fix:实现可编辑的设备控制功能

sql/demo.sql

@@ -220,9 +220,13 @@ VALUES ('开门', 'openDoor'),
 CREATE TABLE ctrl_func_step
 (
     id          INTEGER PRIMARY KEY AUTOINCREMENT,
-    func_id     INTEGER NOT NULL,
-    device_cmd  INTEGER NOT NULL,
+    func_cmd    TEXT NOT NULL,
+    device_cmd  TEXT NOT NULL,
     params      TEXT,
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
+INSERT INTO ctrl_func_step (func_cmd, device_cmd, params)
+VALUES ('openDoor', 'openDoor', null),
+       ('openDoor', 'openDoor', null),
+       ('openDoor', 'openDoor', null);

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

@@ -1,11 +1,13 @@
 package com.qyft.gd.controller;
 
 import cn.hutool.json.JSONUtil;
+import com.qyft.gd.device.service.DeviceCtrlService;
 import com.qyft.gd.model.dto.CmdInjectFluidDTO;
 import com.qyft.gd.model.dto.StartHeatDTO;
 import com.qyft.gd.model.entity.Crafts;
 import com.qyft.gd.model.form.CMDForm;
 import com.qyft.gd.service.CMDService;
+import com.qyft.gd.service.CraftsService;
 import com.qyft.gd.system.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -28,8 +30,6 @@ public class CMDController {
 
     private final CMDService cmdService;
 
-//    public  Result<List<>>
-
     @Operation(summary = "执行指令")
     @PostMapping("/execute")
     public Result<String> execute(@RequestBody CMDForm cmdForm) {
@@ -50,27 +50,4 @@ public class CMDController {
         }
     }
 
-    @Operation(summary = "批量加热")
-    @PostMapping("/startHeat")
-    public Result<String> startHeat(@RequestBody StartHeatDTO dto) {
-        cmdService.startHeats(dto);
-        return Result.success("操作成功");
-//        for (int i : list) {
-//            CMDForm cmdForm = new CMDForm();
-//            cmdForm.setCommand("startHeat");
-//            cmdForm.setCommandId(UUID.randomUUID().toString());
-//            Map<String, Object> params = new HashMap<>();
-//            params.put("heatId", i);
-//            cmdForm.setParams(params);
-//            cmdService.executeCommand(cmdForm);
-//        }
-//        return Result.success("操作成功");
-    }
-
-    @Operation(summary = "批量加液")
-    @PostMapping("/injectFluid")
-    public Result<String> injectFluid(@RequestBody CmdInjectFluidDTO dto) {
-        cmdService.injectFluids(dto);
-        return Result.success("操作成功");
-    }
 }

src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java

@@ -18,6 +18,11 @@ public class DeviceCommands {
     public static final String MOVE_RAIL_ARM_TO_POINT = "moveRailArmToPoint";
 
     /**
+     * 导轨机械臂相对运动
+     */
+    public static final String MOVE_RAIL_ARM_RELATIVE = "moveRailArmRelative";
+
+    /**
      * 设置导轨机械臂的速度
      */
     public static final String SET_RAIL_ARM_SPEED = "setRailArmSpeed";

src/main/java/com/qyft/gd/device/controller/DeviceController.java

@@ -0,0 +1,38 @@
+package com.qyft.gd.device.controller;
+
+import com.qyft.gd.device.model.bo.DeviceOperationalStatus;
+import com.qyft.gd.device.model.bo.DeviceStatus;
+import com.qyft.gd.device.service.DeviceService;
+import com.qyft.gd.device.service.DeviceStatusService;
+import com.qyft.gd.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@Tag(name = "设备控制")
+@RestController
+@RequestMapping("/api/device")
+@RequiredArgsConstructor
+@Slf4j
+public class DeviceController {
+    private final DeviceStatusService deviceStatusService;
+
+    @Operation(summary = "获取设备业务操作状态")
+    @GetMapping("/operational/status")
+    public Result<DeviceOperationalStatus> getDeviceOperationalStatus() {
+        DeviceOperationalStatus deviceOperationalStatus = deviceStatusService.getDeviceOperationalStatus();
+        return Result.success(deviceOperationalStatus);
+    }
+
+
+    @Operation(summary = "获取当前设备状态")
+    @GetMapping("/status")
+    public Result<DeviceStatus> getDeviceStatus() {
+        DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
+        return Result.success(deviceStatus);
+    }
+}

src/main/java/com/qyft/gd/device/controller/DeviceCtrlController.java

@@ -1,10 +1,10 @@
 package com.qyft.gd.device.controller;
 
-import com.qyft.gd.device.model.bo.CtrlFuncDeviceCMD;
+import com.qyft.gd.device.model.bo.DeviceCtrlFuncCMD;
 import com.qyft.gd.device.model.bo.DeviceStatus;
 import com.qyft.gd.device.model.entity.CtrlFunc;
 import com.qyft.gd.device.model.form.CtrlFuncForm;
-import com.qyft.gd.device.model.vo.CtrlFuncVO;
+import com.qyft.gd.device.model.vo.DeviceCtrlFuncVO;
 import com.qyft.gd.device.service.DeviceStatusService;
 import com.qyft.gd.device.service.ICtrlFuncService;
 import com.qyft.gd.system.common.result.Result;
@@ -24,13 +24,12 @@ import java.util.List;
 @RequiredArgsConstructor
 @Slf4j
 public class DeviceCtrlController {
-    private final DeviceStatusService deviceStatusService;
     private final ICtrlFuncService ctrlFuncService;
 
