加液同时进行

src/main/java/com/iflytop/digester/deviceinstance/LiquidAdditionInstance.java

@@ -13,6 +13,11 @@ import java.util.List;
 import java.util.Map;
 @Component
 public class LiquidAdditionInstance {
+    // finish callback
+    public interface ExecuteCallback {
+        void callback();
+    }
+
     // list of liquids
     private List<LiquidAdditionLiquid> liquids;
     // lock for bucket empty
@@ -93,12 +98,14 @@ public class LiquidAdditionInstance {
             Boolean hasGoutTin = this.checkTubeExists("GOUT", batchIndex, "TIN", tubes);
             if ( hasGoutTout || hasGoutTin ) {
                 UfCmdSnippetExecutor.execute("LiquidAdditionPrepare.Out." + batchIndex);
+                var pumpExecOut = new ArrayList<ExecuteCallback>();
                 if ( hasGoutTout ) {
-                    this.pump(pumpGroupOutIndex, volume);
+                    pumpExecOut.add(() -> this.pump(pumpGroupOutIndex, volume));
                 }
                 if ( hasGoutTin ) {
-                    this.pump(pumpGroupInIndex, volume);
+                    pumpExecOut.add(() -> this.pump(pumpGroupInIndex, volume));
                 }
+                this.pumpGroupExecute(pumpExecOut);
             }
 
             // 内圈
@@ -106,27 +113,55 @@ public class LiquidAdditionInstance {
             Boolean hasGinTin = this.checkTubeExists("GIN", batchIndex, "TIN", tubes);
             if ( hasGinTout || hasGinTin ) {
                 UfCmdSnippetExecutor.execute("LiquidAdditionPrepare.In." + batchIndex);
+                var pumpExecIn = new ArrayList<ExecuteCallback>();
                 if ( hasGinTout ) {
-                    this.pump(pumpGroupOutIndex, volume);
+                    pumpExecIn.add(() -> this.pump(pumpGroupOutIndex, volume));
                 }
                 if ( hasGinTin ) {
-                    this.pump(pumpGroupInIndex, volume);
+                    pumpExecIn.add(() -> this.pump(pumpGroupInIndex, volume));
                 }
+                this.pumpGroupExecute(pumpExecIn);
             }
         }
 
         UfCmdSnippetExecutor.execute("LiquidAdditionReset");
     }
 
+    // pump group execute
+    private void pumpGroupExecute( List<ExecuteCallback> actions ) {
+        List<Thread> threads = new ArrayList<>();
+        for (ExecuteCallback action : actions) {
+            Thread thread = new Thread(action::callback);
+            threads.add(thread);
+            thread.start();
+        }
+
+        for (Thread thread : threads) {
+            try {
+                thread.join();
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
     // add liquid to tubes by given pump indexes
     private void pump( Integer pumpIndex, Integer volume ) {
         var liquid = liquids.get((0==pumpIndex%2) ? pumpIndex/2 : (pumpIndex-1)/2);
         var type = liquid.type;
 
-        var snippetKey = "LiquidAdditionPump." + pumpIndex;
+
         var rotateDistance = this.convertVolumeToPumpRotationDistance(type, volume);
-        Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
-        UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
+        String pumpKey = String.format("LiquidPeristalticPump_%d_%d", pumpIndex/2, pumpIndex%2);
+        UfActuatorCmdExecutor.execute(pumpKey,"motor_easy_move_by_nb", rotateDistance.toString());
+        do {
+            String status = UfActuatorCmdExecutor.execute(pumpKey, "module_get_status");
+            if ( "0".equals(status) ) {
+                break ;
+            }
+            UfCommon.delay(100);
+        } while( true );
+        UfActuatorCmdExecutor.execute(pumpKey, "motor_easy_move_by", "-500");
 
         // update liquid volume
         liquid.setVolumeByConsumed(volume);