fix:业务指令修改

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

@@ -1,22 +1,28 @@
 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.Point3D;
 import com.iflytop.sgs.app.model.bo.status.device.TrayState;
 import com.iflytop.sgs.app.model.bo.status.device.TubeState;
 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.HeatModuleService;
 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.HeatModuleCode;
+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.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -30,47 +36,43 @@ public class CleanStartCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
-
     private final DeviceStateService deviceStateService;
-    private final HeatModuleService heatModuleService;
+    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //清洗次数
-        Integer cycle = cmdDTO.getIntegerParam("cycle");
-        String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
-        HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
-        //TODO 判断目标加热模块传感器是否有托盘，如果没有托盘的话提示错误
 
-        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
+        //TODO 需要先更新一下托盘状态 状态码新增转运模块是否有托盘
+        Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));
+        double cleanWaterVolume= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量
+        double waterScale= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数
+        double pumpPosition= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液时蠕动泵移动
+        Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
+        Integer cycle = cmdDTO.getIntegerParam("cycle");//清洗次数
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
         Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
-        Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon();//加液模块电机下降进入试管加液位置
-
-        TrayState trayState = deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode);
-
+        List<TrayState> trayStates=deviceStateService.getDeviceState().getTrays();//所有的托盘
+        TrayState trayState=trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘
         return runAsync(() -> {
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至夹取点 + 移动距离
-            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//将Z轴下降至托盘夹取点高度
-            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
-            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
             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
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+            solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), pumpPosition);
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0.0);//加液模块上升
+            solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.water);//电磁阀对应通道打开
             for (int i = 0; i < cycle; i++) {
-                for(TubeState tubeState : trayState.getTubes()){ //TODO 切换阀门、加液、取等操作，没完成以后再考虑，应该是先对所有列进行加液，然后从头再依次抽取
+                for(TubeState tubeState : trayState.getTubes()){
                     if(tubeState.isAddSolution() && tubeState.isExists()){
-                        solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管
-                        //TODO
-                        transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -trayTubeHorizontalSpacingDistance);//X轴依次按照试管间距移动
+                        solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+                        solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume*waterScale);
+                        //todo 线程sleep指定时间
+                        solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -cleanWaterVolume*waterScale);
+                        double distance=(tubeState.getColumnNum()-1)*trayTubeHorizontalSpacingDistance;
+                        transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动
                     }
                 }
             }
             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(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至之前的加热模块上方
-            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轴移出卡槽
-            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
         });
     }
 }

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

@@ -2,11 +2,14 @@ package com.iflytop.sgs.app.cmd.control;
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
 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.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.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
@@ -35,35 +38,37 @@ public class LiquidAddCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
     private final SystemConfigService systemConfigService;
+    private final SolutionsService solutionsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //todo "params": {
-        //         "columns":[{"column":1,"solutionId":1,"volume":10},
-        //                   {"column":2,"solutionId":2,"volume":10},
-        //                   {"column":3,"solutionId":3,"volume":10}]
-        //    }
 
-        String solution = cmdDTO.getStringParam("solution");
-        ValveStateCode valveStateCode = ValveStateCode.valueOf(solution);//解析加液通道
-        double volume = cmdDTO.getDoubleParam("column");//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
+            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
-            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
+            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
             for (int i = 0; i < jsonArray.size(); i++) {
+                JSONObject jsonObject = (JSONObject) jsonArray.get(i);
+                Integer solutionId = jsonObject.getInt("solutionId");//溶液Id
+                Integer column = jsonObject.getInt("column");//列数
+                double volume = jsonObject.getDouble("volume");//量
+                Solutions solutions = solutionsService.getById(solutionId);//获取溶液
+                ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
+                double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比
+                double position = volume * scale;//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
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
                 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
+                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

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

@@ -5,6 +5,8 @@ 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.bo.status.device.TrayState;
+import com.iflytop.sgs.app.model.bo.status.device.TubeState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
@@ -12,6 +14,7 @@ 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;
@@ -20,6 +23,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -38,27 +42,28 @@ public class LiquidReduceCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //todo 无参数
-        double volume=cmdDTO.getDoubleParam("column");//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
-
+        //todo 需要更新一下传感器的状态
+        Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
+        Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
+        Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
+        List<TrayState> trayStates = deviceStateService.getDeviceState().getTrays();//所有的托盘
+        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(() -> {
-            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(), 0.0);//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
+            for (TubeState tubeState : trayState.getTubes()) {
+                if (tubeState.isAddSolution() && tubeState.isExists()) {
+                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管
+                    solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -reduceNumber);//抽液
+                    double distance = (tubeState.getColumnNum() - 1) * trayTubeHorizontalSpacingDistance;
+                    transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动
+                }
             }
-            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
         });
     }
 }

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java

@@ -462,6 +462,14 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 获取托盘状态 todo 文档action是heater_tray
+     *
+     */
+    public static DeviceCommandBundle getTrayStatus() {
+        return getInfoCmd(CmdDevice.sensor, "获取托盘状态");
+    }
+
+    /**
      * 控制设备电机指令
      */
     private static DeviceCommandBundle controlMotorCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) {

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

@@ -13,7 +13,10 @@ public enum SystemConfigCode {
     scale_thick("浓硝酸转换系数"),
     scale_water("水转换系数"),
     scale_waste("废水转换系数"),
-    scale_vacant("空气转换系数");
+    scale_vacant("空气转换系数"),
+    volume_clean("清洁时加水的量"),
+    number_reduce("抽液时机蠕动泵的转数");
+
 
     private String description;
 

src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java

@@ -6,4 +6,5 @@ public enum CmdAction {
     open, close, stop, start, set, get,
     open_power, close_power, open_circle, close_circle,
     open_heart, close_heart, open_cool, close_cool, take_photo,
+    heater_tray,
 }