fix:增加业务指令执行过程中的模块状态

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

@@ -2,11 +2,13 @@ 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
+import com.iflytop.sgs.common.enums.HeatingType;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -32,9 +34,14 @@ public class FanStartCommand extends BaseCommandHandler {
         return runAsync(() -> {
             for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) {
                 String heatModuleCodeStr = heatModuleCodeJsonArray.getStr(i);
-                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
-                heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true);
+                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);//加热模块
+                HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode);
+                if(!heatModuleState.getHeatingType().equals(HeatingType.stop)){//加热棒不是停止加热状态
+                    heatModuleService.heatRodClose(cmdDTO.getCommandId(),cmdDTO.getCommand(),heatModuleCode);//关闭加热棒
+                    deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);//同步状态
+                }
+                heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//打开风扇
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true);//同步状态
             }
         });
     }

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

@@ -33,8 +33,8 @@ public class FanStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) {
                 String heatModuleCodeStr = heatModuleCodeJsonArray.getStr(i);
                 HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
-                heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true);
+                heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//关闭风扇
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(false);//同步转态
             }
         });
     }

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

@@ -1,5 +1,6 @@
 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.status.device.HeatModuleState;
@@ -9,6 +10,8 @@ import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.HeatingType;
+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;
@@ -35,10 +38,11 @@ public class HeatStartCommand extends BaseCommandHandler {
             for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) {
                 String heatModuleCodeStr = heatModuleCodeJsonArray.getStr(i);
                 HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
-                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode);//获取设定的加热温度
-                double targetTemperature = heatModuleState.getHeatTemperature();
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode);//获取目标加热区
+                Assert.isTrue(heatModuleState.isTrayStatus(), ()->new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区无托盘
+                double targetTemperature = heatModuleState.getHeatTemperature();//获取设定的加热温度
                 heatModuleState.setTargetTemperature(targetTemperature);//将加热温度设定为目标温度
-                heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, targetTemperature);
+                heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, targetTemperature);//打开加热棒
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.heating); //设置加热区状态 加热中
             }
         });

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

@@ -34,8 +34,8 @@ public class HeatStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) {
                 String heatModuleCodeStr = heatModuleCodeJsonArray.getStr(i);
                 HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
-                heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);
+                heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//停止加热棒
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);//同步转态
             }
         });
     }

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

@@ -43,14 +43,20 @@ public class LiquidAddCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
 
+
+
         return runAsync(() -> {
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
+            deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             JSONArray jsonArray = cmdDTO.getJSONArrayParam("columns");//获取参数
             Assert.notNull(jsonArray, () -> new AppException(ResultCode.INVALID_PARAMETER));//解析参数
             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
             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
+            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
             for (int i = 0; i < jsonArray.size(); i++) {
                 JSONObject jsonObject = (JSONObject) jsonArray.get(i);
                 Integer solutionId = jsonObject.getInt("solutionId");//溶液Id
@@ -61,17 +67,20 @@ public class LiquidAddCommand extends BaseCommandHandler {
                 double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比
                 double position = volume * scale * 8;//加液泵的转数
                 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
-                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
+                double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂左移距离
+                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//机械臂左移
                 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
                 solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液
-                double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂左移距离
-                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//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
+
 
 
             }
             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
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用解除
+            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
         });
     }
 }

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

@@ -49,6 +49,8 @@ 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(() -> {
+            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
@@ -62,6 +64,8 @@ public class LiquidReduceCommand extends BaseCommandHandler {
             }
             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(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用解除
+            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
         });
     }
 }

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

@@ -36,6 +36,7 @@ public class DebugDoorCloseCommand extends BaseCommandHandler {
             DeviceCommandBundle doorMoveDeviceCommand = DeviceCommandGenerator.doorMove(0.0);
             CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorMoveDeviceCommand);
             CommandUtil.wait(doorMoveDeviceCommandFuture);
+
         });
     }
 }

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

@@ -15,7 +15,7 @@ import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
 /**
- * 加热模块控制 todo wmy 需要和前端同步参数 加热 烘干 退火
+ * 加热模块控制
  */
 @Tag(name = "加热模块控制")
 @RestController