add:增加阀门状态的获取和判断

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

@@ -10,6 +10,7 @@ import com.iflytop.sgs.app.model.entity.Solutions;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SolutionsService;
 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;
@@ -38,10 +39,10 @@ public class LiquidAddCommand extends BaseCommandHandler {
     private final TransferModuleService transferModuleService;
     private final SystemConfigService systemConfigService;
     private final SolutionsService solutionsService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //todo 获取阀门的状态
 
 
         return runAsync(() -> {
@@ -60,8 +61,9 @@ public class LiquidAddCommand extends BaseCommandHandler {
             Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
-            //预充
-            ValveStateCode oldValveState = deviceStateService.getDeviceState().getSolutionModule().getValveState().getState();//获取当前电磁阀的值
+            Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态
+            ValveStateCode oldValveState = ValveStateCode.thick.getByChannel(currentChannel);//获取当前电磁阀的值
+
             double preFillDistance = 0;
             if (!oldValveState.equals(valveStateCode)) {//判断是否与当前加酸的通道一致 不一致排空
                 switch (oldValveState) {

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

@@ -16,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 处理加液泵启动指令  todo 需要加正向反向
+ * 处理加液泵启动指令
  */
 @Slf4j
 @Component

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

@@ -16,7 +16,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 阀转换到稀硝酸通道  todo 需要与小何确定次序
+ * 阀转换到稀硝酸通道
  */
 @Slf4j
 @Component

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

@@ -15,7 +15,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 阀转换到空通道  todo 需要与小何确定次序
+ * 阀转换到空通道
  */
 @Slf4j
 @Component

src/main/java/com/iflytop/sgs/app/controller/MotorController.java

@@ -26,8 +26,13 @@ public class MotorController {
     @GetMapping("/position/{motor}")
     public Result<Double> getPosition(@PathVariable String motor) {
         DevicePartId devicePartId = DevicePartId.valueOf(motor);
+        Double position;
         try {
-            Double position = deviceSensorService.getSensorStatus(devicePartId);
+            if (devicePartId.equals(DevicePartId.XSV)) {
+                position = deviceSensorService.getXYServoPosition(devicePartId);
+            } else {
+                position = deviceSensorService.getMotorPosition(devicePartId);
+            }
             return Result.success(position);
         } catch (HardwareException e) {
             throw new RuntimeException(e);

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

@@ -33,10 +33,27 @@ public class DeviceSensorService {
     /*
      * 获取电机位置
      * */
-    public Double getSensorStatus(DevicePartId devicePartId) throws HardwareException {
+    public Double getMotorPosition(DevicePartId devicePartId) throws HardwareException {
         return deviceStatusService.getStepMotorPostion(devicePartId.name());
     }
 
+    /*
+     * 获取私服电机位置
+     * */
+    public Double getXYServoPosition(DevicePartId devicePartId) throws HardwareException {
+        return deviceStatusService.getXYServoPosition(devicePartId.name());
+    }
+
+    /*
+     * 获取阀门状态
+     * */
+    public Integer readLiquidValvePosition() throws HardwareException {
+        return deviceStatusService.readLiquidValvePosition(DevicePartId.LiquidValve.name());
+    }
+
+
+
+
     @Scheduled(fixedRate = 1000)
     public void deviceSensorSchedule() throws HardwareException {
         HeatModuleState heat_module_01 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_01);

src/main/java/com/iflytop/sgs/common/enums/DevicePartId.java

@@ -8,11 +8,13 @@ public enum DevicePartId {
 	DoorM("门电机"),
 	LiquidM("加液电机"),
 	ZM("Z轴电机"),
+	XSV("X轴电机"),
 	LiquidPumpM("加液泵"),
 	HEATER_ROD1_ID("加热棒1"),
 	HEATER_ROD2_ID("加热棒2"),
 	HEATER_ROD3_ID("加热棒3"),
 	HEATER_ROD4_ID("加热棒4"),
+	LiquidValve("电磁阀"),
 	;
 	private final String description;
 

src/main/java/com/iflytop/sgs/common/enums/ValveStateCode.java

@@ -8,17 +8,17 @@ import lombok.Getter;
 @Getter
 public enum ValveStateCode {
     //加液时 液量的转换系数
-    thin(1, "稀硝酸通道", SystemConfigCode.scale_thin,ContainerCode.container_01),
-    thick(2, "浓硝酸通道", SystemConfigCode.scale_thick,ContainerCode.container_02),
-    water(3, "蒸馏水通道", SystemConfigCode.scale_water,ContainerCode.container_03),
-    waste(4, "废水通道", SystemConfigCode.scale_waste,ContainerCode.container_04),
-    vacant(5, "空气通道", SystemConfigCode.scale_vacant,null),
+    thin(1, "稀硝酸通道", SystemConfigCode.scale_thin, ContainerCode.container_01),
+    thick(2, "浓硝酸通道", SystemConfigCode.scale_thick, ContainerCode.container_02),
+    water(3, "蒸馏水通道", SystemConfigCode.scale_water, ContainerCode.container_03),
+    waste(4, "废水通道", SystemConfigCode.scale_waste, ContainerCode.container_04),
+    vacant(5, "空气通道", SystemConfigCode.scale_vacant, null),
     ;
 
     private final Integer channel;
     private final String description;
     private final SystemConfigCode systemConfigCode;
-    private final ContainerCode containerCode ;
+    private final ContainerCode containerCode;
 
