feat: 系统配置新增偏移量信息;基础数据新增公共方法.

sql/demo.sql

@@ -49,20 +49,26 @@ CREATE TABLE IF NOT EXISTS sys_settings (
 INSERT INTO sys_settings (id, parent_id, name, code, value1, value2, value3, value4)
 VALUES
     (1, -1, '加热区域配置', 'heat_area', '坐标', '硬件代号', '温度', '工艺id' ),
-    (2, 1, 'A1', 'heat_area_A1', '1,1,1', '', '', ''),
-    (3, 1, 'A2', 'heat_area_A2', '2,2,2', '', '',''),
-    (4, 1, 'A3', 'heat_area_A3', '3,3,3', '', '',''),
-    (5, 1, 'A4', 'heat_area_A4', '4,4,4', '', '',''),
-    (6, 1, 'A5', 'heat_area_A5', '5,5,5', '', '',''),
-    (7, 1, 'A6', 'heat_area_A6', '6,6,6', '', '',''),
+    (2, 1, 'A1', 'heat_area_A1', '1,1,1', '11', '', ''),
+    (3, 1, 'A2', 'heat_area_A2', '2,2,2', '22', '',''),
+    (4, 1, 'A3', 'heat_area_A3', '3,3,3', '33', '',''),
+    (5, 1, 'A4', 'heat_area_A4', '4,4,4', '44', '',''),
+    (6, 1, 'A5', 'heat_area_A5', '5,5,5', '55', '',''),
+    (7, 1, 'A6', 'heat_area_A6', '6,6,6', '66', '',''),
     (8, -1, '加液区域配置', 'solution_area', '坐标', '硬件代号', '','' ),
-    (9, 8, '加液区', 'solution_area_A7', '7,7,7', '', '','' ),
+    (9, 8, '加液区', 'solution_area_A7', '7,7,7', '77', '','' ),
     (10, -1, '拍子区域配置', 'lid_area', '坐标', '硬件代号', '' ,''),
-    (11, 10, '拍子存放区', 'lid_area_A8', '8,8,8', '', '','' ),
+    (11, 10, '拍子存放区', 'lid_area_A8', '8,8,8', '88', '','' ),
     (12, -1, '其他系统配置', 'sys_setting', '系统配置的值', '', '' ,''),
     (13, 12, '溶液量低提示', 'sys_setting_volume', '300', '', '',''),
     (14, 12, '异常处理区', 'sys_setting_abnormal_area', '7' , '', '',''),
-    (15, 12, '设备信息', 'sys_setting_info', '12345' , '', '','');
+    (15, 12, '设备信息', 'sys_setting_info', '12345' , '', '',''),
+    (16, -1, '偏移量', 'sys_offset', '毫米' , '', '',''),
+    (17, 16, '试管半径', 'sys_offset_tube_radius', '100' , '', '',''),
+    (18, 16, '试管圆心间距', 'sys_offset_tube_distance', '100' , '', '',''),
+    (19, 16, '试管高度', 'sys_offset_tube_height', '300' , '', '',''),
+    (20, 16, '试管架高度', 'sys_offset_tube_rack_height', '280' , '', '',''),
+    (21, 16, '拍子高度', 'sys_offset_lid_height', '350' , '', '','');
 
 
 -- 创建 solutions 溶液 表

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

@@ -1,6 +1,7 @@
 package com.qyft.gd.controller;
 
 import com.qyft.gd.model.dto.SysSettingsDTO;
+import com.qyft.gd.service.BaseDataService;
 import com.qyft.gd.service.SysSettingsService;
 import com.qyft.gd.system.common.result.Result;
 import io.micrometer.common.lang.Nullable;
@@ -20,6 +21,7 @@ import java.util.List;
 @Slf4j
 public class SysSettingsController {
     private final SysSettingsService sysSettingsService;
+    private final BaseDataService baseDataService;
     @Operation(summary = "获取配置")
     @GetMapping("/getConfig")
     public Result<List<?>> getConfig(
@@ -40,7 +42,7 @@ public class SysSettingsController {
     @Operation(summary = "更新配置")
     @PutMapping("/updateConfig")
     public Result<String> updateConfig(@RequestBody List<SysSettingsDTO> dto) {
-        boolean isSuccess = sysSettingsService.updateConfig(dto);
+        boolean isSuccess = baseDataService.updateConfig(dto);
         if (isSuccess) {
             return Result.success();
         }

