feat:添加自检接口

src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java

@@ -0,0 +1,33 @@
+package com.iflytop.gd.app.cmd;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.SelfTestService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 拍子升降回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("cap_lifting_origin")//业务指令注解
+public class CapLiftingOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final SelfTestService selfTestService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            deviceCommandUtilService.trayMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            selfTestService.getSelfTestState().setCapLiftingOrigin(true);
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java

@@ -0,0 +1,43 @@
+package com.iflytop.gd.app.cmd;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.SelfTestService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.enums.cmd.CmdAxis;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 指定加液机械臂回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("dual_robot_joint_origin")//业务指令注解
+public class DualRobotJointOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final SelfTestService selfTestService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
+        Boolean joint2 = cmdDTO.getBooleanParam("joint1");
+        return runAsync(() -> {
+
+            if(joint1){
+                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint1);
+                selfTestService.getSelfTestState().setDualRobotJoint1Origin(true);
+            }
+            if(joint2){
+                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint2);
+                selfTestService.getSelfTestState().setDualRobotJoint2Origin(true);
+            }
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java

@@ -0,0 +1,54 @@
+package com.iflytop.gd.app.cmd;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DevicePositionService;
+import com.iflytop.gd.app.service.SelfTestService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommandBundle;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 龙门架机械臂指定轴回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("gantry_origin")//业务指令注解
+public class GantryXOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final SelfTestService selfTestService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            Boolean x = cmdDTO.getBooleanParam("x");
+            Boolean y = cmdDTO.getBooleanParam("y");
+            Boolean z = cmdDTO.getBooleanParam("z");
+            if (x) {
+                deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                selfTestService.getSelfTestState().setGantryXOrigin(true);
+            }
+            if (y) {
+                deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                selfTestService.getSelfTestState().setGantryYOrigin(true);
+            }
+
+            if (z) {
+                deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                selfTestService.getSelfTestState().setGantryZOrigin(true);
+            }
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java

@@ -0,0 +1,43 @@
+package com.iflytop.gd.app.cmd;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.SelfTestService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.enums.HeatModuleCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 托盘升降回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("tray_lifting_origin")//业务指令注解
+public class TrayLiftingOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final SelfTestService selfTestService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        return runAsync(() -> {
+            deviceCommandUtilService.heaterMotorMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
+            switch (heatModuleId) {
+                case heat_module_01 -> selfTestService.getSelfTestState().setTrayLifting01Origin(true);
+                case heat_module_02 -> selfTestService.getSelfTestState().setTrayLifting02Origin(true);
+                case heat_module_03 -> selfTestService.getSelfTestState().setTrayLifting03Origin(true);
+                case heat_module_04 -> selfTestService.getSelfTestState().setTrayLifting04Origin(true);
+                case heat_module_05 -> selfTestService.getSelfTestState().setTrayLifting05Origin(true);
+                case heat_module_06 -> selfTestService.getSelfTestState().setTrayLifting06Origin(true);
+            }
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/controller/SelfTestController.java

@@ -0,0 +1,37 @@
+package com.iflytop.gd.app.controller;
+
+import com.iflytop.gd.app.core.device.SelfTestState;
+import com.iflytop.gd.app.service.DeviceStateService;
+import com.iflytop.gd.app.service.SelfTestService;
+import com.iflytop.gd.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@Tag(name = "自检")
+@RestController
+@RequestMapping("/api/self-test")
+@RequiredArgsConstructor
+@Slf4j
+public class SelfTestController {
+    private final SelfTestService selfTestService;
+    private final DeviceStateService deviceStateService;
+
+    @Operation(summary = "获取自检状态")
+    @GetMapping("/status")
+    public Result<SelfTestState> getSelfTestStatus() {
+        return Result.success(selfTestService.getSelfTestState());
+    }
+
+    @Operation(summary = "自检完毕")
+    @PostMapping("/finish")
+    public Result<?> selfTestFinish() {
+        deviceStateService.setSelfTest(true);
+        return Result.success();
+    }
+}

src/main/java/com/iflytop/gd/app/core/device/DeviceState.java

@@ -15,6 +15,9 @@ public class DeviceState {
     @Schema(description = "初始化状态，true初始化完毕")
     private boolean initComplete = false;
 
+    @Schema(description = "自检状态，true自检完毕")
+    private boolean selfTest = false;
+
     @Schema(description = "是否是急停状态，true为急停")
     private boolean emergencyStop = false;
 

src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java

@@ -0,0 +1,49 @@
+package com.iflytop.gd.app.core.device;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "自检状态")
+@Data
+public class SelfTestState {
+    @Schema(description = "龙门架机械臂x轴是否在原点")
+    private boolean gantryXOrigin = false;
+
+    @Schema(description = "龙门架机械臂y轴是否在原点")
+    private boolean gantryYOrigin = false;
+
+    @Schema(description = "龙门架机械臂z轴是否在原点")
+    private boolean gantryZOrigin = false;
+
+    @Schema(description = "龙门架机械臂夹爪是否在原点")
+    private boolean clawOrigin = false;
+
+    @Schema(description = "加液机械臂01是否在原点")
+    private boolean dualRobotJoint1Origin = false;
+
+    @Schema(description = "加液机械臂02是否在原点")
+    private boolean dualRobotJoint2Origin = false;
+
+    @Schema(description = "拍子升降是否在原点")
+    private boolean capLiftingOrigin = false;
+
+    @Schema(description = "加热模块01托盘升降是否在原点")
+    private boolean trayLifting01Origin = false;
+
+    @Schema(description = "加热模块02托盘升降是否在原点")
+    private boolean trayLifting02Origin = false;
+
+    @Schema(description = "加热模块03托盘升降是否在原点")
+    private boolean trayLifting03Origin = false;
+
+    @Schema(description = "加热模块04托盘升降是否在原点")
+    private boolean trayLifting04Origin = false;
+
+    @Schema(description = "加热模块05托盘升降是否在原点")
+    private boolean trayLifting05Origin = false;
+
+    @Schema(description = "加热模块06托盘升降是否在原点")
+    private boolean trayLifting06Origin = false;
+
+
+}

