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fix:CMDService中的业务操作方法应当为public的

master
白凤吉 6 months ago
parent
e792899fd4
commit
3fb1de419c
1 changed files with 16 additions and 16 deletions
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  1. 32
      src/main/java/com/qyft/gd/service/CMDService.java

32
src/main/java/com/qyft/gd/service/CMDService.java
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@ -49,20 +49,20 @@ public class CMDService {
commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
}
// 机械臂爪子开启
private List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
public 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) {
public 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) {
public List<Supplier<Boolean>> moveToHeatArea(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
Map<String ,Object> map = baseDataService.getOffsetMap();
String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
@ -100,14 +100,14 @@ public class CMDService {
return cmdList;
}
// 移动单个试管
private List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
public List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
return cmdList;
}
// 机械臂
private List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
public List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
String position = (String) params.get("position");
String [] positionArr =position.split(",");
@ -118,7 +118,7 @@ public class CMDService {
return cmdList;
}
// 装回盖子
private List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
public List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
// 加热位机器代码
String heaterId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
@ -159,7 +159,7 @@ public class CMDService {
return cmdList;
}
// 取试管架盖
private List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
public List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
// 拍子坐标
String position = baseDataService.getHeatAreaLidPositionById((Integer) params.get("areaId"));
@ -202,20 +202,20 @@ public class CMDService {
return cmdList;
}
// 拍照
private List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
public List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
cmdList.add(() -> deviceService.takePhoto());
return cmdList;
}
// 停止加热
private List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
public List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
cmdList.add(() -> deviceService.stopHeating(hardwareId));
return cmdList;
}
// 开始加热
private List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
public List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
Double temperature;
@ -228,21 +228,21 @@ public class CMDService {
return cmdList;
}
// 开始摇匀
private List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
public List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
cmdList.add(() -> deviceService.setShakingSpeed((Integer) params.get("speed")));
cmdList.add(() -> deviceService.startShaking());
return cmdList;
}
// 结束摇匀
private List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
public List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
cmdList.add(() -> deviceService.stopShaking());
return cmdList;
}
// 移至加液
private List<Supplier<Boolean>> moveToActionArea(Map<String, Object> params) {
public List<Supplier<Boolean>> moveToActionArea(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
Map<String ,Object> map = baseDataService.getOffsetMap();
String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
@ -281,7 +281,7 @@ public class CMDService {
}
// 加液
private List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
public List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
// 试管的坐标
String tubePosition = baseDataService.getTubePositionBySolutionArea((Integer) params.get("tubeNum"));
@ -296,7 +296,7 @@ public class CMDService {
return cmdList;
}
// 放下托盘
private List<Supplier<Boolean>> downTray(Map<String, Object> params) {
public List<Supplier<Boolean>> downTray(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
if(params.get("height") != null && params.get("speed") != null) {
@ -307,7 +307,7 @@ public class CMDService {
}
// 抬起托盘
private List<Supplier<Boolean>> upTray(Map<String, Object> params) {
public List<Supplier<Boolean>> upTray(Map<String, Object> params) {
List<Supplier<Boolean>> cmdList = new ArrayList<>();
String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
if(params.get("height") != null && params.get("speed") != null) {

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