src/main/java/com/qyft/gd/model/vo/SysSettingVO.java

@@ -12,10 +12,10 @@ import java.util.List;
 public class SysSettingVO {
 
     @Schema(description = "主键id")
-    private Long id;
+    private int id;
 
     @Schema(description = "父id")
-    private Long parentId;
+    private int parentId;
 
     @Schema(description = "名称")
     private String name;
@@ -30,9 +30,15 @@ public class SysSettingVO {
     private String hardwareId;
 
     @Schema(description = "加热区温度")
-    private Integer temperature;
+    private Long temperature;
 
     @Schema(description = "工艺id")
-    private Long craftId;
+    private int craftId;
+
+    @Schema(description = "试管坐标list")
+    private List<String> tubePositionList;
+
+    @Schema(description = "拍子坐标")
+    private String LidPosition;
 
 }

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

@@ -1,57 +1,157 @@
 package com.qyft.gd.service;
 
+import com.qyft.gd.mapper.SysSettingsMapper;
 import com.qyft.gd.model.dto.SysSettingsDTO;
 import com.qyft.gd.model.vo.BaseDataVO;
 import com.qyft.gd.model.vo.ContainerListVO;
 import com.qyft.gd.model.vo.SysSettingVO;
 import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
+@Slf4j
 @Service
 public class BaseDataService {
     private final SysSettingsService sysSettingsService;
     private final ContainerService containerService;
+    private final SysSettingsMapper sysSettingsMapper;
     private final BaseDataVO map = new BaseDataVO();
 
-    public BaseDataService(SysSettingsService sysSettingsService, ContainerService containerService) {
+    public BaseDataService(SysSettingsService sysSettingsService, ContainerService containerService, SysSettingsMapper sysSettingsMapper) {
         this.sysSettingsService = sysSettingsService;
         this.containerService = containerService;
+        this.sysSettingsMapper = sysSettingsMapper;
     }
 