     @Operation(summary = "获取所有设备控制方法步骤")
     @GetMapping("/ctrl/step")
-    public Result<List<CtrlFuncDeviceCMD>> getAllCtrlFuncStep() {
-        List<CtrlFuncDeviceCMD> ctrlFuncList = ctrlFuncService.findAllStepCMD();
+    public Result<List<DeviceCtrlFuncCMD>> getAllCtrlFuncStep() {
+        List<DeviceCtrlFuncCMD> ctrlFuncList = ctrlFuncService.findAllStepCMD();
         return Result.success(ctrlFuncList);
     }
 
@@ -43,8 +42,8 @@ public class DeviceCtrlController {
 
     @Operation(summary = "根据id获取设备控制方法与步骤")
     @GetMapping("/ctrl/{id}")
-    public Result<CtrlFuncVO> getById(@PathVariable Long id) {
-        CtrlFuncVO ctrlFuncVO = ctrlFuncService.findById(id);
+    public Result<DeviceCtrlFuncVO> getById(@PathVariable Long id) {
+        DeviceCtrlFuncVO ctrlFuncVO = ctrlFuncService.findById(id);
         return Result.success(ctrlFuncVO);
     }
 
@@ -88,12 +87,6 @@ public class DeviceCtrlController {
         return Result.failed();
     }
 
-    @Operation(summary = "获取当前设备状态")
-    @GetMapping("/status")
-    public Result<DeviceStatus> getDeviceStatus() {
-        DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
-        return Result.success(deviceStatus);
-    }
 
 
 }

src/main/java/com/qyft/gd/device/model/bo/CtrlFuncDeviceCMD.java → src/main/java/com/qyft/gd/device/model/bo/DeviceCtrlFuncCMD.java

@@ -7,9 +7,9 @@ import lombok.EqualsAndHashCode;
 @EqualsAndHashCode(callSuper = false)
 @Schema(description = "设备控制方法步骤指令")
 @Data
-public class CtrlFuncDeviceCMD {
+public class DeviceCtrlFuncCMD {
 
-    public CtrlFuncDeviceCMD(String name, String deviceCmd) {
+    public DeviceCtrlFuncCMD(String name, String deviceCmd) {
         this.name = name;
         this.deviceCmd = deviceCmd;
     }

src/main/java/com/qyft/gd/device/model/bo/DeviceOperationalStatus.java

@@ -0,0 +1,38 @@
+package com.qyft.gd.device.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Schema(description = "设备业务操作状态")
+@Data
+public class DeviceOperationalStatus {
+    @Schema(description = "托盘列表")
+    private List<Tray> trayList = new ArrayList<>();
+
+    /**
+     * 托盘
+     */
+    @Data
+    static class Tray {
+        @Schema(description = "所在加热区id")
+        private Long heatId;
+        @Schema(description = "是否在加液区")
+        private boolean isSolutionArea;
+        @Schema(description = "试管列表")
+        private List<Tube> tubeList;
+    }
+
+    /**
+     * 试管
+     */
+    @Data
+    static class Tube {
+        @Schema(description = "试管编号")
+        private Integer tubeNum;
+        @Schema(description = "试管内是否有样品")
+        private boolean isSample;
+    }
+}

src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java

@@ -8,7 +8,7 @@ import java.util.List;
 /**
  * 设备当前状态
  */
-@Schema(description = "设备当前状态")
+@Schema(description = "设备当前传感器状态")
 @Data
 public class DeviceStatus {
 

src/main/java/com/qyft/gd/device/model/entity/CtrlFuncStep.java

@@ -12,8 +12,8 @@ import lombok.EqualsAndHashCode;
 @Data
 public class CtrlFuncStep extends BaseEntity {
 
-    @Schema(description = "控制方法的id")
-    private Long funcId;
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
 
     @Schema(description = "设备指令")
     private String deviceCmd;

src/main/java/com/qyft/gd/device/model/vo/DeviceCtrlFuncVO.java

@@ -0,0 +1,26 @@
+package com.qyft.gd.device.model.vo;
+
+import com.qyft.gd.device.model.entity.CtrlFuncStep;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "获取所有设备控制方法返回数据")
+@Data
+public class DeviceCtrlFuncVO {
+
+    private Long id;
+
+    @Schema(description = "控制方法的名称")
+    private String name;
+
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+    @Schema(description = "设备控制方法步骤列表")
+    private List<CtrlFuncStep> ctrlFuncStepList;
+
+}

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

@@ -23,14 +23,15 @@ public class DeviceCtrlService {
     /**
      * 开门
      */
-    public boolean openDoor() {
-        return deviceTcpCMDService.openDoor();
+    public boolean openDoor(Map<String, Object> params) {
+        return true;
+//        return deviceTcpCMDService.openDoor();
     }
 
     /**
      * 关门
      */
-    public boolean closeDoor() {
+    public boolean closeDoor(Map<String, Object> params) {
         return deviceTcpCMDService.closeDoor();
     }
 
@@ -57,16 +58,38 @@ public class DeviceCtrlService {
     }
 
     /**
+     * 导轨机械臂相对运动
+     *
+     * @param params 应当包含int类型的x,y,z相对移动量
+     */
+    public boolean moveRailArmRelative(Map<String, Object> params) {
+        try {
+            Integer x = (Integer) params.get("x");
+            Integer y = (Integer) params.get("y");
+            Integer z = (Integer) params.get("z");
+            if (x == null || y == null || z == null) {
+                log.info("导轨机械臂相对运动，传入参数错误:{}", JSONUtil.toJsonStr(params));
+                return false;
+            }
+            return deviceTcpCMDService.moveRailArmRelative(x, y, z);
+        } catch (Exception e) {
+            log.info("导轨机械臂相对运动，执行异常，传入参数:{}", JSONUtil.toJsonStr(params), e);
+            return false;
+        }
+    }
+
+
+    /**
      * 打开导轨机械臂夹爪
      */
-    public boolean openClaw() {
+    public boolean openClaw(Map<String, Object> params) {
         return deviceTcpCMDService.openClaw();
     }
 
