬升指定加热位托盘", heatModuleCode);
-
-        double newTrayLift = trayLift; //TODO 临时调整位置
-        if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-            newTrayLift = trayLift - 10;
-        }
-
-        heatModuleService.heaterMotorMove(heatModuleCode, newTrayLift);//抬升指定加热位托盘
+        heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘
         log.info("工艺{},将夹爪打开，准备夹取拍子", heatModuleCode);
         gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子
         log.info("工艺{},下降z轴,使夹爪落入加热模块拍子孔位", heatModuleCode);

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

@@ -58,21 +58,14 @@ public class DeviceCommandTempUtilService {
     public void moveTrayHeatModuleAvoidUpNoWait(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
         for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
             if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
-                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
                 deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
             }
         }
         if (targetHeatModuleCode != null) {
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
-            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, newTrayLift);
+
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
             deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         }
         for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
@@ -89,22 +82,14 @@ public class DeviceCommandTempUtilService {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
         List<CommandFuture> futuresList = new ArrayList<>();
         for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
             if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
-                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
         }
         if (targetHeatModuleCode != null) {
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
-            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, newTrayLift);
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
             futuresList.add(deviceCommandFuture);
         }

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

@@ -395,14 +395,7 @@ public class GantryModuleService {
 
         List<CommandFuture> futuresList = new ArrayList<>();
         for(HeatModuleCode heatModuleCode : HeatModuleCode.values()){
-
-            double newTrayLift = trayLift; //TODO 临时调整位置
-            if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
-                newTrayLift = trayLift - 10;
-            }
-
-
-            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
             futuresList.add(deviceCommandFuture);
         }