-//    @PostConstruct
-    public void init() {
+    // 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);
+        if (sysSettingVO != null) {
+            return sysSettingVO.getTubePositionList().get(tubeNumber - 1);
+        }
+        return null;
+    }
+    // 获取加液区某个试管坐标
+    public String getTubePositionBySolutionArea(int tubeNumber) {
+        List<SysSettingVO> list = map.getSolution_area();
+            return list.get(0).getTubePositionList().get(tubeNumber - 1);
+    }
+
+    // 获取所有加热区
+    public List<SysSettingVO> getAllHeatArea() {
+        return map.getHeat_area();
+    }
+
+    // 根据id获取加热区坐标
+    public String getHeatAreaPositionById(int id) {
+        for (SysSettingVO sysSettingVO : map.getHeat_area()) {
+            if (sysSettingVO.getId() == id) {
+                return sysSettingVO.getValue();
+            }
+        }
+        return null; // 如果没有找到，返回 null
+    }
+
+    // 获取加液区坐标
+    public String getSolutionAreaPosition() {
+        List<SysSettingVO> list = map.getSolution_area();
+        if (!list.isEmpty()) {
+            return list.get(0).getValue();
+        }
+        return null; // 如果没有找到，返回 null
+    }
+
+    // 根据id获取加热区拍子的坐标
+    public String getHeatAreaLidPositionById(int id) {
+        for (SysSettingVO sysSettingVO : map.getHeat_area()) {
+            if (sysSettingVO.getId() == id) {
+                return sysSettingVO.getLidPosition();
+            }
+        }
+        return null; // 如果没有找到，返回 null
+    }
+
+    // 获取所有基础数据
+    public BaseDataVO getBaseData() {
+        return map;
+    }
+
+    // 更新配置
+    public Boolean updateConfig(List<SysSettingsDTO> dto) {
+        for (SysSettingsDTO sysSettingsDTO : dto) {
+            sysSettingsMapper.updateById(sysSettingsDTO);
+        }
+        init();
+        return true;
+    }
+
+    @PostConstruct
+    private void init() {
         List<SysSettingVO> heatAreaList = sysSettingsService.getConfig("heat_area");
         List<SysSettingVO> solutionAreaList = sysSettingsService.getConfig("solution_area");
         List<SysSettingVO> lidAreaList = sysSettingsService.getConfig("lid_area");
         List<SysSettingVO> sysSettingList = sysSettingsService.getConfig("sys_setting");
         List<ContainerListVO> containerList = containerService.getAllContainer();
-        for (SysSettingVO sysSettingVO : sysSettingList) {
-            sysSettingVO.setTemperature(0);
-            sysSettingVO.setCraftId(null);
-        }
         map.setHeat_area(heatAreaList);
         map.setSolution_area(solutionAreaList);
         map.setLid_area(lidAreaList);
         map.setSys_setting(sysSettingList);
         map.setContainers(containerList);
+        calculateTubeCoordinates();
+        log.info("初始化数据成功:{}", map);
     }
-    public BaseDataVO getBaseData() {
-        return map;
+
+    // 计算试管坐标
+    private void calculateTubeCoordinates() {
+        List<SysSettingVO> sysSettingVOList = sysSettingsService.getConfig("sys_offset");
+        Map<String, Object> offsetMap = new HashMap<>();
+        for (SysSettingVO sysSettingVO : sysSettingVOList) {
+            offsetMap.put(sysSettingVO.getCode(), sysSettingVO.getValue());
+        }
+        log.info("calculateTubeCoordinates offsetMap:{}", offsetMap);
+        calculateTubePositions(map.getHeat_area(), offsetMap, 0);
+        calculateTubePositions(map.getSolution_area(), offsetMap, 1);
     }
-    public void updateBaseData(SysSettingsDTO dto) {
-        init();
-        List<SysSettingVO> heatAreaList = map.getHeat_area();
-        for (SysSettingVO sysSettingVO : heatAreaList) {
-            if (sysSettingVO.getId().equals(dto.getId())) {
-                if(dto.getTemperature() != null ) {
-                    sysSettingVO.setTemperature(Math.toIntExact(dto.getTemperature()));
-                }
-                if (dto.getCraftId() != null) {
-                    sysSettingVO.setCraftId(dto.getCraftId());
+    // 封装计算试管位置的公共方法
+    private void calculateTubePositions(List<SysSettingVO> areaList, Map<String, Object> offsetMap, int type) {
+        areaList.forEach(sysSettingVO -> {
+            List<String> tubePositionList = new ArrayList<>();
+            // 试管架中心点
+            String centerPosition = sysSettingVO.getValue();
+            String[] split = centerPosition.split(",");
+            // 试管半径
+            int radius = Integer.parseInt((String) offsetMap.get("sys_offset_tube_radius"));
+            // 圆心间距
+            int distance = Integer.parseInt((String) offsetMap.get("sys_offset_tube_distance"));
+            // 圆心之间的水平和垂直偏移量
+            int firstX = (int) (Integer.parseInt(split[0]) - 1.5 * distance);
+            int firstY = (int) (Integer.parseInt(split[1]) + 1.5 * distance);
+            // 循环计算每个圆的坐标
+            for (int row = 0; row < 4 ; row++) {
+                for (int col = 0; col < 4; col++) {
+                    int x = firstX + col * distance;
+                    int y = firstY - row * distance;
+                    tubePositionList.add(x + "," + y + ","+ offsetMap.get("sys_offset_tube_height"));
                 }
             }
+            sysSettingVO.setTubePositionList(tubePositionList);
+            if(type == 0) {
+                sysSettingVO.setLidPosition(split[0] + "," + split[1] + "," + offsetMap.get("sys_offset_lid_height"));
+            }
+        });
+    }
+
+    private SysSettingVO findSysSettingById(List<SysSettingVO> list, int id) {
+        for (SysSettingVO item : list) {
+            if (item.getId() == id) {
+                return item;
+            }
         }
+        return null; // 如果没有找到，返回 null
     }
 }