     /**
      * 收合导轨机械臂夹爪
      */
-    public boolean closeClaw() {
+    public boolean closeClaw(Map<String, Object> params) {
         return deviceTcpCMDService.closeClaw();
     }
 
@@ -98,7 +121,7 @@ public class DeviceCtrlService {
     /**
      * 导轨机械臂移至加液区上方
      */
-    public boolean moveToActionArea() {
+    public boolean moveToActionArea(Map<String, Object> params) {
         try {
             String solutionAreaPosition = baseDataService.getSolutionAreaPosition();
             String[] heatAreaPositionArr = solutionAreaPosition.split(",");
@@ -196,10 +219,12 @@ public class DeviceCtrlService {
     /**
      * 依次添加溶液
      *
-     * @param tubeSolList tubeNum需要添加溶液的试管编号,solId溶液id,volume加液量
+     * @param params tubeSolList tubeNum需要添加溶液的试管编号,solId溶液id,volume加液量
      */
-    public synchronized boolean addLiquid(List<TubeSol> tubeSolList) {
+    @SuppressWarnings("unchecked")
+    public synchronized boolean addLiquid(Map<String, Object> params) {
         try {
+            List<TubeSol> tubeSolList = (List<TubeSol>) params.get("tubeSolList");
             for (TubeSol tubeSol : tubeSolList) {
                 String tubePosition = baseDataService.getTubePositionBySolutionArea(tubeSol.getTubeNum());
                 String[] tubePositionArr = tubePosition.split(",");
@@ -213,7 +238,7 @@ public class DeviceCtrlService {
             }
             return true;
         } catch (Exception e) {
-            log.info("依次添加溶液，执行异常，传入参数:{}", JSONUtil.toJsonStr(tubeSolList), e);
+            log.info("依次添加溶液，执行异常，传入参数:{}", JSONUtil.toJsonStr(params), e);
             return false;
         }
     }
@@ -221,14 +246,14 @@ public class DeviceCtrlService {
     /**
      * 开始摇匀
      */
-    public boolean startShaking() {
+    public boolean startShaking(Map<String, Object> params) {
         return deviceTcpCMDService.startShaking();
     }
 
     /**
      * 停止摇匀
      */
-    public boolean stopShaking() {
+    public boolean stopShaking(Map<String, Object> params) {
         return deviceTcpCMDService.stopShaking();
     }
 
@@ -236,7 +261,7 @@ public class DeviceCtrlService {
     /**
      * 拍照
      */
-    public boolean takePhoto() {
+    public boolean takePhoto(Map<String, Object> params) {
         return deviceTcpCMDService.takePhoto();
     }
 }

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

@@ -0,0 +1,14 @@
+package com.qyft.gd.device.service;
+
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 设备操作
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceService {
+
+
+}

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

@@ -1,7 +1,9 @@
 package com.qyft.gd.device.service;
 
 import cn.hutool.core.bean.BeanUtil;
+import com.qyft.gd.device.model.bo.DeviceOperationalStatus;
 import com.qyft.gd.device.model.bo.DeviceStatus;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -12,9 +14,16 @@ import org.springframework.stereotype.Service;
 @RequiredArgsConstructor
 public class DeviceStatusService {
     /**
-     * 设备状态实体
+     * 设备运行状态
      */
     private final DeviceStatus deviceStatus = new DeviceStatus();
+    /**
+     * 设备业务状态
+     * -- GETTER --
+     * 更新设备业务操作状态
+     */
+    @Getter
+    private final DeviceOperationalStatus deviceOperationalStatus = new DeviceOperationalStatus();
 
     /**
      * 更新设备状态
@@ -33,4 +42,6 @@ public class DeviceStatusService {
             return BeanUtil.copyProperties(deviceStatus, DeviceStatus.class);
         }
     }
+
+
 }

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

@@ -26,9 +26,10 @@ public class DeviceStepService {
      * @param heatId 加热区id
      */
     public boolean upTray(String heatId) {
-        Map<String, Object> params = Map.of("heatId", heatId);
-        List<Supplier<Boolean>> cmdList = cmdService.upTray(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.upTray(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
@@ -37,9 +38,10 @@ public class DeviceStepService {
      * @param heatId 加热区id
      */
     public boolean downTray(String heatId) {
-        Map<String, Object> params = Map.of("heatId", heatId);
-        List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
@@ -48,14 +50,14 @@ public class DeviceStepService {
      * @param tubeSolList 需要添加溶液的试管与溶液
      */
     public boolean addLiquid(List<TubeSol> tubeSolList) {
-        for (TubeSol tubeSol : tubeSolList) {
-            Map<String, Object> params = Map.of("tubeNum", tubeSol.getTubeNum(), "solutionId", tubeSol.getSolId(), "volume", tubeSol.getVolume());
-            List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
-            boolean result = cmdList.stream().allMatch(Supplier::get);
-            if (!result) {
-                return false;
-            }
-        }
+//        for (TubeSol tubeSol : tubeSolList) {
+//            Map<String, Object> params = Map.of("tubeNum", tubeSol.getTubeNum(), "solutionId", tubeSol.getSolId(), "volume", tubeSol.getVolume());
+//            List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
+//            boolean result = cmdList.stream().allMatch(Supplier::get);
+//            if (!result) {
+//                return false;
+//            }
+//        }
         return true;
     }
 
