feat:调试指令方法完善

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

@@ -20,17 +20,23 @@ public class CMDForm {
     @Schema(description = "参数")
     private Map<String, Object> params;
     /*
+
       params : {
-      // 添加溶液所需字段
+       // 添加溶液所需字段
         tubeNum: 试管编号
-        pumpId: 溶液id
+        pumpId: 泵号
         volume: 容量
         // 关于温度
         temperature: 温度
         // 关于时间
         time: 时间
+        // 关于高度
+        height: 高度
+
+        // 关于速度
+        speed : 速度
 
-        shelfId: 试管架id
+        areaId: 试管架id
       }
      */
 

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

@@ -4,7 +4,6 @@ import cn.hutool.json.JSONUtil;
 import com.qyft.gd.common.constant.Commands;
 import com.qyft.gd.common.result.CMDResultCode;
 import com.qyft.gd.config.WebSocketServer;
-import com.qyft.gd.device.model.bo.DeviceStatus;
 import com.qyft.gd.device.service.DeviceService;
 import com.qyft.gd.device.service.DeviceStateService;
 import com.qyft.gd.model.form.CMDForm;
@@ -13,7 +12,6 @@ import com.qyft.gd.model.vo.WebsocketResult;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
-import java.sql.Array;
 import java.util.*;
 import java.util.function.Function;
 import java.util.function.Supplier;
@@ -24,6 +22,7 @@ public class CMDService {
     DeviceService deviceService;
     DeviceStateService deviceStateService;
     Map<String, Function<CMDForm, Boolean>> commandMap;
+    CMDForm form = new CMDForm();
 
     @Autowired
     public CMDService(DeviceService deviceService) {
@@ -33,15 +32,11 @@ public class CMDService {
         commandMap.put(Commands.UP_TRAY, this::upTray);
         commandMap.put(Commands.DOWN_TRAY,  this::downTray);
         commandMap.put(Commands.INJECT_FLUID,  this::injectFluid);
-        commandMap.put(Commands.KEEP_HEAT,  this::keepHeat);
         commandMap.put(Commands.MOVE_TO_ACTION_AREA,  this::moveToActionArea);
-        commandMap.put(Commands.CHECK_ACTION_AREA,  this::checkActionArea);
         commandMap.put(Commands.SHAKE_UP,  this::shakeUp);
         commandMap.put(Commands.START_HEAT,  this::startHeat);
         commandMap.put(Commands.STOP_HEAT,  this::stopHeat);
         commandMap.put(Commands.TAKE_PHOTO,  this::takePhoto);
-        commandMap.put(Commands.MOVE_TO_UNUSUAL,  this::moveToUnusual);
-        commandMap.put(Commands.MOVE_TO_HEAT_AREA,  this::moveToHeatArea);
         commandMap.put(Commands.TAKE_OFF_CAP,  this::takeOffCap);
         commandMap.put(Commands.PUT_BACK_CAP,  this::putBackCap);
         commandMap.put(Commands.MOVE_MACHINE_ARM,  this::moveMachineArm);
@@ -73,16 +68,6 @@ public class CMDService {
         //TODO 执行指令
         return true;
     }
-// 移出异常
-    private Boolean moveToHeatArea(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
-    }
-// 移至异常
-    private Boolean moveToUnusual(CMDForm cmdForm) {
-        //TODO 获取异常区位置
-        return true;
-    }
 // 拍照
     private Boolean takePhoto(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
@@ -92,72 +77,68 @@ public class CMDService {
 // 停止加热
     private Boolean stopHeat(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.stopHeating());
+        cmdList.add(() -> deviceService.stopHeating((String) cmdForm.getParams().get("areaId")));
         return run(cmdList);
     }
 // 开始加热
     private Boolean startHeat(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.startHeating((String) cmdForm.getParams().get("heaterId"),(Double) cmdForm.getParams().get("temperature")));
+        cmdList.add(() -> deviceService.startHeating((String) cmdForm.getParams().get("areaId"),(Double) cmdForm.getParams().get("temperature")));
         return run(cmdList);
     }
 // 摇匀
     private Boolean shakeUp(CMDForm cmdForm) {
-        deviceService.startShaking();
-        Timer timer = new Timer();
-        TimerTask task = new TimerTask() {
-            @Override
-            public void run() {
-                deviceService.stopShaking();
-            }
-        };
-        timer.schedule(task, 1000);
-        return true;
-    }
-// 检查加液位状态(是否被占用)
-    private Boolean checkActionArea(CMDForm cmdForm) {
+//        deviceService.startShaking();
+//        Timer timer = new Timer();
+//        TimerTask task = new TimerTask() {
+//            @Override
+//            public void run() {
+//                deviceService.stopShaking();
+//            }
+//        };
+//        timer.schedule(task, 1000);
+//        return true;
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.startShaking());
+        cmdList.add(() -> deviceService.setShakingSpeed((Integer) cmdForm.getParams().get("speed")));
         return run(cmdList);
     }
+
 // 移至加液
     private Boolean moveToActionArea(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // 加液位是否有托盘
-        Boolean liquidTrayStatus = deviceStateService.getDeviceStatus().getLiquidTrayStatus();
-        if(liquidTrayStatus) {
-            return false;
-        }
+//        Boolean liquidTrayStatus = deviceStateService.getDeviceStatus().getLiquidTrayStatus();
+//        if(liquidTrayStatus) {
+//            return false;
+//        }
         cmdList.add(() -> deviceService.moveRailArmToPoint(1, 2, 3));
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        cmdList.add(() -> deviceService.closeClaw());
         return run(cmdList);
 
     }
-// 恒温
-    private Boolean keepHeat(CMDForm cmdForm) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        // TODO 加热到指定温度,通过传感器使其恒温
-        return run(cmdList);
-    }
 // 加液
     private Boolean injectFluid(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // TODO 计算出试管的坐标
         // TODO 溶液id 容量
         Map<String,  Object> params = cmdForm.getParams();
+        cmdList.add(() -> deviceService.moveLiquidArmToPoint(1,2,3));
         cmdList.add(() -> deviceService.addLiquid((String) params.get("pumpId"), ((Integer)params.get("volume"))));
         return run(cmdList);
     }
 // 放下托盘
     private boolean downTray(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveTrayToHeight(0));
+        cmdList.add(() -> deviceService.moveTrayToHeight((Double) cmdForm.getParams().get("height")));
         return run(cmdList);
     }
     // 抬起托盘
     private boolean upTray(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.moveTrayToHeight(20));
+        cmdList.add(() -> deviceService.moveTrayToHeight((Double) cmdForm.getParams().get("height")));
         return run(cmdList);
     }
 
@@ -173,6 +154,7 @@ public class CMDService {
     }
 
     public boolean executeCommand(CMDForm cmdForm) {
+        form = cmdForm;
         String commandName = cmdForm.getCommand();
         Function<CMDForm, Boolean> command = commandMap.get(commandName);
         if (command == null) {