调整初始化方式为引导

src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java

@@ -0,0 +1,62 @@
+package com.iflytop.sgs.app.cmd.selftest;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.core.SelfMoveTestGenerator;
+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.app.ws.server.WebSocketSender;
+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;
+
+/**
+ * 自检移动测试
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("move_test")//业务指令注解
+public class MoveTestCommand extends BaseCommandHandler {
+    private final SolutionModuleService solutionModuleService;
+    private final TransferModuleService transferModuleService;
+    private final HeatModuleService heatModuleService;
+    private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
+
+    private final WebSocketSender webSocketService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;
+        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 annealHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(annealHeatModuleCode);//获取退火加热模块托盘夹取点
+        Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
+        Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
+
+        return runAsync(() -> {
+            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 25));
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
+            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、加液模块升降电机检测完毕", 50));
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
+            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、x轴电机检测完毕", 75));
+            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入上料区
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100));
+        });
+    }
+}
+

src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java

@@ -0,0 +1,65 @@
+package com.iflytop.sgs.app.cmd.selftest;
+
+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.DoorModuleService;
+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.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;
+
+/**
+ * 移除一个托盘
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("tray_out")//业务指令注解
+public class TrayOutCommand extends BaseCommandHandler {
+    private final DoorModuleService doorModuleService;
+    private final TransferModuleService transferModuleService;
+    private final HeatModuleService heatModuleService;
+    private final DevicePositionService devicePositionService;
+    private final DeviceStateService deviceStateService;
+
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
+        Double doorOpenPosition = devicePositionService.getPosition(DevicePositionCode.doorOpenPosition).getDistance();//获取开门位置
+        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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
+        return runAsync(() -> {
+            if (!deviceStateService.getDeviceState().getDoorModule().isOpen()) {
+                doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenPosition);
+                deviceStateService.getDeviceState().getDoorModule().setOpen(true);
+            }
+
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
+            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轴进入卡槽
+            deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
+            deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中
+            deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
+            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入上料区
+            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
+            deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
+        });
+    }
+}
+

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

@@ -1,6 +1,7 @@
 package com.iflytop.sgs.app.controller;
 
 import com.iflytop.sgs.app.model.bo.status.SelfTestState;
+import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.SelfTestService;
 import com.iflytop.sgs.common.result.Result;
@@ -13,6 +14,8 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import java.util.List;
+
 @Tag(name = "自检")
 @RestController
 @RequestMapping("/api/self-test")
@@ -28,6 +31,12 @@ public class SelfTestController {
         return Result.success(selfTestService.getSelfTestState());
     }
 
+    @Operation(summary = "是否存在需要移除的托盘")
+    @GetMapping("/require-out-tray")
+    public Result<List<GetRequireOutTrayVO>> getRequireOutTray() {
+        return Result.success(selfTestService.getRequireOutTray());
+    }
+
     @Operation(summary = "自检完毕")
     @PostMapping("/finish")
     public Result<?> selfTestFinish(){

src/main/java/com/iflytop/sgs/app/core/SelfMoveTestGenerator.java

@@ -0,0 +1,16 @@
+package com.iflytop.sgs.app.core;
+
+import cn.hutool.json.JSONObject;
+
+public class SelfMoveTestGenerator {
+
+    public static JSONObject generateJson(String commandId, String command, String title, Object schedule) {
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.set("commandId", commandId);
+        jsonObject.set("command", command);
+        jsonObject.set("title", title);
+        jsonObject.set("schedule", schedule);
+        return jsonObject;
+    }
+
+}

src/main/java/com/iflytop/sgs/app/model/vo/GetRequireOutTrayVO.java

@@ -0,0 +1,23 @@
+package com.iflytop.sgs.app.model.vo;
+
+import com.iflytop.sgs.common.enums.HeatModuleCode;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "是否存在需要移除的托盘")
+@Data
+public class GetRequireOutTrayVO {
+
+    @Schema(description = "加热模块CODE")
+    private HeatModuleCode moduleCode;
+
+    @Schema(description = "是否存在托盘")
+    private boolean trayExist;
+
+
+    public GetRequireOutTrayVO(HeatModuleCode moduleCode, boolean trayExist) {
+        this.moduleCode = moduleCode;
+        this.trayExist = trayExist;
+    }
+
+}

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

@@ -1,16 +1,34 @@
 package com.iflytop.sgs.app.service.device;
 
 import com.iflytop.sgs.app.model.bo.status.SelfTestState;
+import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
+import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
 public class SelfTestService {
+    private final DeviceStateService deviceStateService;
     @Getter
     private final SelfTestState selfTestState = new SelfTestState();
 
+    /**
+     * 是否存在需要移除的托盘
+     */
+    public List<GetRequireOutTrayVO> getRequireOutTray() {
+        List<GetRequireOutTrayVO> getRequireOutTrayList = new ArrayList<>();
+        List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+        for (HeatModuleState heatModuleState : heatModuleStateList) {
+            //TODO 只获取存在托盘的
+            getRequireOutTrayList.add(new GetRequireOutTrayVO(heatModuleState.getModuleCode(),heatModuleState.isTrayStatus()));
+        }
+        return getRequireOutTrayList;
+    }
 }

src/main/java/com/iflytop/sgs/app/ws/server/WebSocketSender.java

@@ -28,6 +28,9 @@ public class WebSocketSender {
         push(WebSocketMessageType.CMD_RESPONSE, data);
     }
 
+    public void pushSelfMoveTest(Object data) {
+        push(WebSocketMessageType.SELF_MOVE_TEST, data);
+    }
 
     public void pushNotification(Notification notification) {
         push("notification", notification);

src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java

@@ -10,6 +10,10 @@ public class WebSocketMessageType {
      */
     public static final String ALARM = "alarm";
     /**
+     * 自检移动电机测试
+     */
+    public static final String SELF_MOVE_TEST = "self_move_test";
+    /**
      * 指令反馈
      */
     public static final String CMD_RESPONSE = "cmd_response";