@@ -65,9 +67,10 @@ public class DeviceStepService {
      * @param heatId 加热区id
      */
     public boolean moveToSol(String heatId) {
-        Map<String, Object> params = Map.of("heatId", heatId);
-        List<Supplier<Boolean>> cmdList = cmdService.moveToActionArea(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.moveToActionArea(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
@@ -76,9 +79,10 @@ public class DeviceStepService {
      * @param heatId 加热区id
      */
     public boolean moveToHeat(String heatId) {
-        Map<String, Object> params = Map.of("heatId", heatId);
-        List<Supplier<Boolean>> cmdList = cmdService.moveToHeatArea(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.moveToHeatArea(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
@@ -87,16 +91,17 @@ public class DeviceStepService {
      * @param second 摇匀时间
      */
     public boolean shaking(int second) {
-        Map<String, Object> params = Map.of();
-        List<Supplier<Boolean>> cmdList = cmdService.startShakeUp(params);
-        boolean result = cmdList.stream().allMatch(Supplier::get);
-        if (result) {
-            this.delay(second);
-            cmdList = cmdService.stopShakeUp(params);
-            result = cmdList.stream().allMatch(Supplier::get);
-            return result;
-        }
-        return false;
+//        Map<String, Object> params = Map.of();
+//        List<Supplier<Boolean>> cmdList = cmdService.startShakeUp(params);
+//        boolean result = cmdList.stream().allMatch(Supplier::get);
+//        if (result) {
+//            this.delay(second);
+//            cmdList = cmdService.stopShakeUp(params);
+//            result = cmdList.stream().allMatch(Supplier::get);
+//            return result;
+//        }
+//        return false;
+        return true;
     }
 
     /**
@@ -106,9 +111,10 @@ public class DeviceStepService {
      * @param temperature 目标温度
      */
     public boolean startHeating(String heatId, double temperature) {
-        Map<String, Object> params = Map.of("heatId", heatId, "temperature", temperature);
-        List<Supplier<Boolean>> cmdList = cmdService.startHeat(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId, "temperature", temperature);
+//        List<Supplier<Boolean>> cmdList = cmdService.startHeat(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
@@ -117,18 +123,20 @@ public class DeviceStepService {
      * @param heatId 加热区id
      */
     public boolean stopHeating(String heatId) {
-        Map<String, Object> params = Map.of("heatId", heatId);
-        List<Supplier<Boolean>> cmdList = cmdService.stopHeat(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.stopHeat(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     /**
      * 停止加热
      */
     public boolean takePhoto() {
-        Map<String, Object> params = Map.of();
-        List<Supplier<Boolean>> cmdList = cmdService.takePhoto(params);
-        return cmdList.stream().allMatch(Supplier::get);
+//        Map<String, Object> params = Map.of();
+//        List<Supplier<Boolean>> cmdList = cmdService.takePhoto(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
     }
 
     //移至异常

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

@@ -119,6 +119,21 @@ public class DeviceTcpCMDService {
     }
 
     /**
+     * 导轨机械臂相对运动
+     *
+     * @param x 相对坐标x
+     * @param y 相对坐标y
+     * @param z 相对坐标z
+     */
+    public boolean moveRailArmRelative(int x, int y, int z) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("x", x);
+        params.put("y", y);
+        params.put("z", z);
+        return this.putTask(DeviceCommands.MOVE_RAIL_ARM_RELATIVE, params);
+    }
+
+    /**
      * 设置导轨机械臂的速度
      *
      * @param speed 速度值

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

@@ -1,21 +1,21 @@
 package com.qyft.gd.device.service;
 
 import com.baomidou.mybatisplus.extension.service.IService;
-import com.qyft.gd.device.model.bo.CtrlFuncDeviceCMD;
+import com.qyft.gd.device.model.bo.DeviceCtrlFuncCMD;
 import com.qyft.gd.device.model.entity.CtrlFunc;
 import com.qyft.gd.device.model.form.CtrlFuncForm;
-import com.qyft.gd.device.model.vo.CtrlFuncVO;
+import com.qyft.gd.device.model.vo.DeviceCtrlFuncVO;
 
 import java.util.List;
 
 
 public interface ICtrlFuncService extends IService<CtrlFunc> {
 
-    List<CtrlFuncDeviceCMD> findAllStepCMD();
+    List<DeviceCtrlFuncCMD> findAllStepCMD();
 
     List<CtrlFunc> findAll();
 
-    CtrlFuncVO findById(Long id);
+    DeviceCtrlFuncVO findById(Long id);
 
     long countFuncCmdByFuncCmd(String funcCmd);
 

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

@@ -6,7 +6,7 @@ import com.qyft.gd.device.model.entity.CtrlFuncStep;
 import java.util.List;
 
 public interface ICtrlFuncStepService extends IService<CtrlFuncStep> {
-    List<CtrlFuncStep> selectListByFuncId(Long funcId);
+    List<CtrlFuncStep> selectListByFuncCmd(String funcCmd);
+
 
-    boolean saveList(List<CtrlFuncStep> ctrlFuncStepList);
 }

src/main/java/com/qyft/gd/device/service/impl/CtrlFuncServiceImpl.java

@@ -3,11 +3,11 @@ package com.qyft.gd.device.service.impl;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.qyft.gd.device.mapper.CtrlFuncMapper;
-import com.qyft.gd.device.model.bo.CtrlFuncDeviceCMD;
+import com.qyft.gd.device.model.bo.DeviceCtrlFuncCMD;
 import com.qyft.gd.device.model.entity.CtrlFunc;
 import com.qyft.gd.device.model.entity.CtrlFuncStep;
 import com.qyft.gd.device.model.form.CtrlFuncForm;
-import com.qyft.gd.device.model.vo.CtrlFuncVO;
+import com.qyft.gd.device.model.vo.DeviceCtrlFuncVO;
 import com.qyft.gd.device.service.ICtrlFuncService;
 import com.qyft.gd.device.service.ICtrlFuncStepService;
 import lombok.RequiredArgsConstructor;
@@ -24,28 +24,29 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
 
     private final ICtrlFuncStepService ctrlFuncStepService;
 
