add:增减传感器的service

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

@@ -8,10 +8,12 @@ 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.api.SystemConfigService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 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.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
@@ -37,11 +39,10 @@ public class CleanStartCommand extends BaseCommandHandler {
     private final TransferModuleService transferModuleService;
     private final DeviceStateService deviceStateService;
     private final SystemConfigService systemConfigService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //TODO 需要先更新一下传感器状态
-
         Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//判断转运模块托盘状态
         double cleanWaterVolume = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量
         double waterScale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数
@@ -56,6 +57,8 @@ public class CleanStartCommand extends BaseCommandHandler {
         TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘
         return runAsync(() -> {
             transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            boolean LIQUID_TRAY_EXIST=deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//监测加液位是否有托盘
+            Assert.isTrue(LIQUID_TRAY_EXIST, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
             solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), pumpPosition);

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

@@ -41,7 +41,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //todo 更新阀的状态
+        //todo 获取阀门的状态
 
 
         return runAsync(() -> {

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

@@ -8,10 +8,12 @@ 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.api.SystemConfigService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 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.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
@@ -37,11 +39,10 @@ public class LiquidReduceCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
     private final SystemConfigService systemConfigService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //todo 需要更新一下传感器的状态
-        Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
         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 solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
@@ -49,10 +50,12 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘
         double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));
         return runAsync(() -> {
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            boolean LIQUID_TRAY_EXIST=deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//监测加液位是否有托盘
+            Assert.isTrue(LIQUID_TRAY_EXIST, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
             for (TubeState tubeState : trayState.getTubes()) {
                 if (tubeState.isAddSolution() && tubeState.isExists()) {

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

@@ -5,10 +5,12 @@ 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.DeviceSensorService;
 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.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -32,6 +34,7 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
 
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -42,9 +45,6 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
         } else {
             targetHeatModuleCode = null;
             Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//转运模块是否有托盘
-
-
-
         }
 
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点

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

@@ -16,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 处理停止加热器指令 todo 小何确定次序
+ * 处理停止加热器指令
  */
 @Slf4j
 @Component

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

@@ -31,14 +31,11 @@ public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        //todo 监测阀门开启状态 将加液量转换成电机转数
-
-        Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_thin));
+        Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));
         Double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {
-            CmdDirection cmdDirection = CmdDirection.forward;
             DeviceCommandBundle deviceCommand;
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position);

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

@@ -2,11 +2,13 @@ package com.iflytop.sgs.app.cmd.debug;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.enums.cmd.CmdDirection;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
@@ -24,12 +26,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandDebugMapping("liquid_pump_reduce")
 public class DebugLiquidPumpReduceCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        //todo 量转换成转数
-        Double position = Double.valueOf(1000);
+        double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));
+        double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -15,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 阀转换到浓硝酸通道  todo 需要与小何确定次序
+ * 阀转换到浓硝酸通道
  */
 @Slf4j
 @Component
@@ -27,7 +28,7 @@ public class DebugLiquidValveOpenThickCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(1);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(ValveStateCode.thin.getChannel());
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -27,7 +28,7 @@ public class DebugLiquidValveOpenThinCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(2);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(ValveStateCode.thick.getChannel());
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -15,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 阀转换到废液通道  todo 需要与小何确定次序
+ * 阀转换到废液通道
  */
 @Slf4j
 @Component
@@ -27,7 +28,7 @@ public class DebugLiquidValveOpenWasteCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(4);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(ValveStateCode.waste.getChannel());
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandDebugMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -15,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 阀转换到蒸馏水通道  todo 需要与小何确定次序
+ * 阀转换到蒸馏水通道
  */
 @Slf4j
 @Component
@@ -27,7 +28,7 @@ public class DebugLiquidValveOpenWaterCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(3);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(ValveStateCode.water.getChannel());
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -6,6 +6,7 @@ import com.iflytop.sgs.common.enums.HeatModuleCode;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
@@ -43,4 +44,10 @@ public class DeviceInitService {
             heatArea.add(new HeatModuleState(code));
         }
     }
+    @Scheduled(fixedRate = 1000)
+    public void initDeviceSensor() {
+
+
+
+    }
 }

src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java

@@ -0,0 +1,34 @@
+package com.iflytop.sgs.app.service.device;
+
+import com.iflytop.sgs.common.enums.DevicePartId;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
+import com.iflytop.sgs.common.service.GDDeviceStatusService;
+import com.iflytop.sgs.hardware.exception.HardwareException;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceSensorService {
+    private final GDDeviceStatusService deviceStatusService;
+
+    /*
+     * 获取传感器状态
+     * */
+    public boolean getSensorStatus(DeviceSensorCode sensorCode) throws HardwareException {
+        return deviceStatusService.getInputState(sensorCode.name());
+    }
+
+    /*
+     * 获取电机位置
+     * */
+    public Double getSensorStatus(DevicePartId devicePartId) throws HardwareException {
+        return deviceStatusService.getStepMotorPostion(devicePartId.name());
+    }
+
+
+}

src/main/java/com/iflytop/sgs/common/enums/SensorStateCode.java → src/main/java/com/iflytop/sgs/common/enums/DeviceSensorCode.java

@@ -7,7 +7,7 @@ import lombok.Getter;
  *
  */
 @Getter
-public enum SensorStateCode {
+public enum DeviceSensorCode {
     E_STOP("急停"),
     HEATER_TRAY_1_EXIST("加热位1托盘存在状态"),
     HEATER_TRAY_2_EXIST("加热位2托盘存在状态"),
@@ -23,7 +23,7 @@ public enum SensorStateCode {
 
     private String description;
 
-    SensorStateCode(String description) {
+    DeviceSensorCode(String description) {
         this.description = description;
     }
 }

src/main/java/com/iflytop/sgs/common/service/GDDeviceStatusInterface.java → src/main/java/com/iflytop/sgs/common/service/GDDeviceStatusService.java

@@ -6,7 +6,7 @@ import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId;
 import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId;
 
-public interface GDDeviceStatusInterface {
+public interface GDDeviceStatusService {
 
     /**
      * 获取步进电机的原点状态

src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusService.java → src/main/java/com/iflytop/sgs/hardware/service/GDDeviceStatusServiceImpl.java

@@ -1,7 +1,6 @@
 package com.iflytop.sgs.hardware.service;
 
-import com.iflytop.sgs.app.model.bo.Point3D;
-import com.iflytop.sgs.common.service.GDDeviceStatusInterface;
+import com.iflytop.sgs.common.service.GDDeviceStatusService;
 import com.iflytop.sgs.hardware.drivers.DIDriver.InputDetectDriver;
 import com.iflytop.sgs.hardware.drivers.HeaterRodDriver;
 import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver;
@@ -20,7 +19,7 @@ import org.springframework.stereotype.Component;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-public class GDDeviceStatusService implements GDDeviceStatusInterface {
+public class GDDeviceStatusServiceImpl implements GDDeviceStatusService {
     private final InputDetectDriver inputDetectDriver;
     private final HeaterRodDriver heaterRodDriver;
     private final StepMotorCtrlDriver stepMotorCtrlDriver;