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

@@ -42,6 +42,17 @@ public class CMDService {
         commandMap.put(Commands.PUT_BACK_CAP,  this::putBackCap);
         commandMap.put(Commands.MOVE_MACHINE_ARM,  this::moveMachineArm);
         commandMap.put(Commands.MOVE_TUBE, this::moveTube);
+        commandMap.put(Commands.MOVE_TO_HEAT_AREA, this::moveToHeatArea);
+    }
+    // 移至加热
+    private boolean moveToHeatArea(CMDForm cmdForm) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.moveRailArmToPoint(1,2,3));
+        cmdList.add(() -> deviceService.openClaw());
+        cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        cmdList.add(() -> deviceService.closeClaw());
+        initExecutorThread(cmdList, cmdForm);
+        return true;
     }
 // 移动单个试管
     private Boolean moveTube(CMDForm cmdForm) {
@@ -196,17 +207,5 @@ public class CMDService {
         }
         command.apply(cmdForm);
         return true;
-
-//        ExecutionResult executionResult = new ExecutionResult();
-//        executionResult.setCommandId(cmdForm.getCommandId());
-//        executionResult.setCommandName(cmdForm.getCommand());
-//        boolean result =command.apply(cmdForm);
-//        if(result) {
-//            executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
-//            executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
-//        }else {
-//            executionResult.setStatus(CMDResultCode.FAILURE.getCode());
-//            executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
-//        }
     }
 }

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

@@ -0,0 +1,40 @@
+package com.qyft.gd.service;
+
+import com.qyft.gd.device.model.bo.DeviceStatus;
+import com.qyft.gd.device.service.DeviceStateService;
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.Timer;
+import java.util.TimerTask;
+
+@Slf4j
+@Service
+public class StatusService {
+
+    private final WebSocketService webSocketService;
+    private final DeviceStateService deviceStateService;
+    private Timer timer;
+
+    @Autowired
+    public StatusService(WebSocketService webSocketService, DeviceStateService deviceStateService) {
+        this.webSocketService = webSocketService;
+        this.deviceStateService = deviceStateService;
+    }
+
+    @PostConstruct
+    public void init() {
+        timer = new Timer();
+        TimerTask task = new TimerTask() {
+            @Override
+            public void run() {
+                DeviceStatus deviceStatus = deviceStateService.getDeviceStatus();
+                webSocketService.pushMsg("status", deviceStatus);
+            }
+        };
+
+        timer.schedule(task, 10, 100);
+    }
+}

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

@@ -49,7 +49,6 @@ public class SysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysSe
     public Boolean updateConfig(List<SysSettingsDTO> dto) {
         for (SysSettingsDTO sysSettingsDTO : dto) {
             sysSettingsMapper.updateById(sysSettingsDTO);
-//            baseDataService.updateBaseData(sysSettingsDTO);
         }
         return true;
     }

src/main/resources/mapper/SysSettingsMapper.xml

@@ -2,7 +2,15 @@
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.qyft.gd.mapper.SysSettingsMapper">
     <select id="getConfig" resultType="com.qyft.gd.model.vo.SysSettingVO">
-        select id, parent_id, code, name, value1 as value, value2 as hardwareId from sys_settings where parent_id = #{parentId}
+        select
+            id,
+            parent_id,
+            code, name,
+            value1 as value,
+            value2 as hardwareId,
+            value3 as temperature,
+            value4 as craftId
+        from sys_settings where parent_id = #{parentId}
     </select>
     <select id="getIdByCode" resultType="java.lang.Integer">
         select id from sys_settings where code = #{type}