-    private static final List<CtrlFuncDeviceCMD> ctrlFuncDeviceCMDList = new ArrayList<>();
+    private static final List<DeviceCtrlFuncCMD> ctrlFuncDeviceCMDList = new ArrayList<>();
 
     static {
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("开门", "openDoor"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("关门", "closeDoor"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("导轨机械臂运动到指定点位", "moveRailArmToPoint"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("打开导轨机械臂夹爪", "openClaw"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("收合导轨机械臂夹爪", "closeClaw"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("导轨机械臂移至加液区上方", "moveToActionArea"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("指定加热区开始加热", "startHeating"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("指定加热区停止加热", "stopHeating"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("指定加热区抬起托盘", "raiseTray"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("指定加热区放下托盘", "lowerTray"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("依次添加溶液", "addLiquid"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("开始摇匀", "startShaking"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("停止摇匀", "stopShaking"));
-        ctrlFuncDeviceCMDList.add(new CtrlFuncDeviceCMD("拍照", "takePhoto"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开门", "openDoor"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("关门", "closeDoor"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂运动到指定点位", "moveRailArmToPoint"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂相对运动", "moveRailArmRelative"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至加液区上方", "moveToActionArea"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("打开导轨机械臂夹爪", "openClaw"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("收合导轨机械臂夹爪", "closeClaw"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区开始加热", "startHeating"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区停止加热", "stopHeating"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区抬起托盘", "raiseTray"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区放下托盘", "lowerTray"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("依次添加溶液", "addLiquid"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开始摇匀", "startShaking"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("停止摇匀", "stopShaking"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍照", "takePhoto"));
     }
 
     @Override
-    public List<CtrlFuncDeviceCMD> findAllStepCMD() {
+    public List<DeviceCtrlFuncCMD> findAllStepCMD() {
         return ctrlFuncDeviceCMDList;
     }
 
@@ -55,11 +56,11 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
     }
 
     @Override
-    public CtrlFuncVO findById(Long id) {
+    public DeviceCtrlFuncVO findById(Long id) {
         CtrlFunc ctrlFunc = this.getById(id);
-        List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepService.selectListByFuncId(id);
-        CtrlFuncVO ctrlFuncVO = new CtrlFuncVO();
-        ctrlFuncVO.setId(id);
+        List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepService.selectListByFuncCmd(ctrlFunc.getFuncCmd());
+        DeviceCtrlFuncVO ctrlFuncVO = new DeviceCtrlFuncVO();
+        ctrlFuncVO.setId(ctrlFunc.getId());
         ctrlFuncVO.setName(ctrlFunc.getName());
         ctrlFuncVO.setFuncCmd(ctrlFunc.getFuncCmd());
         ctrlFuncVO.setCtrlFuncStepList(ctrlFuncStepList);
@@ -101,7 +102,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
                 .map(Long::parseLong)
                 .collect(Collectors.toList());
         for (Long id : ids) {
-            ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncId, id));
+            ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, id));
         }
         return this.removeByIds(ids);
     }
@@ -111,7 +112,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
         List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepFormList.stream()
                 .map(ctrlFuncStepForm -> {
                     CtrlFuncStep ctrlFuncStep = new CtrlFuncStep();
-                    ctrlFuncStep.setFuncId(ctrlFunc.getId());
+                    ctrlFuncStep.setFuncCmd(ctrlFunc.getFuncCmd());
                     ctrlFuncStep.setDeviceCmd(ctrlFuncStepForm.getDeviceCmd());
                     ctrlFuncStep.setParams(ctrlFuncStepForm.getParams());
                     return ctrlFuncStep;

src/main/java/com/qyft/gd/device/service/impl/CtrlFuncStepServiceImpl.java

@@ -13,18 +13,8 @@ import java.util.List;
 public class CtrlFuncStepServiceImpl extends ServiceImpl<CtrlFuncStepMapper, CtrlFuncStep> implements ICtrlFuncStepService {
 
     @Override
-    public List<CtrlFuncStep> selectListByFuncId(Long funcId) {
-        return this.list(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncId, funcId));
+    public List<CtrlFuncStep> selectListByFuncCmd(String funcCmd) {
+        return this.list(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, funcCmd));
     }
 
-    @Override
-    public boolean saveList(List<CtrlFuncStep> ctrlFuncStepList) {
-        for (CtrlFuncStep ctrlFuncStep : ctrlFuncStepList) {
-            this.save(ctrlFuncStep);
-        }
-
-
-//        this.saveBatch(list);
-        return false;
-    }
 }

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

@@ -1,513 +1,123 @@
 package com.qyft.gd.service;
 
 import cn.hutool.json.JSONUtil;
-import com.qyft.gd.common.constant.Commands;
 import com.qyft.gd.common.constant.WebSocketMessageType;
 import com.qyft.gd.common.result.CMDResultCode;
-import com.qyft.gd.device.service.DeviceTcpCMDService;
-import com.qyft.gd.model.dto.CmdInjectFluidDTO;
-import com.qyft.gd.model.dto.InjectFluid;
-import com.qyft.gd.model.dto.StartHeatDTO;
+import com.qyft.gd.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.gd.device.model.entity.CtrlFuncStep;
+import com.qyft.gd.device.service.DeviceCtrlService;
+import com.qyft.gd.device.service.ICtrlFuncService;
+import com.qyft.gd.device.service.ICtrlFuncStepService;
+import com.qyft.gd.model.entity.TaskSteps;
+import com.qyft.gd.model.entity.Tasks;
 import com.qyft.gd.model.form.CMDForm;
-import com.qyft.gd.model.vo.ContainerListVO;
 import com.qyft.gd.model.vo.ExecutionResult;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
-import java.util.ArrayList;
-import java.util.HashMap;
+import java.lang.reflect.Method;
 import java.util.List;
 import java.util.Map;
-import java.util.function.Function;
-import java.util.function.Supplier;
 
