feat:DeviceStepService方法实现

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<String, Object> params = Map.of("areaId", heaterId);
+        List<Supplier<Boolean>> 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<String, Object> params = Map.of("areaId", heaterId);
+        List<Supplier<Boolean>> 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<TubeSol> tubeSolList) {
-        List<Boolean> 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<String, Object> params = Map.of("tubeNum", tubeSol.getTubeNum(), "solutionId", addLiquid.getSolId(), "volume", addLiquid.getVolume());
+                List<Supplier<Boolean>> 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<String, Object> params = Map.of("areaId", heaterId);
+        List<Supplier<Boolean>> 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<String, Object> params = Map.of("areaId", heaterId);
+        List<Supplier<Boolean>> 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<String, Object> params = Map.of();
+        List<Supplier<Boolean>> 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<String, Object> params = Map.of("areaId", heaterId,"temperature", temperature);
+        List<Supplier<Boolean>> cmdList = cmdService.startHeat(params);
+        return cmdList.stream().allMatch(Supplier::get);
     }
 
     //停止加热
     public boolean stopHeating(String heaterId) {
-        return true;
+        Map<String, Object> params = Map.of("areaId", heaterId);
+        List<Supplier<Boolean>> cmdList = cmdService.stopHeat(params);
+        return cmdList.stream().allMatch(Supplier::get);
     }
 
     //拍照
     public boolean takePhoto() {
-        return true;
+        Map<String, Object> params = Map.of();
+        List<Supplier<Boolean>> cmdList = cmdService.takePhoto(params);
+        return cmdList.stream().allMatch(Supplier::get);
     }
 
     //移至异常
@@ -138,4 +147,5 @@ public class DeviceStepService {
         return false;
     }
 
+
 }

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
      */