合并代码

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

@@ -1,10 +1,21 @@
 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.TransferModuleState;
 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.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.ValveStateCode;
+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;
@@ -12,7 +23,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 添加溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机加液
+ * 添加溶液
  */
 @Slf4j
 @Component
@@ -21,11 +32,35 @@ import java.util.concurrent.CompletableFuture;
 public class LiquidAddCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
+    private final TransferModuleService transferModuleService;
+    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String solution = cmdDTO.getStringParam("solution");
+        ValveStateCode valveStateCode = ValveStateCode.valueOf(solution);//解析加液通道
+        double volume = cmdDTO.getDoubleParam("volume");//解析加液量
+        JSONArray jsonArray = cmdDTO.getJSONArrayParam("index");//解析加液列
+        Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//获取转换系数
+        Double position = volume * scale;
+        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
+        Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
+        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置
         return runAsync(() -> {
-
+            solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
+            TransferModuleState transferModuleState = deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态
+            Assert.isTrue(transferModuleState.isTrayStatus(), () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
+            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
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
+            //开始加液
+            for (int i = 0; i < jsonArray.size(); i++) {
+                solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液
+                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -trayTubeHorizontalSpacingDistance);//机械臂左移试管间距
+            }
+            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
         });
     }
 }

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

@@ -1,10 +1,21 @@
 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.TransferModuleState;
 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.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.ValveStateCode;
+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;
@@ -12,7 +23,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 抽取溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机抽液体
+ * 抽取溶液
  */
 @Slf4j
 @Component
@@ -21,10 +32,32 @@ import java.util.concurrent.CompletableFuture;
 public class LiquidReduceCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
+    private final TransferModuleService transferModuleService;
+    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        double volume=cmdDTO.getDoubleParam("volume");//解析加液量
+        JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列
+        Double position = volume;//蠕动泵移动距离
+        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
+        Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon(); //加液模块电机下降进入试管抽液位置
+        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置
+
         return runAsync(() -> {
+            solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀废液通道打开
+            TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态
+            Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
+            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
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降
+            for (int i = 0; i < jsonArray.size(); i++) {
+                solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),-position);//加液
+                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距
+            }
+            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
         });
     }
 }

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

@@ -1,68 +0,0 @@
-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.TransferModuleState;
-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.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.SystemConfigCode;
-import com.iflytop.sgs.common.enums.ValveStateCode;
-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;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 添加溶液
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("solution_add")//业务指令注解
-public class SolutionAddCommand extends BaseCommandHandler {
-    private final SolutionModuleService solutionModuleService;
-    private final DeviceStateService deviceStateService;
-    private final DevicePositionService devicePositionService;
-    private final TransferModuleService transferModuleService;
-    private final SystemConfigService systemConfigService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String solution=cmdDTO.getStringParam("solution");
-        ValveStateCode valveStateCode=ValveStateCode.valueOf(solution);//解析加液通道
-        double volume=cmdDTO.getDoubleParam("volume");//解析加液量
-        JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列
-        Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//获取转换系数
-        Double position = volume * scale;
-        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
-        Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
-        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置
-        return runAsync(() -> {
-            solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(),valveStateCode);//电磁阀对应通道打开
-            TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态
-            Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
-            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
-            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
-            //开始加液
-            for (int i = 0; i < jsonArray.size(); i++) {
-                solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),position);//加液
-                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距
-            }
-            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
-        });
-    }
-}
-

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

@@ -1,64 +0,0 @@
-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.TransferModuleState;
-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.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.ValveStateCode;
-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;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 抽取溶液
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("solution_reduce")//业务指令注解
-public class SolutionReduceCommand extends BaseCommandHandler {
-    private final SolutionModuleService solutionModuleService;
-    private final DeviceStateService deviceStateService;
-    private final DevicePositionService devicePositionService;
-    private final TransferModuleService transferModuleService;
-    private final SystemConfigService systemConfigService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        double volume=cmdDTO.getDoubleParam("volume");//解析加液量
-        JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列
-        Double position = volume;//蠕动泵移动距离
-        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
-        Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon(); //加液模块电机下降进入试管抽液位置
-        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置
-
-        return runAsync(() -> {
-            solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(),ValveStateCode.waste);//电磁阀废液通道打开
-            TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态
-            Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
-            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
-            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降
-            for (int i = 0; i < jsonArray.size(); i++) {
-                solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),-position);//加液
-                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距
-            }
-            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
-        });
-    }
-}
-