 @Slf4j
+@RequiredArgsConstructor
 @Service
 public class CMDService {
 
     private final ITasksService tasksService;
     private final ITaskStepsService taskStepsService;
-    DeviceTcpCMDService deviceTcpCMDService;
-    WebSocketService webSocketService;
-    BaseDataService baseDataService;
-    IContainerService containerService;
-    Map<String, Function<Map<String, Object>, List<Supplier<Boolean>>>> commandMap;
-    CMDForm form;
-    Map<String, String> cmdMap;
-
-    @Autowired
-    public CMDService(DeviceTcpCMDService deviceTcpCMDService, WebSocketService webSocketService, BaseDataService baseDataService, ITasksService tasksService, ITaskStepsService taskStepsService, IContainerService containerService) {
-        this.deviceTcpCMDService = deviceTcpCMDService;
-        this.webSocketService = webSocketService;
-        this.baseDataService = baseDataService;
-        this.tasksService = tasksService;
-        this.taskStepsService = taskStepsService;
-        this.containerService = containerService;
-        this.cmdMap = new HashMap<>();
-        cmdMap.put("openDoor", "开门");
-        cmdMap.put("closeDoor", "关门");
-        cmdMap.put("upTray", "抬起托盘");
-        cmdMap.put("downTray", "降下托盘");
-        cmdMap.put("injectFluid", "添加溶液");
-        cmdMap.put("moveToActionArea", "移至加液");
-        cmdMap.put("startShakeUp", "摇匀试管架");
-        cmdMap.put("stopShakeUp", "停止摇匀试管架");
-        cmdMap.put("startHeat", "开始加热");
-        cmdMap.put("stopHeat", "停止加热");
-        cmdMap.put("takePhoto", "拍照");
-        cmdMap.put("takeOffCap", "取试管架盖");
-        cmdMap.put("putBackCap", "装回试管架盖");
-        cmdMap.put("moveMachineArm", "机械臂移动至指定坐标");
-        cmdMap.put("moveTube", "移动单个试管");
-        cmdMap.put("moveToHeatArea", "移至加热区");
-        cmdMap.put("openClaw", "机械臂爪子开启");
-        cmdMap.put("closeClaw", "机械臂爪子关闭");
-        // 初始化命令映射
-        this.commandMap = new HashMap<>();
-        commandMap.put(Commands.OPEN_DOOR, this::openDoor);
-        commandMap.put(Commands.CLOSE_DOOR, this::closeDoor);
-        commandMap.put(Commands.UP_TRAY, this::upTray);
-        commandMap.put(Commands.DOWN_TRAY, this::downTray);
-        commandMap.put(Commands.INJECT_FLUID, this::injectFluid);
-        commandMap.put(Commands.MOVE_TO_ACTION_AREA, this::moveToActionArea);
-        commandMap.put(Commands.START_SHAKE_UP, this::startShakeUp);
-        commandMap.put(Commands.STOP_SHAKE_UP, this::stopShakeUp);
-        commandMap.put(Commands.START_HEAT, this::startHeat);
-        commandMap.put(Commands.STOP_HEAT, this::stopHeat);
-        commandMap.put(Commands.TAKE_PHOTO, this::takePhoto);
-        commandMap.put(Commands.TAKE_OFF_CAP, this::takeOffCap);
-        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);
-        commandMap.put(Commands.OPEN_CLAW, this::openClaw);
-        commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
-
-    }
-
-    // 开门
-    public List<Supplier<Boolean>> openDoor(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.openDoor());
-        return cmdList;
-    }
-
-    // 关门
-    public List<Supplier<Boolean>> closeDoor(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.closeDoor());
-        return cmdList;
-    }
-
-    // 机械臂爪子开启
-    public List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        return cmdList;
-    }
-
-    // 机械臂爪子闭合
-    public List<Supplier<Boolean>> closeClaw(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        return cmdList;
-    }
-
-    // 移至加热
-    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("heatId"));
-        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(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 下降高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2 - Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height"))));
-        // 闭合钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 机械臂抬起高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String) map.get("sys_offset_tube_height"))));
-        // 机械臂移动到指定加热位
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z2 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String) map.get("sys_offset_tube_height"))));
-        // 机械臂下降高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 机械臂打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂上升高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height"))));
-        // 关闭钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-
-        return cmdList;
-    }
-
-    // 移动单个试管
-    public List<Supplier<Boolean>> moveTube(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-
-        return cmdList;
-    }
-
-    // 机械臂
-    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(",");
-        int x = Integer.parseInt(positionArr[0]);
-        int y = Integer.parseInt(positionArr[1]);
-        int z = Integer.parseInt(positionArr[2]);
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x, y, z));
-        return cmdList;
-    }
-
-    // 装回盖子
-    public List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        // 加热位机器代码
-        String heatId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-        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("heatId"));
-        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(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂下移位置
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 - (Integer) map.get("sys_offset_lid_take_height")));
-        // 闭合钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 机械臂抬起指定高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 机械臂移至指定试管架
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂上移指定位置
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 + (Integer) map.get("sys_offset_lid_take_height")));
-        // 关闭钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 密封
-        // 解除密封
-        cmdList.add(() -> deviceTcpCMDService.setSealLid(Integer.parseInt(heatId), true));
-        // 机械臂复位
-        return cmdList;
-    }
-
-    // 取试管架盖
-    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("heatId"));
-        // 加热位机器代码
-        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-
-        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(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 解除密封
-        cmdList.add(() -> deviceTcpCMDService.setSealLid(Integer.parseInt(hardwareId), false));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂下移位置
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 - (Integer) map.get("sys_offset_lid_take_height")));
-        // 闭合钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 机械臂抬起指定高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 机械臂移至拍子存放区
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂上移指定位置
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2 + (Integer) map.get("sys_offset_lid_take_height")));
-        // 关闭钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 机械臂复位
-        return cmdList;
-    }
-
-    // 拍照
-    public List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.takePhoto());
-        return cmdList;
-    }
-
-    // 停止加热
-    public List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-        cmdList.add(() -> deviceTcpCMDService.stopHeating(hardwareId));
-        return cmdList;
-    }
+    private final WebSocketService webSocketService;
+    private final DeviceCtrlService deviceCtrlService;
+    private final ICtrlFuncStepService ctrlFuncStepService;
+    private final ICtrlFuncService ctrlFuncService;
+
+    @SuppressWarnings("unchecked")
+    private void run(CMDForm cmdForm) {
+        String commandName = cmdForm.getCommand();
+        ExecutionResult executionResult = new ExecutionResult();
+        executionResult.setCommandId(cmdForm.getCommandId());
+        executionResult.setCommandName(commandName);
+
+        try {
+            List<Object> paramsList = cmdForm.getParams();
+            List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepService.selectListByFuncCmd(commandName);
+
+            int index = 0;
+            for (CtrlFuncStep ctrlFuncStep : ctrlFuncStepList) {
+                Map<String, Object> params = null;
+                if (ctrlFuncStep.getParams() == null) { // 如果没有参数定义，使用传入的参数
+                    try {
+                        params = (Map<String, Object>) paramsList.get(index);
+                    } catch (IndexOutOfBoundsException e) {
+                        log.error("指令执行错误，传参错误: {}", JSONUtil.toJsonStr(cmdForm));
+                        executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                        executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                        webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                        return;
+                    }
+                    index++; // 移动到下一个参数
+                }
 
