feat: 指令逻辑

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

@@ -94,4 +94,14 @@ public class Commands {
      */
     public static final String MOVE_TUBE = "moveTube";
 
+    /**
+     * 机械臂爪子开启
+     */
+    public static final String OPEN_CLAW = "openClaw";
+
+    /**
+     * 机械臂爪子闭合
+     */
+    public static final String CLOSE_CLAW = "closeClaw";
+
 }

src/main/java/com/qyft/gd/model/form/CMDForm.java

@@ -32,6 +32,8 @@ public class CMDForm {
         time: 时间
         // 关于高度
         height: 高度
+        // 关于位置
+        position: 位置
 
         // 关于速度
         speed : 速度

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

@@ -31,6 +31,15 @@ public class BaseDataService {
         this.sysSettingsMapper = sysSettingsMapper;
     }
 
+    // 获取拍子存放区坐标
+    public String getLidPosition() {
+        List<SysSettingVO> list = map.getLid_area();
+        if (!list.isEmpty()) {
+            return list.get(0).getValue();
+        }
+        return null; // 如果没有找到，返回 null
+    }
+
     // 根据容液id获取泵id
     public String getPumpIdBySolutionId(int solutionId) {
         List<ContainerListVO> containers = map.getContainers();

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

@@ -44,44 +44,160 @@ public class CMDService {
         commandMap.put(Commands.MOVE_MACHINE_ARM,  this::moveMachineArm);
         commandMap.put(Commands.MOVE_TUBE, this::moveTube);
         commandMap.put(Commands.MOVE_TO_HEAT_AREA, this::moveToHeatArea);
+        commandMap.put(Commands.OPEN_CLAW, this::openClaw);
+        commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
+    }
+    // 机械臂爪子开启
+    private List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.openClaw());
+        return cmdList;
+    }
+
+    // 机械臂爪子闭合
+    private List<Supplier<Boolean>> closeClaw(Map<String, Object> params) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.closeClaw());
+        return cmdList;
     }
     // 移至加热
     private List<Supplier<Boolean>> moveToHeatArea(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveRailArmToPoint(1,2,3));
+        Map<String ,Object> map = baseDataService.getOffsetMap();
+        String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
+        String [] heatAreaPositionArr =heatAreaPosition.split(",");
+        int x1 = Integer.parseInt(heatAreaPositionArr[0]);
+        int y1 = Integer.parseInt(heatAreaPositionArr[1]);
+        int z1 = Integer.parseInt(heatAreaPositionArr[2]);
+
+        String solutionAreaPosition = baseDataService.getSolutionAreaPosition();
+        String [] solutionAreaPositionArr = solutionAreaPosition.split(",");
+        int x2 = Integer.parseInt(solutionAreaPositionArr[0]);
+        int y2 = Integer.parseInt(solutionAreaPositionArr[1]);
+        int z2 = Integer.parseInt(solutionAreaPositionArr[2]);
+        // 机械臂移动到加液位
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2,z2));
+        // 打开钩子
+        cmdList.add(() -> deviceService.openClaw());
+        // 下降高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2, z2 - (Integer) map.get("sys_offset_tube_rack_take_height")));
+        // 闭合钩子
+        cmdList.add(() -> deviceService.closeClaw());
+        // 机械臂抬起高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        // 机械臂移动到指定加热位
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        // 机械臂下降高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1));
+        // 机械臂打开钩子
         cmdList.add(() -> deviceService.openClaw());
-        cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        // 机械臂上升高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height")));
+        // 关闭钩子
         cmdList.add(() -> deviceService.closeClaw());
+
         return cmdList;
     }
 // 移动单个试管
     private List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
+
         return cmdList;
     }
 
 // 机械臂
     private List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
+        String position = (String) params.get("position");
+        String [] positionArr =position.split(",");
+        int x = Integer.parseInt(positionArr[0]);
+        int y = Integer.parseInt(positionArr[1]);
+        int z = Integer.parseInt(positionArr[2]);
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x,y,z));
         return cmdList;
     }
 // 装回盖子
     private List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
+        // 加热位机器代码
+        String heaterId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+        String lidPosition = baseDataService.getLidPosition();
+        String [] lidPositionArr = lidPosition.split(",");
+        int x1 = Integer.parseInt(lidPositionArr[0]);
+        int y1 = Integer.parseInt(lidPositionArr[1]);
+        int z1 = Integer.parseInt(lidPositionArr[2]);
+
+        String position = baseDataService.getHeatAreaLidPositionById((Integer) params.get("areaId"));
+        Map<String ,Object> map = baseDataService.getOffsetMap();
+        String [] positionArr =position.split(",");
+        int x2 = Integer.parseInt(positionArr[0]);
+        int y2 = Integer.parseInt(positionArr[1]);
+        int z2 = Integer.parseInt(positionArr[2]);
+        //机械臂移动到拍子存放位坐标
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1,z1));
+        // 打开钩子
+        cmdList.add(() -> deviceService.openClaw());
+        // 机械臂下移位置
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1 - (Integer) map.get("sys_offset_lid_take_height")));
+        // 闭合钩子
+        cmdList.add(() -> deviceService.closeClaw());
+        // 机械臂抬起指定高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1,z1));
+        // 机械臂移至指定试管架
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2,z2));
+        // 打开钩子
         cmdList.add(() -> deviceService.openClaw());
-        cmdList.add(() -> deviceService.moveRailArmToPoint(4,54,6));
+        // 机械臂上移指定位置
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1,z1 + (Integer) map.get("sys_offset_lid_take_height")));
+        // 关闭钩子
         cmdList.add(() -> deviceService.closeClaw());
+        // 密封
+        // 解除密封
+        cmdList.add(() -> deviceService.setSealLid(Integer.parseInt(heaterId), true));
+        // 机械臂复位
         return cmdList;
     }
 // 取试管架盖
     private List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveRailArmToPoint(13,42,53));
+        // 拍子坐标
+        String position = baseDataService.getHeatAreaLidPositionById((Integer) params.get("areaId"));
+        // 加热位机器代码
+        String heaterId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+
+        Map<String ,Object> map = baseDataService.getOffsetMap();
+        String [] positionArr =position.split(",");
+        int x1 = Integer.parseInt(positionArr[0]);
+        int y1 = Integer.parseInt(positionArr[1]);
+        int z1 = Integer.parseInt(positionArr[2]);
+
+        String lidPosition = baseDataService.getLidPosition();
+        String [] lidPositionArr = lidPosition.split(",");
+        int x2 = Integer.parseInt(lidPositionArr[0]);
+        int y2 = Integer.parseInt(lidPositionArr[1]);
+        int z2 = Integer.parseInt(lidPositionArr[2]);
+
+        //机械臂移动到拍子坐标
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1,z1));
+        // 解除密封
+        cmdList.add(() -> deviceService.setSealLid(Integer.parseInt(heaterId), false));
+        // 打开钩子
         cmdList.add(() -> deviceService.openClaw());
-        cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        // 机械臂下移位置
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1 - (Integer) map.get("sys_offset_lid_take_height")));
+        // 闭合钩子
+        cmdList.add(() -> deviceService.closeClaw());
+        // 机械臂抬起指定高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1,z1));
+        // 机械臂移至拍子存放区
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2,z2));
+        // 打开钩子
+        cmdList.add(() -> deviceService.openClaw());
+        // 机械臂上移指定位置
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2,z2 + (Integer) map.get("sys_offset_lid_take_height")));
+        // 关闭钩子
+        cmdList.add(() -> deviceService.closeClaw());
+        // 机械臂复位
         return cmdList;
     }
 // 拍照