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

@@ -13,6 +13,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -25,36 +26,23 @@ import java.util.concurrent.CompletableFuture;
 public class HeatStartCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
-    private final DevicePositionService devicePositionService;
+
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         String heatId = cmdDTO.getStringParam("heatId");
-        Integer time =  cmdDTO.getIntegerParam("time");
-        Integer minutes =  cmdDTO.getIntegerParam("minutes");
-        Integer seconds =  cmdDTO.getIntegerParam("seconds");
+        Integer time = cmdDTO.getIntegerParam("time");
+        Integer minutes = cmdDTO.getIntegerParam("minutes");
+        Integer seconds = cmdDTO.getIntegerParam("seconds");
         Double temperature = cmdDTO.getDoubleParam("temperature");
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
 
-        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance();
-        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
-
         return runAsync(() -> {
             heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, temperature);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(time);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatTemperature(temperature);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTemperature(temperature);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic);
-//            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);
-//            }
         });
     }
 }

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

@@ -11,6 +11,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -31,6 +32,7 @@ public class HeatStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             //关闭加热
             heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setStartHeatTime(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setWarmUpTemperature(null);
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatTemperature(null);

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

@@ -5,6 +5,7 @@ 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;
@@ -21,6 +22,7 @@ import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Optional;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -46,13 +48,13 @@ 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);
@@ -68,11 +70,17 @@ public class SolutionAddCommand extends BaseCommandHandler {
                             JSONObject addSolution = solutionList.getJSONObject(k);
                             Long solId = addSolution.getLong("solutionId");
                             Double volume = addSolution.getDouble("volume");
-                            AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                            if (acidPumpDevice == null) {
+                            //AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
+                            Container container = containerService.getContainerBySolutionId(solId);
+                            if (container == null) {
                                 throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
                             }
-                            CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
+                            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
                             futuresList.add(deviceCommandFuture);
                         }
                         CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
@@ -81,7 +89,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                 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/model/bo/status/device/HeatModuleState.java

@@ -9,6 +9,8 @@ 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
@@ -46,6 +48,9 @@ public class HeatModuleState {
     @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;
+
     @Schema(description = "加热器当前温度")
     private Double temperature = null;
 

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

@@ -1,7 +1,6 @@
 package com.iflytop.gd.app.service.scheduled;
 
 import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
-import com.iflytop.gd.app.model.bo.status.device.TrayState;
 import com.iflytop.gd.app.model.vo.HeatCountdownVO;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
@@ -10,7 +9,6 @@ import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.enums.HeatingType;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import com.iflytop.gd.common.utils.LocalDateTimeUtil;
-import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.scheduling.annotation.Scheduled;
@@ -22,7 +20,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加热时间到自动抬起
+ * 加热倒计时
  */
 @Slf4j
 @Service
@@ -33,42 +31,58 @@ public class HeatCountdownScheduledTask {
     private final HeatModuleService heatModuleService;
     private final WebSocketSender webSocketSender;
 