-    // 批量加热
-    public void startHeats(StartHeatDTO dto) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        for (Integer i : dto.getHeatIds()) {
-            Map<String, Object> map = new HashMap<>();
-            map.put("heatId", i);
-            cmdList.addAll(startHeat(map));
-        }
-        new Thread(() -> {
-            ExecutionResult executionResult = new ExecutionResult();
-            executionResult.setCommandId(dto.getCommandId());
-            // 执行所有命令
-            for (Supplier<Boolean> command : cmdList) {
-                boolean result = command.get();
-                if (!result) {
-                    log.error("指令执行异常: {}", JSONUtil.toJsonStr(dto));
-                    executionResult.setStatus(CMDResultCode.FAILURE.getCode());
-                    executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
-                    webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-                    return;
+                String deviceCmd = ctrlFuncStep.getDeviceCmd();
+                Method method = getMethodByName(deviceCmd);
+                if (method != null) {
+                    boolean success = (boolean) method.invoke(deviceCtrlService, params);
+                    if (!success) {
+                        log.error("指令执行错误，执行{}返回false: {}", deviceCmd, JSONUtil.toJsonStr(cmdForm));
+                        executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                        executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                        webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                        return;
+                    }
                 }
             }
             executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
             executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
             webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-        }).start();
-    }
-
-    // 开始加热
-    public List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-        Double temperature;
-        if (params.get("temperature") == null) {
-            temperature = Double.parseDouble(baseDataService.getHeatAreaTemperatureById((Integer) params.get("heatId")));
-        } else {
-            temperature = Double.parseDouble((String) params.get("temperature"));
-        }
-        cmdList.add(() -> deviceTcpCMDService.startHeating(hardwareId, temperature));
-        return cmdList;
-    }
-
-    // 开始摇匀
-    public List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        if (params.get("speed") != null) {
-            cmdList.add(() -> deviceTcpCMDService.setShakingSpeed((Integer) params.get("speed")));
+            return;
+        } catch (Exception e) {
+            log.error("指令执行错误: {}", JSONUtil.toJsonStr(cmdForm), e);
         }
-        cmdList.add(() -> deviceTcpCMDService.startShaking());
-        return cmdList;
-    }
-
-    // 结束摇匀
-    public List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceTcpCMDService.stopShaking());
-        return cmdList;
-    }
-
-    // 移至加液
-    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("heatId"));
-        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]);
-        // 机械臂移动到指定的加热位坐标
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1));
-        // 打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 下降高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 - Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height"))));
-        // 闭合钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-        // 机械臂抬起高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String) map.get("sys_offset_tube_height"))));
-        // 机械臂移动到加液位高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z1 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String) map.get("sys_offset_tube_height"))));
-        // 机械臂下降高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2));
-        // 机械臂打开钩子
-        cmdList.add(() -> deviceTcpCMDService.openClaw());
-        // 机械臂上升高度
-        cmdList.add(() -> deviceTcpCMDService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String) map.get("sys_offset_tube_rack_take_height"))));
-        // 关闭钩子
-        cmdList.add(() -> deviceTcpCMDService.closeClaw());
-
-        return cmdList;
 
+        // 如果执行到这里，说明没有成功的步骤，返回失败
+        log.error("指令执行错误: {}", JSONUtil.toJsonStr(cmdForm));
+        executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+        executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+        webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
     }
 
