修复加液区锁错误

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

@@ -1,11 +1,8 @@
 package com.iflytop.gd.app.service.crafts;
 
-import cn.hutool.json.JSONArray;
 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.service.api.ContainerService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService;
@@ -15,17 +12,16 @@ import com.iflytop.gd.app.service.device.module.GantryModuleService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
-import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
-import com.iflytop.gd.common.exception.AppException;
-import com.iflytop.gd.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 /**
  * 工艺步骤执行服务
  */
+@Slf4j
 @Service
 @RequiredArgsConstructor
 public class CraftsStepService {
@@ -63,28 +59,33 @@ 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(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-        moveToSolutionModule(heatModuleCode);
-        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");
-                AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
-                if (acidPumpDevice == null) {
-                    throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
-                }
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "移动加液机械臂到指定试管", tubeNum));
-                solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "添加溶液", addLiquid));
-                solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
-            }
-        }
-        solutionModuleService.dualRobotOrigin();
+//        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+//        moveToSolutionModule(heatModuleCode);
+//        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");
+//                AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
+//                if (acidPumpDevice == null) {
+//                    throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
+//                }
+//                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "移动加液机械臂到指定试管", tubeNum));
+//                solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
+//                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "添加溶液", addLiquid));
+//                solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
+//            }
+//        }
+//        solutionModuleService.dualRobotOrigin();
+
+        log.info("{}--申请使用加液区并等待", heatId);
+        solutionModuleService.requestSolutionModule();//申请使用加液区并等待
+        log.info("{}--申请到加液区，将托盘从加热区移动至加液区并且添加溶液", heatId);
+        delay(5);
         return true;
     }
 
@@ -92,16 +93,19 @@ public class CraftsStepService {
      * 摇匀操作
      */
     private boolean shaking(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
-            moveToSolutionModule(heatModuleCode);
-        }
-        Integer second = params.getInt("second");
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开始摇匀", params));
-        solutionModuleService.shakeStart();//开始摇匀
-        delay(second);
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "停止摇匀", null));
-        solutionModuleService.shakeStop();//停止摇匀
+//        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+//        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
+//            moveToSolutionModule(heatModuleCode);
+//        }
+//        Integer second = params.getInt("second");
+//        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开始摇匀", params));
+//        solutionModuleService.shakeStart();//开始摇匀
+//        delay(second);
+//        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "停止摇匀", null));
+//        solutionModuleService.shakeStop();//停止摇匀
+
+        log.info("{}--摇匀", heatId);
+        delay(5);
         return true;
     }
 
@@ -109,15 +113,20 @@ public class CraftsStepService {
      * 将托盘从加液区移动至加热区并开启加热
      */
     private boolean heating(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
-        moveToHeatModule(heatModuleCode);
-        Double temperature = params.getDouble("temperature");
-        Integer second = params.getInt("second");
-        heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热
-        delay(second);
-        heatModuleService.heatRodClose(heatModuleCode);//停止加热
-        heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
+//        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+//        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
+//        moveToHeatModule(heatModuleCode);
+//        Double temperature = params.getDouble("temperature");
+//        Integer second = params.getInt("second");
+//        heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热
+//        delay(second);
+//        heatModuleService.heatRodClose(heatModuleCode);//停止加热
+//        heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
+
+        log.info("{}--将托盘从加液区移动至加热区并开启加热", heatId);
+        delay(5);
+        solutionModuleService.releaseSolutionModule();//释放加液区
+        log.info("{}--释放加液区", heatId);
         return true;
     }
 
@@ -125,16 +134,19 @@ public class CraftsStepService {
      * 拍照操作·
      */
     private boolean takePhoto(String heatId) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
-            moveToSolutionModule(heatModuleCode);
-        }
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "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
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "拍照", null));
-        solutionModuleService.takePhoto();//拍照
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "关闭补光灯", null));
-        solutionModuleService.fillLightClose();//关闭补光灯
+//        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+//        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
+//            moveToSolutionModule(heatModuleCode);
+//        }
+//        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "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
+//        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "拍照", null));
+//        solutionModuleService.takePhoto();//拍照
+//        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "关闭补光灯", null));
+//        solutionModuleService.fillLightClose();//关闭补光灯
+
+        log.info("{}--拍照", heatId);
+        delay(5);
         return true;
     }
 
@@ -171,42 +183,43 @@ public class CraftsStepService {
         Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
 
-        gantryModuleService.gantryMove( liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
-        gantryModuleService.clawMove( clawTrayPick);//将夹爪打开，准备夹取托盘
+        gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
+        gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，准备夹取托盘
         gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
-        gantryModuleService.clawMove( clawTrayGrip);//将夹爪收紧，夹住托盘
-        gantryModuleService.gantryZMove( 0);//抬升z轴
+        gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘
+        gantryModuleService.gantryZMove(0);//抬升z轴
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown( 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.gantryMove( heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
-        gantryModuleService.gantryMove( heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(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.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
+        gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
 //                deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp( heatModuleCode);//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.moveTrayHeatModuleAvoidUp(heatModuleCode);//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(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
-        gantryModuleService.clawMove( clawTrayPick);//将夹爪打开，释放托盘
+        gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘
-        gantryModuleService.gantryZMove( 0);//抬升z轴
+        gantryModuleService.gantryZMove(0);//抬升z轴
 
         capModuleService.capUpBalance();//提升拍子存放区至拍子夹取的高度
-        gantryModuleService.gantryMove( capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
-        gantryModuleService.clawMove( clawCapPick);//将夹爪打开，准备夹取拍子
+        gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
+        gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子
         gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
-        gantryModuleService.clawMove( clawCapGrip);//将夹爪收紧，夹住拍子
-        gantryModuleService.gantryZMove( 0);//抬升z轴
-        gantryModuleService.gantryMove( heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
+        gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子
+        gantryModuleService.gantryZMove(0);//抬升z轴
+        gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
         gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
-        gantryModuleService.clawMove( clawCapPick);//将夹爪打开，释放拍子
+        gantryModuleService.clawMove(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
-        gantryModuleService.gantryZMove( 0);//抬升z轴
+        gantryModuleService.gantryZMove(0);//抬升z轴
 //                trayState.setHeatModuleId(heatModuleId);
 //                trayState.setInHeatModule(true);
-        heatModuleService.heaterMotorMove( heatModuleCode, trayLower);//下降加热模块托盘
+        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
         capModuleService.capUpBalance(); //提升拍子存放区
-        gantryModuleService.gantryMove( capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
+        gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
 
         heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热位托盘
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);
+        solutionModuleService.releaseSolutionModule();//释放加液区
     }
 
     /**

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

@@ -49,7 +49,6 @@ public class SolutionModuleService {
      * 申请使用加液模块
      */
     public void requestSolutionModule(String commandId, String command) {
-        moduleLock.lock();
         try {
             // 如果加液模块繁忙，加入队列等待
             while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
@@ -64,8 +63,6 @@ public class SolutionModuleService {
         } catch (InterruptedException e) {
             Thread.currentThread().interrupt();
             throw new RuntimeException("等待加液区空闲错误", e);
-        } finally {
-            moduleLock.unlock();
         }
     }
 
@@ -74,18 +71,13 @@ public class SolutionModuleService {
      */
     private void occupySolutionModule() {
         moduleLock.lock();
-        try {
         deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
-        } finally {
-            moduleLock.unlock();
-        }
     }
 
     /**
      * 释放加液区
      */
     public void releaseSolutionModule() throws InterruptedException {
-        moduleLock.lock();
         try {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);
             // 唤醒队列中的第一个线程