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58 lines
2.5 KiB
58 lines
2.5 KiB
package com.iflytop.gd.app.cmd;
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import cn.hutool.json.JSONArray;
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import cn.hutool.json.JSONObject;
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import com.iflytop.gd.app.core.BaseCommandHandler;
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import com.iflytop.gd.app.model.dto.CmdDTO;
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import com.iflytop.gd.app.service.ContainerService;
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import com.iflytop.gd.app.service.DeviceCommandUtilService;
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import com.iflytop.gd.app.service.DeviceStateService;
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import com.iflytop.gd.common.annotation.CommandMapping;
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import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
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import com.iflytop.gd.common.exception.AppException;
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import com.iflytop.gd.common.result.ResultCode;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import java.util.concurrent.CompletableFuture;
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/**
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* 添加溶液
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*/
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@Slf4j
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@Component
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@RequiredArgsConstructor
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@CommandMapping("solution_add")//业务指令注解
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public class SolutionAddCommand extends BaseCommandHandler {
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private final DeviceCommandUtilService deviceCommandUtilService;
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private final ContainerService containerService;
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private final DeviceStateService deviceStateService;
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@Override
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
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deviceStateService.setSolutionModuleStatePumping(true);
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return runAsync(() -> {
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JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList");
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for (int i = 0; i < dataList.size(); i++) {
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JSONObject tubeSol = dataList.getJSONObject(i);
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Integer tubeNum = tubeSol.getInt("tubeNum");
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JSONArray solutionList = tubeSol.getJSONArray("solutionList");
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for (int j = 0; j < solutionList.size(); j++) {
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JSONObject addSolution = solutionList.getJSONObject(j);
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Long solId = addSolution.getLong("solId");
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Double volume = addSolution.getDouble("volume");
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AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
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if (acidPumpDevice == null) {
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throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
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}
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deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位
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deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
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}
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}
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deviceCommandUtilService.dualRobotOrigin();
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deviceStateService.setSolutionModuleStatePumping(false);
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});
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}
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}
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