fix:业务指令修改

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

@@ -1,12 +1,16 @@
 package com.iflytop.sgs.app.cmd.control;
 
+import cn.hutool.core.lang.Assert;
 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 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;
@@ -26,10 +30,12 @@ public class AnnealStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        HeatModuleCode heatModuleCode = HeatModuleCode.heat_module_04;
+        HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;//退火模块
+        HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode);//获取退火区的状态
+        Assert.isTrue(heatModuleState.getHeatingType().equals(HeatingType.annealing),()->new AppException(ResultCode.CRAFT_RUNNING));//判断退火区状态
         return runAsync(() -> {
-            heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);
+            heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleCode);//关闭加热棒
+            deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode).setHeatingType(HeatingType.stop);//设置退火区退火状态
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/control/DryStartCommand.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;

src/main/java/com/iflytop/sgs/app/cmd/control/DryStopCommand.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;

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;

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

@@ -0,0 +1,68 @@
+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

@@ -0,0 +1,64 @@
+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
+        });
+    }
+}
+

src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java

@@ -41,4 +41,5 @@ public class HeatModuleState {
     public HeatModuleState(HeatModuleCode moduleCode) {
         this.moduleCode = moduleCode;
     }
+
 }

src/main/java/com/iflytop/sgs/app/service/device/module/SolutionModuleService.java

@@ -8,6 +8,7 @@ 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.constant.CommandStatus;
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -102,5 +103,23 @@ public class SolutionModuleService {
         CommandUtil.wait(deviceCommandFuture);
     }
 
+    /**
+     * 加液泵加液
+     */
+    public void liquidPumpMove(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.liquidPumpMoveBy(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommandBundle);
+        CommandUtil.wait(deviceCommandFuture);
+
+    }
+    /**
+     * 电磁阀转换通道
+     * */
+    public void liquidValveSwitch(String cmdId, String cmdCode,ValveStateCode valveStateCode) throws Exception{
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(valveStateCode.getChannel());
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
+
 
 }

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

@@ -3,8 +3,8 @@ package com.iflytop.sgs.common.enums;
 import lombok.Getter;
 
 /**
- * 加热模块code枚举
- * 格式为 "heat_module_01" ~ "heat_module_06"
+ * 系统配置累
+ *
  */
 @Getter
 public enum SystemConfigCode {