From 16b4e5b32674da1ad3eab4fd3581fdc39c8a21c5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Thu, 20 Feb 2025 14:43:04 +0800 Subject: [PATCH] =?UTF-8?q?feat:DeviceStepService=E6=96=B9=E6=B3=95?= =?UTF-8?q?=E5=AE=9E=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../qyft/gd/device/service/DeviceStepService.java | 96 ++++++++++++---------- src/main/java/com/qyft/gd/model/bo/TubeSol.java | 2 +- 2 files changed, 54 insertions(+), 44 deletions(-) diff --git a/src/main/java/com/qyft/gd/device/service/DeviceStepService.java b/src/main/java/com/qyft/gd/device/service/DeviceStepService.java index 4eb7a83..6260d51 100644 --- a/src/main/java/com/qyft/gd/device/service/DeviceStepService.java +++ b/src/main/java/com/qyft/gd/device/service/DeviceStepService.java @@ -1,22 +1,26 @@ package com.qyft.gd.device.service; import com.qyft.gd.model.bo.TubeSol; -import com.qyft.gd.service.BaseDataService; +import com.qyft.gd.service.CMDService; import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; import java.util.ArrayList; import java.util.List; +import java.util.Map; +import java.util.function.Supplier; /** * 设备步骤操作 */ +@Slf4j @Service @RequiredArgsConstructor public class DeviceStepService { DeviceService deviceService; - BaseDataService baseDataService; + CMDService cmdService; /** * 抬起托盘 @@ -24,7 +28,9 @@ public class DeviceStepService { * @param heaterId 加热区id */ public boolean upTray(String heaterId) { - return deviceService.raiseTray(heaterId); + Map params = Map.of("areaId", heaterId); + List> cmdList = cmdService.upTray(params); + return cmdList.stream().allMatch(Supplier::get); } /** @@ -33,7 +39,9 @@ public class DeviceStepService { * @param heaterId 加热区id */ public boolean downTray(String heaterId) { - return deviceService.lowerTray(heaterId); + Map params = Map.of("areaId", heaterId); + List> cmdList = cmdService.downTray(params); + return cmdList.stream().allMatch(Supplier::get); } /** @@ -42,18 +50,17 @@ public class DeviceStepService { * @param tubeSolList 需要添加溶液的试管与溶液 */ public boolean addLiquid(List tubeSolList) { - List results = new ArrayList<>(); for (TubeSol tubeSol : tubeSolList) { - String[] tubeCoordinateArray = tubeSol.getTubeNum().split(","); //TODO 这里应该通过试管编号获取坐标 - int x = Integer.parseInt(tubeCoordinateArray[0]); - int y = Integer.parseInt(tubeCoordinateArray[1]); - int z = Integer.parseInt(tubeCoordinateArray[2]); - results.add(deviceService.moveLiquidArmToPoint(x, y, z));//加液孔对准试管 for (TubeSol.AddLiquid addLiquid : tubeSol.getAddLiquidList()) {//依次添加溶液 - results.add(deviceService.addLiquid(addLiquid.getSolId(), addLiquid.getVolume()));//TODO 这里应该通过溶液id获取到泵id + Map params = Map.of("tubeNum", tubeSol.getTubeNum(), "solutionId", addLiquid.getSolId(), "volume", addLiquid.getVolume()); + List> cmdList = cmdService.downTray(params); + boolean result = cmdList.stream().allMatch(Supplier::get); + if(!result){ + return false; + } } } - return results.stream().allMatch(Boolean::booleanValue); + return true; } /** @@ -62,55 +69,57 @@ public class DeviceStepService { * @param heaterId 加热区id */ public boolean moveToSol(String heaterId) { - //从内存中获取加热区拍子点位 - //机械臂移动到拍子上方 - //张开夹爪 - //向下移动机械臂，确保夹爪闭合可以夹住拍子 - //闭合夹爪 - //解除拍子密封 - //向上移动机械臂，确保不会发生碰撞的高度 - //拍子存放区高度 -1 - //从内存中获取拍子存放区点位 - //移动机械臂至拍子存放区点位 - //向下移动机械臂，使拍子落入拍子存放区 - //张开夹爪，放下拍子 - //向上移动机械臂，脱离拍子存放区 - //移动机械臂至加热区 - //张开夹爪 - //向下移动机械臂，确保夹爪闭合可以夹住托盘 - //闭合夹爪 - //向上移动机械臂，确保不会发生碰撞的高度 - //从内存中获取加液区点位 - //移动机械臂至加液区点位 - //向下移动机械臂，放下托盘 - //张开夹爪 - //向上移动机械臂，脱离托盘 - return true; + Map params = Map.of("areaId", heaterId); + List> cmdList = cmdService.moveToActionArea(params); + return cmdList.stream().allMatch(Supplier::get); } - //移至加热 + /** + * 移至加热 + * @param heaterId 加热区id + */ public boolean moveToHeater(String heaterId) { - return true; + Map params = Map.of("areaId", heaterId); + List> cmdList = cmdService.moveToHeatArea(params); + return cmdList.stream().allMatch(Supplier::get); } - //摇匀 + /** + * 摇匀 + * @param second 摇匀时间 + */ public boolean shaking(int second) { - return true; + Map params = Map.of(); + List> cmdList = cmdService.startShakeUp(params); + boolean result = cmdList.stream().allMatch(Supplier::get); + if(result){ + this.delay(second); + cmdList = cmdService.stopShakeUp(params); + result = cmdList.stream().allMatch(Supplier::get); + return result; + } + return false; } //开始加热 public boolean startHeating(String heaterId, double temperature) { - return true; + Map params = Map.of("areaId", heaterId,"temperature", temperature); + List> cmdList = cmdService.startHeat(params); + return cmdList.stream().allMatch(Supplier::get); } //停止加热 public boolean stopHeating(String heaterId) { - return true; + Map params = Map.of("areaId", heaterId); + List> cmdList = cmdService.stopHeat(params); + return cmdList.stream().allMatch(Supplier::get); } //拍照 public boolean takePhoto() { - return true; + Map params = Map.of(); + List> cmdList = cmdService.takePhoto(params); + return cmdList.stream().allMatch(Supplier::get); } //移至异常 @@ -138,4 +147,5 @@ public class DeviceStepService { return false; } + } diff --git a/src/main/java/com/qyft/gd/model/bo/TubeSol.java b/src/main/java/com/qyft/gd/model/bo/TubeSol.java index 09bcfa1..ea50684 100644 --- a/src/main/java/com/qyft/gd/model/bo/TubeSol.java +++ b/src/main/java/com/qyft/gd/model/bo/TubeSol.java @@ -12,7 +12,7 @@ public class TubeSol { /** * 需要添加溶液的试管编号 */ - private String tubeNum; + private Integer tubeNum; /** * 需要添加的溶液 */