     ValveStateCode(Integer channel, String description, SystemConfigCode systemConfigCode, ContainerCode containerCode) {
         this.channel = channel;
@@ -26,6 +26,16 @@ public enum ValveStateCode {
         this.systemConfigCode = systemConfigCode;
         this.containerCode = containerCode;
     }
+
+    public ValveStateCode getByChannel(Integer channel) {
+        for (ValveStateCode valveStateCode : ValveStateCode.values()) {
+            if (valveStateCode.getChannel().equals(channel)) {
+                return valveStateCode;
+            }
+        }
+        return null;
+    }
+
 }
 
 

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

@@ -5,6 +5,7 @@ import com.iflytop.sgs.hardware.type.IO.InputIOMId;
 import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId;
 import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId;
+import com.iflytop.sgs.hardware.type.driver.LiquidValveMId;
 
 public interface GDDeviceStatusService {
 
@@ -54,5 +55,13 @@ public interface GDDeviceStatusService {
      * @return
      * @throws HardwareException
      */
-    Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException;
+    Double getXYServoPosition(String mid) throws HardwareException;
+
+    /**
+     * 获取液体阀门位置
+     * @param mid
+     * @return
+     * @throws HardwareException
+     */
+    public Integer readLiquidValvePosition(String mid) throws HardwareException;
 }

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

@@ -1,6 +1,6 @@
 package com.iflytop.sgs.hardware.service;
 
-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;
@@ -21,7 +21,7 @@ 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;
@@ -30,6 +30,7 @@ public class GDDeviceStatusService implements GDDeviceStatusInterface {
 
     /**
      * 获取步进电机的原点状态
+     *
      * @param stepMotorMId
      * @return true 在原点 false 不在原点
      */
@@ -39,17 +40,18 @@ public class GDDeviceStatusService implements GDDeviceStatusInterface {
 
     /**
      * 获取XY 伺服的原点状态
+     *
      * @param mid
      * @return
      * @throws HardwareException
      */
-    public Boolean getXYServoIsOrigin(LeisaiServoMId mid) throws HardwareException
-    {
+    public Boolean getXYServoIsOrigin(LeisaiServoMId mid) throws HardwareException {
         return leisaiServoDriver.readIoState(mid, 0);
     }
 
     /**
      * 获取传感器信号
+     *
      * @param inputIOMIdStr
      * @return
      * @throws HardwareException
@@ -61,23 +63,25 @@ public class GDDeviceStatusService implements GDDeviceStatusInterface {
 
     /**
      * 获取加热棒温度
+     *
      * @param heaterRodSlavedIdStr
      * @return
      * @throws Exception
      */
     public Double getHeaterRodTemperature(String heaterRodSlavedIdStr) throws Exception {
-        HeaterRodSlavedId heaterRodSlavedId=HeaterRodSlavedId.valueOf(heaterRodSlavedIdStr);
+        HeaterRodSlavedId heaterRodSlavedId = HeaterRodSlavedId.valueOf(heaterRodSlavedIdStr);
         return heaterRodDriver.getTemperature(heaterRodSlavedId);
     }
 
     /**
      * 获取电机位置
+     *
      * @param stepMotorMIdStr
      * @return
      * @throws HardwareException
      */
     public Double getStepMotorPostion(String stepMotorMIdStr) throws HardwareException {
-        StepMotorMId stepMotorMId=StepMotorMId.valueOf(stepMotorMIdStr);
+        StepMotorMId stepMotorMId = StepMotorMId.valueOf(stepMotorMIdStr);
         Integer motorPosition = stepMotorCtrlDriver.stepMotorReadPos(stepMotorMId);
         Double realPosition = StepMotorConverter.toUserPosition(motorPosition);
         return realPosition;
@@ -85,12 +89,14 @@ public class GDDeviceStatusService implements GDDeviceStatusInterface {
 
     /**
      * 获取伺服类电机位置
+     *
      * @param mid
      * @return
      * @throws HardwareException
      */
-    public Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException {
-        int servoPosition = leisaiServoDriver.readPosition(mid);
+    public Double getXYServoPosition(String mid) throws HardwareException {
+        LeisaiServoMId leisaiServoMId = LeisaiServoMId.valueOf(mid.toString());
+        int servoPosition = leisaiServoDriver.readPosition(leisaiServoMId);
         return StepMotorConverter.toUserPosition(servoPosition);
     }
 
@@ -100,8 +106,9 @@ public class GDDeviceStatusService implements GDDeviceStatusInterface {
      * @return
      * @throws HardwareException
      */
-    public Integer readLiquidValvePosition(LiquidValveMId mid) throws HardwareException {
-        return liquidValveDriver.readValveHoleIndex(mid);
+    public Integer readLiquidValvePosition(String mid) throws HardwareException {
+        LiquidValveMId liquidValveMId = LiquidValveMId.valueOf(mid);
+        return liquidValveDriver.readValveHoleIndex(liquidValveMId);
     }
 
 }