a8000/src/main/java/com/iflytop/a800/device/Incubator.java

package com.iflytop.a800.device;
import com.iflytop.a800.resource.IncubatorSlot;
import com.iflytop.a800.resource.TestCard;
import com.iflytop.uf.UfActuatorCmdExecutor;
import com.iflytop.uf.UfCmdSnippetExecutor;
import com.iflytop.uf.model.UfMdbOption;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
public class Incubator extends DeviceComponent {
    // 槽位
    private final List<IncubatorSlot> slots;
    // 槽位起始索引
    private Integer slotStartIndex = 0;

    // 构造函数
    public Incubator() {
        this.slotStartIndex = 0;
        this.slots = new ArrayList<>();
        for ( int i = 0; i < 20; i++ ) {
            var slot = new IncubatorSlot();
            slot.index = i;
            this.slots.add(slot);
        }
    }

    // 移动至提交位置
    public void moveToCommitPos( IncubatorSlot slot ) {
        Integer commitStartPos = UfMdbOption.getInteger("IncubatorSlotCommitStartPos");
        Integer commitDistance = UfMdbOption.getInteger("IncubatorSlotCommitDistance");
        int commitPos = commitStartPos + commitDistance * slot.index;
        UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to", Integer.toString(commitPos));
    }

    // 推送新卡片
    public IncubatorSlot pushNewCard(TestCard card) {
        var lock = this.lock("PushNewCard");

        IncubatorSlot slot = null;
        for ( int i=0; i<20; i++ ) {
            var tmpSlot = this.slots.get(this.slotStartIndex);
            this.slotStartIndex = (this.slotStartIndex + 1) % 20;
            if ( tmpSlot.card != null ) {
                continue ;
            }
            slot = tmpSlot;
            break;
        }
        if ( slot == null ) {
            throw new RuntimeException("无可用孵育盘槽位");
        }

        Integer boxPos = UfMdbOption.getInteger(String.format("TestCardWarehouseBox.%d", card.boxIndex));
        Integer slotStartPos = UfMdbOption.getInteger("IncubatorSlotStartPos");
        Integer slotDistance = UfMdbOption.getInteger("IncubatorSlotDistance");
        Integer slotPos = slotStartPos + slotDistance * slot.index;

        Integer commitStartPos = UfMdbOption.getInteger("IncubatorSlotCommitStartPos");
        Integer commitDistance = UfMdbOption.getInteger("IncubatorSlotCommitDistance");
        Integer commitPos = commitStartPos + commitDistance * slot.index;
        Map<String,Object> params = Map.of(
            "box", boxPos,
            "slot", slotPos,
            "commit", commitPos
        );
        UfCmdSnippetExecutor.execute("IncubatorTestCardPushIn", params);
        slot.card = card;

        this.unlock(lock);
        return slot;
    }

    // 退出到扫描
    public void exitCardToScanner( IncubatorSlot slot ) {
        Integer startPos = UfMdbOption.getInteger("IncubatorSlotExitStartPos");
        Integer distance = UfMdbOption.getInteger("IncubatorSlotExitDistance");
        Integer slotPos = startPos + distance * slot.index;
        Map<String,Object> params = Map.of("slot", slotPos);
        UfCmdSnippetExecutor.execute("IncubatorTestCardExitToScanner", params);
        slot.card = null;
    }
}