src/main/java/com/iflytop/gd/app/core/listener/DeviceStateListener.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.core.listener;
 import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.app.service.WebSocketService;
 import com.iflytop.gd.common.constant.WebSocketMessageType;
+import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -17,6 +18,11 @@ public class DeviceStateListener implements PropertyChangeListener {
     private final WebSocketService webSocketService;
     private final DeviceStateService deviceStateService;
 
+    @PostConstruct
+    private void init() {
+        deviceStateService.addListener(this);
+    }
+
     // 在此处理DeviceState的变化事件
     @Override
     public void propertyChange(PropertyChangeEvent event) {

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

@@ -8,6 +8,7 @@ import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.cmd.CmdAxis;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
@@ -56,6 +57,55 @@ public class DeviceCommandUtilService {
         commandWait(deviceCommandFutureArr);
     }
 
+
+    /**
+     * 龙门架机械臂X轴回原点
+     */
+    public void gantryXMoveOrigin() throws Exception {
+        gantryXMoveOrigin(null, null);
+    }
+
+    /**
+     * 龙门架机械臂X轴回原点
+     */
+    public void gantryXMoveOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFutureArr);
+    }
+
+    /**
+     * 龙门架机械臂Y轴回原点
+     */
+    public void gantryYMoveOrigin() throws Exception {
+        gantryYMoveOrigin(null, null);
+    }
+
+    /**
+     * 龙门架机械臂Y轴回原点
+     */
+    public void gantryYMoveOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYOrigin();
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFutureArr);
+    }
+
+    /**
+     * 龙门架机械臂Z轴回原点
+     */
+    public void gantryZMoveOrigin() throws Exception {
+        gantryZMoveOrigin(null, null);
+    }
+
+    /**
+     * 龙门架机械臂Z轴回原点
+     */
+    public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFutureArr);
+    }
+
     /**
      * 龙门架机械臂X轴移动到指定点
      */
@@ -190,6 +240,30 @@ public class DeviceCommandUtilService {
         commandWait(deviceCommandFuture);
     }
 
+
+    /**
+     * 加热模块升降电机移动到指定位置
+     */
+    public void heaterMotorMoveOrigin(HeatModuleCode heatModuleId) throws Exception {
+        heaterMotorMoveOrigin(null, null, heatModuleId);
+    }
+
+    /**
+     * 加热模块升降电机回原点
+     */
+    public void heaterMotorMoveOrigin(String cmdId, String cmdCode, HeatModuleCode heatModuleId) throws Exception {
+        DeviceCommandBundle deviceCommand = switch (heatModuleId) {
+            case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Origin();
+            case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Origin();
+            case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Origin();
+            case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Origin();
+            case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Origin();
+            case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Origin();
+        };
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
     /**
      * 加热模块升降电机移动到指定位置
      */
@@ -248,6 +322,21 @@ public class DeviceCommandUtilService {
     }
 
     /**
+     * 加液机械臂回原点
+     */
+    public void dualRobotOrigin(String cmdId, String cmdCode, CmdAxis cmdAxis) throws Exception {
+        if (cmdAxis == CmdAxis.joint1) {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            commandWait(deviceCommandFuture);
+        } else {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            commandWait(deviceCommandFuture);
+        }
+    }
+
+    /**
      * 添加溶液
      */
     public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
@@ -398,6 +487,15 @@ public class DeviceCommandUtilService {
         commandWait(deviceCommandFuture);
     }
 
+    /**
+     * 拍子升降回原点
+     */
+    public void trayMotorOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
 
     public void commandWait(CommandFuture... futures) throws Exception {
         CompletableFuture<?>[] responseFutures = Arrays.stream(futures)

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

@@ -16,7 +16,6 @@ import java.beans.PropertyChangeSupport;
 @Service
 @RequiredArgsConstructor
 public class DeviceStateService {
-    private final DeviceStateListener deviceStateListener;
     private final transient PropertyChangeSupport support = new PropertyChangeSupport(this);
 
     private final DeviceState deviceState = new DeviceState();
@@ -25,8 +24,7 @@ public class DeviceStateService {
         return deviceState;
     }
 
-    @PostConstruct
-    private void init() {
+    public void addListener(DeviceStateListener deviceStateListener) {
         support.addPropertyChangeListener(deviceStateListener);
     }
 
@@ -59,6 +57,12 @@ public class DeviceStateService {
         support.firePropertyChange("setEmergencyStop", oldValue, emergencyStop);
     }
 
+    public synchronized void setSelfTest(boolean selfTest) {
+        boolean oldValue = deviceState.isSelfTest();
+        deviceState.setSelfTest(selfTest);
+        support.firePropertyChange("setSelfTest", oldValue, selfTest);
+    }
+
     public synchronized void setDoorStatus(boolean status) {
         boolean oldValue = deviceState.getDoor().isOpen();
         deviceState.getDoor().setOpen(status);

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

@@ -0,0 +1,16 @@
+package com.iflytop.gd.app.service;
+
+import com.iflytop.gd.app.core.device.SelfTestState;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class SelfTestService {
+    @Getter
+    private final SelfTestState selfTestState = new SelfTestState();
+
+}