-    @Scheduled(fixedDelay = 1000)
+    private double trayLift;
+
+    private void init() {
+        trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
+    }
+
+    @Scheduled(fixedRate = 1000)
     public void fetchTemperature() {
         try {
             LocalDateTime now = LocalDateTime.now();
+            List<HeatCountdownVO> heatCountdownVOList = new ArrayList<>();
             for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) {
-                //工艺除外
-                TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleState.getModuleCode());
-                if (trayState != null && trayState.getCrafts() != null) {
-                    continue;
-                }
                 if (heatModuleState.getHeatingType() == HeatingType.thermostatic) {//如果这个加热模块在加热中
                     if (heatModuleState.getTemperature() + 1 > heatModuleState.getHeatTemperature()) {//当前温度达到目标温度，允许有1度以内的误差
-                        heatModuleState.setStartHeatTime(now);
                         heatModuleState.setHeatingType(HeatingType.constant);//修改状态为恒温中
-                    }
-                } else if (heatModuleState.getHeatingType() == HeatingType.constant) {
-                    LocalDateTime endTime = heatModuleState.getStartHeatTime().plusSeconds(heatModuleState.getTargetTime());
-                    //判断是否达到目标加热时间
-                    long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
-                    if (diffSeconds <= 0) {//加热完毕
-                        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
-                        //抬起托盘
-                        heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
-                        heatModuleState.setTrayUp(1);
-                        //关闭加棒
-                        heatModuleService.heatRodClose(heatModuleState.getModuleCode());
-                        //还原状态
-                        heatModuleState.setStartHeatTime(null);//开始加热时间
-                        heatModuleState.setTargetTime(null);//加热器目标加热时间
-                        heatModuleState.setWarmUpTemperature(null);//加热器预热温度
-                        heatModuleState.setHeatTemperature(null);//加热器加热温度
-                        heatModuleState.setTargetTemperature(null);//加热器目标温度
-                        heatModuleState.setHeatingType(HeatingType.finish);
+                        if (heatModuleState.getStartHeatTime() == null) {
+                            //设定开始加热时间
+                            heatModuleState.setStartHeatTime(now);
+                        } else {
+                            LocalDateTime endTime = heatModuleState.getStartHeatTime().minusSeconds(heatModuleState.getTargetTime());
+                            //判断是否达到目标加热时间
+                            if (endTime.isBefore(now)) {//加热完毕
+                                //抬起托盘
+                                heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
+                                heatModuleState.setTrayUp(1);
+                                //关闭加棒
+                                heatModuleService.heatRodClose(heatModuleState.getModuleCode());
+                                heatModuleState.setHeatingType(HeatingType.stop);
+                                //还原状态
+                                heatModuleState.setStartHeatTime(null);
+                                heatModuleState.setTargetTime(null);
+                                heatModuleState.setWarmUpTemperature(null);
+                                heatModuleState.setHeatTemperature(null);
+                                heatModuleState.setTargetTemperature(null);
+                                heatModuleState.setHeatingType(HeatingType.stop);
+                            } else {//加热中
+                                long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
+                                HeatCountdownVO heatCountdownVO = new HeatCountdownVO();
+                                heatCountdownVO.setHeatModuleCode(heatModuleState.getModuleCode());
+                                heatCountdownVO.setCountdown((int) diffSeconds);
+                                heatCountdownVO.setCountdownStr(LocalDateTimeUtil.formatSecondsToHMS(diffSeconds));
+                                heatCountdownVO.setStartTime(heatModuleState.getStartHeatTime());
+                                heatCountdownVO.setEndTime(endTime);
+                                heatCountdownVOList.add(heatCountdownVO);
+                            }
+                        }
                     }
                 }
             }
+            if (!heatCountdownVOList.isEmpty()) {
+                webSocketSender.pushHeatCountdown(heatCountdownVOList);
+            }
         } catch (Exception e) {
             log.error("加热倒计时错误", e);
         }

src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java

@@ -16,7 +16,7 @@ public class WebSocketSender {
         websocketResult.setType(type);
         websocketResult.setData(data);
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
-//        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
+        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
     }
 
     public void pushCraftsDebug(Object data) {

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

@@ -8,6 +8,16 @@ import lombok.Getter;
 @Getter
 public enum HeatingType {
     stop,
+    /**
+     * 预热中
+     */
     warm_up,
+    /**
+     * 加热中
+     */
     thermostatic,
+    /**
+     * 恒温中
+     */
+    constant,
 }

src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java

@@ -3,13 +3,16 @@ package com.iflytop.gd.common.utils;
 public class LocalDateTimeUtil {
 
     /**
-     * 秒数格式化为 “mm:ss” 格式。
+     * 秒数格式化为 “HH:mm:ss” 格式。
+     * @param diffSeconds 两个时间点相差的秒数（可以为正或负）
+     * @return 格式化后的 “HH:mm:ss” 字符串
      */
     public static String formatSecondsToHMS(long diffSeconds) {
         long absSeconds = Math.abs(diffSeconds);
-        long minutes = absSeconds / 60;
+        long hours = absSeconds / 3600;
+        long minutes = (absSeconds % 3600) / 60;
         long seconds = absSeconds % 60;
-        return String.format("%02d:%02d", minutes, seconds);
+        return String.format("%02d:%02d:%02d", hours, minutes, seconds);
     }
 
 }

src/main/resources/sql/init.sql

@@ -56,10 +56,10 @@ CREATE TABLE IF NOT EXISTS container
 );
 
 INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, scale,capacity_total, capacity_used)
-VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 364,5000, 0),
-       (2, 0, 'container_02', 2, 'acid_pump_02', 133,5000, 2500),
-       (3, 0, 'container_03', 3, 'acid_pump_03', 160,5000, 2600),
-       (4, 0, 'container_04', 4, 'acid_pump_04', 163,5000, 4000),
+VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 120,5000, 0),
+       (2, 0, 'container_02', 2, 'acid_pump_02', 100,5000, 2500),
+       (3, 0, 'container_03', 3, 'acid_pump_03', 111,5000, 2600),
+       (4, 0, 'container_04', 4, 'acid_pump_04', 107,5000, 4000),
        (5, 0, 'container_05', 5, 'acid_pump_05', 117,5000, 2400),
        (6, 0, 'container_06', 6, 'acid_pump_06', 105,5000, 4500),
        (7, 0, 'container_07', 7, 'acid_pump_07', 187,5000, 4900),