fix: 批量加液逻辑修改

src/main/java/com/qyft/gd/common/constant/WebSocketMessageType.java

@@ -17,4 +17,9 @@ public class WebSocketMessageType {
      * 工艺执行反馈
      */
     public static final String CRAFTS = "crafts";
+    /**
+     * 容器剩余状态
+     */
+    public static final String CONTAINER = "container";
+
 }

src/main/java/com/qyft/gd/controller/CMDController.java

@@ -14,9 +14,8 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
-import java.util.HashMap;
-import java.util.Map;
-import java.util.UUID;
+import java.util.*;
+import java.util.function.Supplier;
 
 @Tag(name = "控制指令")
 @RestController
@@ -64,18 +63,8 @@ public class CMDController {
 
     @Operation(summary = "批量加液")
     @PostMapping("/injectFluid")
-    public Result<String> injectFluid(@RequestBody CmdInjectFluidDTO[] list) {
-        for (CmdInjectFluidDTO cmdInjectFluidDTO : list) {
-            CMDForm cmdForm = new CMDForm();
-            cmdForm.setCommand("injectFluid");
-            cmdForm.setCommandId(UUID.randomUUID().toString());
-            Map<String, Object> params = new HashMap<>();
-            params.put("tubeNum", cmdInjectFluidDTO.getTubeNum());
-            params.put("solutionId", cmdInjectFluidDTO.getSolutionId());
-            params.put("volume", cmdInjectFluidDTO.getVolume());
-            cmdForm.setParams(params);
-            cmdService.executeCommand(cmdForm);
-        }
+    public Result<String> injectFluid(@RequestBody CmdInjectFluidDTO dto) {
+        cmdService.injectFluids(dto);
         return Result.success("操作成功");
     }
 }

src/main/java/com/qyft/gd/model/dto/CmdInjectFluidDTO.java

@@ -5,10 +5,9 @@ import lombok.Data;
 
 @Data
 public class CmdInjectFluidDTO {
-    @Schema(description = "试管编号")
-    private Integer tubeNum;
-    @Schema(description = "溶液id")
-    private Integer solutionId;
-    @Schema(description = "容量")
-    private Integer volume;
+    @Schema(description = "指令id")
+    private String commandId;
+
+    @Schema(description = "加液数据list")
+    private InjectFluid[] injectFluids;
 }

src/main/java/com/qyft/gd/model/dto/InjectFluid.java

@@ -0,0 +1,14 @@
+package com.qyft.gd.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class InjectFluid {
+    @Schema(description = "试管编号")
+    private Integer tubeNum;
+    @Schema(description = "溶液id")
+    private Integer solutionId;
+    @Schema(description = "容量")
+    private Integer volume;
+}

src/main/java/com/qyft/gd/service/BaseDataService.java

@@ -51,6 +51,17 @@ public class BaseDataService {
         return null;
     }
 
+    // 根据容液id获取容器信息
+    public ContainerListVO getContainerBySolutionId(int solutionId) {
+        List<ContainerListVO> containers = map.getContainers();
+        for (ContainerListVO container : containers) {
+            if (container.getSolutionId() == solutionId) {
+                return container;
+            }
+        }
+        return null;
+    }
+
     // 获取试管架某个试管坐标
     public String getTubePositionByHeatArea(int areaId, int tubeNumber) {
         SysSettingVO sysSettingVO = findSysSettingById(map.getHeat_area(), areaId);
@@ -134,6 +145,12 @@ public class BaseDataService {
         return true;
     }
 
+    // 更新配置
+    public Boolean updateConfig() {
+        init();
+        return true;
+    }
+
     @PostConstruct
     private void init() {
         List<SysSettingVO> heatAreaList = sysSettingsService.getConfig("heat_area");

src/main/java/com/qyft/gd/service/CMDService.java

@@ -5,9 +5,12 @@ import com.qyft.gd.common.constant.Commands;
 import com.qyft.gd.common.constant.WebSocketMessageType;
 import com.qyft.gd.common.result.CMDResultCode;
 import com.qyft.gd.device.service.DeviceService;
+import com.qyft.gd.model.dto.CmdInjectFluidDTO;
+import com.qyft.gd.model.dto.InjectFluid;
 import com.qyft.gd.model.entity.TaskSteps;
 import com.qyft.gd.model.entity.Tasks;
 import com.qyft.gd.model.form.CMDForm;
+import com.qyft.gd.model.vo.ContainerListVO;
 import com.qyft.gd.model.vo.ExecutionResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -29,15 +32,19 @@ public class CMDService {
     DeviceService deviceService;
     WebSocketService webSocketService;
     BaseDataService baseDataService;
+    ContainerService containerService;
     Map<String, Function<Map<String, Object>, List<Supplier<Boolean>>>> commandMap;
     CMDForm form;
     Map<String, String> cmdMap;
 
