调整业务指令开始清洗、开门、关门

src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java

@@ -1,11 +1,9 @@
 package com.iflytop.sgs.app.cmd.control;
 
-import cn.hutool.core.lang.Assert;
-import cn.hutool.json.JSONArray;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
-import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
-import com.iflytop.sgs.app.model.bo.status.device.SolutionModuleState;
+import com.iflytop.sgs.app.model.bo.status.device.TrayState;
+import com.iflytop.sgs.app.model.bo.status.device.TubeState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -15,8 +13,6 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
-import com.iflytop.sgs.common.exception.AppException;
-import com.iflytop.sgs.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -34,60 +30,47 @@ public class CleanStartCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
+
     private final DeviceStateService deviceStateService;
     private final HeatModuleService heatModuleService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         //清洗次数
+        Integer cycle = cmdDTO.getIntegerParam("cycle");
+        String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
+        //TODO 判断目标加热模块传感器是否有托盘，如果没有托盘的话提示错误
 
-        JSONArray jsonArray=cmdDTO.getJSONArrayParam("index");
-        String heatId = cmdDTO.getStringParam("heatId");
-        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
-        HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
-        SolutionModuleState solutionModuleState=deviceStateService.getDeviceState().getSolutionModule();
-        //转运模块Z轴拿取托盘时起下降的高度位置
-        Point3D transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPoint3D();
-        //转运模块Z轴移动托盘时起托盘的高度位置
-        Point3D transferModuleZTrayUpMovePositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZTrayUpMovePositon).getPoint3D();
-        //转运模块X轴拿取托盘进出卡槽移动距离
-        double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
-        //获取指定加热模块上方点位
-        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
-        //获取加液区上方点位
-        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
-        //判断加热区有无托盘
-        Assert.isTrue(heatModuleState.getTrayStatus(),new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY,ResultCode.TARGET_HEAT_MODULE_NO_TRAY.getMsg()));
-
-        return runAsync(() -> {
-            //机械臂移动到加液区位置
-            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
-            //加液臂z下降
-            transferModuleService.transferZMoveBy(clawTrayHeight);
-            //加液臂x左移 夹紧托盘
-            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);
-            //加液臂z上移动
-            transferModuleService.transferZMoveBy(-clawTrayHeight);
-            for (int i=0;i<jsonArray.size();i++) {
-                //x z 移动到index1位置 todo 坐标位置
-                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), new Point3D());
-                //加液臂下降 至加液位置  todo 坐标位置
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 100);
-                //抽液
-
-
-                //加水 todo
-
+        Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
+        Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离
+        Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
+        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
+        Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon();//加液模块电机下降进入试管加液位置
 
-                //抽液
-
-
-
-                //加液臂抬升至安全距离 todo 坐标位置
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 100);
+        TrayState trayState = deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode);
 
+        return runAsync(() -> {
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至夹取点 + 移动距离
+            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//将Z轴下降至托盘夹取点高度
+            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            for (int i = 0; i < cycle; i++) {
+                for(TubeState tubeState : trayState.getTubes()){ //TODO 切换阀门、加液、取等操作，没完成以后再考虑，应该是先对所有列进行加液，然后从头再依次抽取
+                    if(tubeState.isAddSolution() && tubeState.isExists()){
+                        solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管
+                        //TODO
+                        transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -trayTubeHorizontalSpacingDistance);//X轴依次按照试管间距移动
+                    }
+                }
             }
-
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);//加液模块上升至最高，移出试管
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至之前的加热模块上方
+            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
+            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/control/CleanStopCommand.java

@@ -1,42 +0,0 @@
-package com.iflytop.sgs.app.cmd.control;
-
-import cn.hutool.json.JSONArray;
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.bo.Point3D;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.api.DevicePositionService;
-import com.iflytop.sgs.app.service.device.DeviceStateService;
-import com.iflytop.sgs.app.service.device.module.HeatModuleService;
-import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
-import com.iflytop.sgs.app.service.device.module.TransferModuleService;
-import com.iflytop.sgs.common.annotation.CommandMapping;
-import com.iflytop.sgs.common.enums.HeatModuleCode;
-import com.iflytop.sgs.common.enums.data.DevicePositionCode;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 结束清洗 todo wmy 需要改
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
-public class CleanStopCommand extends BaseCommandHandler {
-    private final SolutionModuleService solutionModuleService;
-    private final DevicePositionService devicePositionService;
-    private final TransferModuleService transferModuleService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-
-        return runAsync(() -> {
-
-
-        });
-    }
-}
-

src/main/java/com/iflytop/sgs/app/cmd/control/DoorCloseCommand.java

@@ -26,16 +26,9 @@ public class DoorCloseCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //获取当前的门状态
-        DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule();
-        //判断当前门的状态
-        Assert.isTrue(doorModuleState.isOpen(),"门已处于关闭状态");
-
         return runAsync(() -> {
-            //门电机回0点
+            deviceStateService.getDeviceState().getDoorModule().setOpen(false); //将门状态设置为false
             doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
-            //将门状态设置为false
-            deviceStateService.getDeviceState().getDoorModule().setOpen(false);
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/control/DoorOpenCommand.java

@@ -29,18 +29,12 @@ public class DoorOpenCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //获取当前的门状态
-        DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule();
-        //判断当前门的状态
-        Assert.isTrue(!doorModuleState.isOpen(),"门已处于打开状态");
+
+        Double doorOpenPosition = devicePositionService.getPosition(DevicePositionCode.doorOpenPosition).getDistance();//获取开门位置
 
         return runAsync(() -> {
-            //从数据库获取开门距离
-            Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance();
-            //电机移动开门距离
-            doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
-            //将门状态设置为true
-            deviceStateService.getDeviceState().getDoorModule().setOpen(true);
+            deviceStateService.getDeviceState().getDoorModule().setOpen(true);//将门状态设置为true
+            doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenPosition);
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java

