feat:业务控制设备实现

src/main/java/com/qyft/gd/device/service/DeviceService.java

@@ -242,7 +242,7 @@ public class DeviceService {
      * @param pumpId 泵id
      * @param volume 液体体积
      */
-    public synchronized boolean addLiquid(String pumpId, int volume) {
+    public synchronized boolean addLiquid(long pumpId, int volume) {
         Map<String, Object> params = new HashMap<>();
         params.put("pumpId", pumpId);
         params.put("volume", volume);

src/main/java/com/qyft/gd/device/service/DeviceStepService.java

@@ -0,0 +1,143 @@
+package com.qyft.gd.device.service;
+
+import com.qyft.gd.model.bo.AddLiquid;
+import com.qyft.gd.service.BaseDataService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.function.BooleanSupplier;
+
+/**
+ * 设备步骤操作
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceStepService {
+
+    DeviceService deviceService;
+    BaseDataService baseDataService;
+
+    /**
+     * 抬起托盘
+     *
+     * @param heaterId 加热区id
+     */
+    public void upTray(String heaterId) {
+        deviceService.raiseTray(heaterId);
+    }
+
+    /**
+     * 降下托盘
+     *
+     * @param heaterId 加热区id
+     */
+    public void downTray(String heaterId) {
+        deviceService.lowerTray(heaterId);
+    }
+
+    /**
+     * 添加溶液
+     *
+     * @param tubeCoordinateList 需要添加溶液的试管坐标list: x,y,z 字符
+     * @param addLiquidList      需要添加的溶液
+     */
+    public boolean addLiquid(List<String> tubeCoordinateList, List<AddLiquid> addLiquidList) {
+        List<Boolean> results = new ArrayList<>();
+        for (String tubeCoordinate : tubeCoordinateList) {
+            String[] tubeCoordinateArray = tubeCoordinate.split(",");
+            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 (AddLiquid addLiquid : addLiquidList) {//依次添加溶液
+                results.add(deviceService.addLiquid(addLiquid.getPumpId(), addLiquid.getVolume()));
+            }
+        }
+        return results.stream().allMatch(Boolean::booleanValue);
+    }
+
+    /**
+     * 将指定加热区的托盘移至加液区
+     *
+     * @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;
+    }
+
+    //移至加热
+    public boolean moveToHeater(int heaterId) {
+        return true;
+    }
+
+    //摇匀
+    public boolean shaking() {
+        return true;
+    }
+
+    //开始加热
+    public boolean startHeating(int heaterId) {
+        return true;
+    }
+
+    //停止加热
+    public boolean stopHeating(int heaterId) {
+        return true;
+    }
+
+    //拍照
+    public boolean takePhoto() {
+        return true;
+    }
+
+    //移至异常
+    public boolean moveToExc() {
+        return true;
+    }
+
+    //移除异常
+    public boolean moveOutToExc() {
+        return true;
+    }
+
+    /**
+     * 等待
+     *
+     * @param millis 毫秒
+     */
+    private boolean delay(int millis) {
+        try {
+            Thread.sleep(millis);
+            return true;
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+        }
+        return false;
+    }
+
+}

src/main/java/com/qyft/gd/model/bo/AddLiquid.java

@@ -0,0 +1,16 @@
+package com.qyft.gd.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+/**
+ * 添加溶液
+ */
+@Schema(description = "添加溶液")
+@Data
+public class AddLiquid {
+    @Schema(description = "泵id")
+    private Long pumpId;
+    @Schema(description = "加液量")
+    private Integer volume;
+}

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

@@ -156,7 +156,7 @@ public class CMDService {
         // 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"))));
+        cmdList.add(() -> deviceService.addLiquid((Long) params.get("pumpId"), ((Integer)params.get("volume"))));
         initExecutorThread(cmdList, cmdForm);
         return true;
     }

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

@@ -1,6 +1,5 @@
 package com.qyft.gd.service;
 
-import com.qyft.gd.device.service.DeviceService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -10,14 +9,12 @@ import java.util.concurrent.Executors;
 import java.util.concurrent.Future;
 
 /**
- * 设备步骤操作
+ * 工艺操作
  */
 @Service
 @RequiredArgsConstructor
 public class CraftsStepService {
 
-    private final DeviceService deviceService;
-
     private final ExecutorService executorService = Executors.newCachedThreadPool();
     private final ConcurrentHashMap<Long, Future<?>> taskMap = new ConcurrentHashMap<>();
 
@@ -71,74 +68,4 @@ public class CraftsStepService {
         }
     }
 
-
-    //抬起托盘
-    public void upTray(int heaterId) {
-        deviceService.raiseTray("11");
-    }
-
-    //降下托盘
-    public void downTray(int heaterId) {
-        deviceService.lowerTray("11");
-    }
-
-    //添加溶液(先固定16个试管全进行加液)
-    public void addLiquid() {
-
-    }
-
-    //移至加液
-    public void moveToSol() {
-
-    }
-
-    //移至加热
-    public void moveToHeater(int heaterId) {
-
-    }
-
-    //摇匀
-    public void shaking() {
-
-    }
-
-    //开始加热
-    public void startHeating(int heaterId) {
-
-    }
-
-    //停止加热
-    public void stopHeating(int heaterId) {
-
-    }
-
-    //拍照
-    public void takePhoto() {
-
-    }
-
-    //移至异常
-    public void moveToExc() {
-
-    }
-
-    //移除异常
-    public void moveOutToExc() {
-
-    }
-
-    /**
-     * 等待
-     *
-     * @param millis 毫秒
-     */
-    private boolean delay(int millis) {
-        try {
-            Thread.sleep(millis);
-            return true;
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-        return false;
-    }
 }