     @Autowired
-    public CMDService(DeviceService deviceService, WebSocketService webSocketService, BaseDataService baseDataService, TasksService tasksService, TaskStepsService taskStepsService) {
+    public CMDService(DeviceService deviceService, WebSocketService webSocketService, BaseDataService baseDataService, TasksService tasksService, TaskStepsService taskStepsService,  ContainerService containerService) {
         this.deviceService = deviceService;
         this.webSocketService = webSocketService;
         this.baseDataService = baseDataService;
+        this.tasksService = tasksService;
+        this.taskStepsService = taskStepsService;
+        this.containerService = containerService;
         this.cmdMap = new HashMap<>();
         cmdMap.put("openDoor", "开门");
         cmdMap.put("closeDoor", "关门");
@@ -77,8 +84,7 @@ public class CMDService {
         commandMap.put(Commands.MOVE_TO_HEAT_AREA, this::moveToHeatArea);
         commandMap.put(Commands.OPEN_CLAW, this::openClaw);
         commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
-        this.tasksService = tasksService;
-        this.taskStepsService = taskStepsService;
+
     }
 
     // 开门
@@ -339,9 +345,46 @@ public class CMDService {
 
     }
 
+    // 批量加液
+    public void injectFluids(CmdInjectFluidDTO dto) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        for (InjectFluid injectFluid : dto.getInjectFluids()) {
+            Map<String, Object> map = new HashMap<>();
+            map.put("tubeNum", injectFluid.getTubeNum());
+            map.put("solutionId", injectFluid.getSolutionId());
+            map.put("volume", injectFluid.getVolume());
+            cmdList.addAll(injectFluid(map));
+        }
+
+        new Thread(() -> {
+            ExecutionResult executionResult = new ExecutionResult();
+            executionResult.setCommandId(dto.getCommandId());
+            // 执行所有命令
+            for (Supplier<Boolean> command : cmdList) {
+                boolean result = command.get();
+                if (!result) {
+                    log.error("指令执行异常: {}", JSONUtil.toJsonStr(dto));
+                    executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                    executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                    webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                    return;
+                }
+            }
+            executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
+            executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
+            webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+        }).start();
+    }
+
     // 加液
     public List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // 获取容器信息
+        ContainerListVO container = baseDataService.getContainerBySolutionId((Integer) params.get("solutionId"));
+        if(container.getCapacityTotal() - container.getCapacityUsed() < (Integer) params.get("volume")) {
+            cmdList.add(() -> false);
+        }
+
         // 试管的坐标
         String tubePosition = baseDataService.getTubePositionBySolutionArea((Integer) params.get("tubeNum"));
         String[] tubePositionArr = tubePosition.split(",");
@@ -355,6 +398,8 @@ public class CMDService {
         }
         cmdList.add(() -> deviceService.moveLiquidArmToPoint(x, y, z));
         cmdList.add(() -> deviceService.addLiquid(Long.valueOf(pumpId), ((Integer) params.get("volume"))));
+        cmdList.add(() -> updateVolume(params));
+
         return cmdList;
     }
 
@@ -381,6 +426,19 @@ public class CMDService {
         return cmdList;
     }
 
+    private boolean updateVolume (Map<String, Object> params) {
+        // 获取容器信息
+        ContainerListVO container = baseDataService.getContainerBySolutionId((Integer) params.get("solutionId"));
+        container.setCapacityUsed(container.getCapacityUsed() + (Integer) params.get("volume"));
+        containerService.updateById(container);
+        baseDataService.updateConfig();
+        List<ContainerListVO> list =  containerService.getAllContainer();
+        Map<String, Object> containerMap = new HashMap<>();
+        containerMap.put("containerList", list);
+        webSocketService.pushMsg(WebSocketMessageType.CONTAINER, containerMap);
+        return true;
+    }
+
     private void initExecutorThread(List<Supplier<Boolean>> cmdList) {
         new Thread(() -> run(cmdList)).start();
     }
@@ -424,4 +482,6 @@ public class CMDService {
         initExecutorThread(cmdList);
         return true;
     }
+
+
 }

src/main/java/com/qyft/gd/service/ContainerService.java

@@ -14,4 +14,6 @@ public interface ContainerService extends IService<Container> {
     List<ContainerListVO> getAllContainer();
 
     Boolean updateById(ContainerDTO dto);
+
+    Container selectById(Long id);
 }

src/main/java/com/qyft/gd/service/WebSocketService.java

@@ -1,6 +1,7 @@
 package com.qyft.gd.service;
 
 import cn.hutool.json.JSONUtil;
+import com.qyft.gd.common.constant.WebSocketMessageType;
 import com.qyft.gd.config.WebSocketServer;
 import com.qyft.gd.model.vo.WebsocketResult;
 import org.springframework.stereotype.Service;

src/main/java/com/qyft/gd/service/impl/ContainerServiceImpl.java

@@ -32,4 +32,9 @@ public class ContainerServiceImpl extends ServiceImpl<ContainerMapper, Container
         container.setCapacityUsed(dto.getCapacityUsed());
         return this.baseMapper.updateById(container) > 0;
     }
+
+    @Override
+    public Container selectById(Long id) {
+        return this.baseMapper.selectById(id);
+    }
 }