@@ -68,7 +68,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         return runAsync(() -> {
             try {
                 //升高加液电机高度 回0点
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
                 //移动机械臂到加热区上方 此时机械臂夹着托盘
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D);
                 //下降z轴
@@ -76,7 +76,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 //移动x轴向右脱离托盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);
                 //z轴返回0点
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
                 //设置加热区有托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTrayStatus(true);
             } finally {

src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java

@@ -61,7 +61,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         return runAsync(() -> {
             try {
                 //升高加液电机高度 回0点
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
                 //移动机械臂到加热区上方 此时机械臂夹着托盘
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D);
                 //下降z轴
@@ -69,7 +69,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                 //移动x轴向左托起托盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);
                 //z轴返回0点
-                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
                 //移动到建邺区
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);
                 //设置加液区有托盘 todo

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java

@@ -33,7 +33,7 @@ public class DebugLiquidMotorMoveToCommand extends BaseCommandHandler {
             CommandFuture liquidMotorSetDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSetDeviceCommandBundle);
             CommandUtil.wait(liquidMotorSetDeviceCommandFuture);
 
-            DeviceCommandBundle liquidMotorMoveDeviceCommandBundle = DeviceCommandGenerator.liquidMotorMove(position);
+            DeviceCommandBundle liquidMotorMoveDeviceCommandBundle = DeviceCommandGenerator.solutionMotorMove(position);
             CommandFuture liquidMotorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorMoveDeviceCommandBundle);
             CommandUtil.wait(liquidMotorMoveDeviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java

@@ -21,7 +21,7 @@ public class DeviceState {
     @Schema(description = "加热模块属性")
     private final List<HeatModuleState> heatModule = new ArrayList<>();
     @Schema(description = "托盘")
-    private final List<TrayState> tray = new ArrayList<>();
+    private final List<TrayState> trays = new ArrayList<>();
     @Schema(description = "虚拟模式，true为虚拟")
     private boolean virtual = false;
     @Schema(description = "初始化状态，true初始化完毕")
@@ -47,12 +47,16 @@ public class DeviceState {
         return null;
     }
 
-    public synchronized TrayState getTrayState(String trayUUID) {
-        for (TrayState t : tray) {
-            if (t.getUuid().equals(trayUUID)) {
+    /**
+     * 根据指定加热模块获取所属托盘
+     */
+    public synchronized TrayState getTrayByHeatModuleCode(HeatModuleCode heatModuleCode) {
+        for (TrayState t : trays) {
+            if (heatModuleCode.equals(t.getHeatModuleCode())) {
                 return t;
             }
         }
         return null;
     }
+
 }

src/main/java/com/iflytop/sgs/app/model/bo/status/device/TubeState.java

@@ -9,7 +9,7 @@ public class TubeState {
     @Schema(description = "列编号")
     private int columnNum;
 
-    @Schema(description = "是否添加过溶液 true添加过")
+    @Schema(description = "是否添加溶液 true添加")
     private boolean addSolution = false;
 
     @Schema(description = "是否存在试管 true存在")

src/main/java/com/iflytop/sgs/app/service/api/TrayService.java

@@ -22,7 +22,7 @@ public class TrayService {
     public synchronized TrayState trayIn() {
         TrayState trayState = new TrayState();
         trayState.setInFeed(true);
-        deviceStateService.getDeviceState().getTray().add(trayState);
+        deviceStateService.getDeviceState().getTrays().add(trayState);
         deviceStateService.setSolutionModuleStateTrayStatus(1);
         return trayState;
     }
@@ -31,7 +31,7 @@ public class TrayService {
      * 拿走了托盘
      */
     public synchronized void trayOut() {
-        List<TrayState> trayList = deviceStateService.getDeviceState().getTray();
+        List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
         trayList.removeIf(TrayState::isInSolutionModule);
         deviceStateService.setSolutionModuleStateTrayStatus(0);
     }

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

@@ -89,15 +89,15 @@ public class SolutionModuleService {
     /**
      * 加液机械臂移动到指定点
      */
-    public void motorLiquidMove(double position) throws Exception {
-        motorLiquidMove(null, null, position);
+    public void solutionMotorMove(double position) throws Exception {
+        solutionMotorMove(null, null, position);
     }
 
     /**
      * 加液机械臂移动到指定点
      */
-    public void motorLiquidMove(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorMove(position);
+    public void solutionMotorMove(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.solutionMotorMove(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
     }

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java

@@ -187,7 +187,7 @@ public class DeviceCommandGenerator {
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle liquidMotorMove(Double position) {
+    public static DeviceCommandBundle solutionMotorMove(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
         return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.move, params, "加液升降电机移动");

src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java

@@ -32,10 +32,6 @@ public enum DevicePositionCode {
      */
     solutionModuleMotorDownInTubeExtPositon(DevicePositionType.POSITION, "加液模块电机下降进入试管抽取位置"),
     /**
-     * 转运模块Z轴电机上升进入试管位置
-     */
-    transferModuleZMotorUpInTubePositon(DevicePositionType.POSITION, "转运模块Z轴电机上升进入试管位置"),
-    /**
      * 转运模块Z轴拿取托盘时下降的高度位置
      */
     transferModuleZPickTrayDownPositon(DevicePositionType.POSITION, "转运模块Z轴拿取托盘时起下降的高度位置"),