-    // 批量加液
-    public void injectFluids(CmdInjectFluidDTO dto) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        for (InjectFluid injectFluid : dto.getInjectFluids()) {
-            Map<String, Object> map = new HashMap<>();
-            map.put("tubeNum", injectFluid.getTubeNum());
-            map.put("solutionId", injectFluid.getSolutionId());
-            map.put("volume", injectFluid.getVolume());
-            cmdList.addAll(injectFluid(map));
-        }
-
-        new Thread(() -> {
-            ExecutionResult executionResult = new ExecutionResult();
-            executionResult.setCommandId(dto.getCommandId());
-            // 执行所有命令
-            for (Supplier<Boolean> command : cmdList) {
-                boolean result = command.get();
-                if (!result) {
-                    log.error("指令执行异常: {}", JSONUtil.toJsonStr(dto));
-                    executionResult.setStatus(CMDResultCode.FAILURE.getCode());
-                    executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
-                    webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-                    return;
+    public boolean executeCommand(CMDForm cmdForm) {
+        String commandName = cmdForm.getCommand();
+        List<DeviceCtrlFuncCMD> deviceCtrlFuncCMDList = ctrlFuncService.findAllStepCMD();
+        for (DeviceCtrlFuncCMD deviceCtrlFuncCMD : deviceCtrlFuncCMDList) {
+            if (deviceCtrlFuncCMD.getDeviceCmd().equals(commandName)) {
+                Tasks tasks = tasksService.getIngTask();
+                if (tasks != null) {
+                    TaskSteps taskSteps = new TaskSteps();
+                    taskSteps.setTaskId(tasks.getId());
+                    taskSteps.setStepDescription("执行指令:" + commandName);
+                    taskStepsService.addTaskSteps(taskSteps);
                 }
+                new Thread(() -> run(cmdForm)).start();
+                return true;
             }
-            executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
-            executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
-            webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-        }).start();
-    }
-
-    // 加液
-    public List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        // 获取容器信息
-        ContainerListVO container = baseDataService.getContainerBySolutionId((Integer) params.get("solutionId"));
-        if (container.getCapacityTotal() - container.getCapacityUsed() < (Integer) params.get("volume")) {
-            cmdList.add(() -> false);
-        }
-
-        // 试管的坐标
-        String tubePosition = baseDataService.getTubePositionBySolutionArea((Integer) params.get("tubeNum"));
-        String[] tubePositionArr = tubePosition.split(",");
-        int x = Integer.parseInt(tubePositionArr[0]);
-        int y = Integer.parseInt(tubePositionArr[1]);
-        int z = Integer.parseInt(tubePositionArr[2]);
-        // 泵id
-        String pumpId = baseDataService.getPumpIdBySolutionId((Long) params.get("solutionId"));
-        if (params.get("flowRate") != null) {
-            cmdList.add(() -> deviceTcpCMDService.setFlowRate(pumpId, (Integer) params.get("flowRate")));
         }
-        cmdList.add(() -> deviceTcpCMDService.moveLiquidArmToPoint(x, y, z));
-        cmdList.add(() -> deviceTcpCMDService.addLiquid(pumpId, ((Integer) params.get("volume"))));
-        cmdList.add(() -> updateVolume(params));
-
-        return cmdList;
-    }
-
-    // 放下托盘
-    public List<Supplier<Boolean>> downTray(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-        if (params.get("height") != null && params.get("speed") != null) {
-            cmdList.add(() -> deviceTcpCMDService.setTrayParams(hardwareId, (Integer) params.get("speed"), (Integer) params.get("height")));
-        }
-        cmdList.add(() -> deviceTcpCMDService.lowerTray(hardwareId));
-        return cmdList;
-    }
-
-    // 抬起托盘
-    public List<Supplier<Boolean>> upTray(Map<String, Object> params) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("heatId"));
-        if (params.get("height") != null && params.get("speed") != null) {
-            cmdList.add(() -> deviceTcpCMDService.setTrayParams(hardwareId, (Integer) params.get("speed"), (Integer) params.get("height")));
-        }
-        cmdList.add(() -> deviceTcpCMDService.raiseTray(hardwareId));
-
-        return cmdList;
-    }
-
-    private boolean updateVolume(Map<String, Object> params) {
-        // 获取容器信息
-        ContainerListVO container = baseDataService.getContainerBySolutionId((Integer) params.get("solutionId"));
-        container.setCapacityUsed(container.getCapacityUsed() + (Integer) params.get("volume"));
-        containerService.updateById(container);
-        baseDataService.updateConfig();
-        List<ContainerListVO> list = containerService.getAllContainer();
-        Map<String, Object> containerMap = new HashMap<>();
-        containerMap.put("containerList", list);
-        webSocketService.pushMsg(WebSocketMessageType.CONTAINER, containerMap);
-        return true;
+        return false;
     }
 
-    private void initExecutorThread(List<Supplier<Boolean>> cmdList) {
-        new Thread(() -> run(cmdList)).start();
-    }
-
-    private void run(List<Supplier<Boolean>> cmdList) {
-        ExecutionResult executionResult = new ExecutionResult();
-        executionResult.setCommandId(form.getCommandId());
-        executionResult.setCommandName(form.getCommand());
-
-        // 执行所有命令
-        for (Supplier<Boolean> command : cmdList) {
-            boolean result = command.get();
-            if (!result) {
-                log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
-                executionResult.setStatus(CMDResultCode.FAILURE.getCode());
-                executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
-                webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-                return;
+    private Method getMethodByName(String methodName) {
+        try {
+            Class<?> clazz = deviceCtrlService.getClass();
+            for (Method method : clazz.getDeclaredMethods()) {
+                if (method.getName().equals(methodName)) {
+                    return method;
+                }
             }
+        } catch (Exception e) {
+            log.error("执行指令没有找到对应的方法:{}", methodName, e);
         }
-        executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
-        executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
-        webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
-    }
-
-    public boolean executeCommand(CMDForm cmdForm) {
-//        form = cmdForm;
-//        String commandName = cmdForm.getCommand();
-//        Function<Map<String, Object>, List<Supplier<Boolean>>> command = commandMap.get(commandName);
-//        if (command == null) {
-//            return false;
-//        }
-//        List<Supplier<Boolean>> cmdList = command.apply(form.getParams());
-//        Tasks tasks = tasksService.getIngTask();
-//        if (tasks != null) {
-//            TaskSteps taskSteps = new TaskSteps();
-//            taskSteps.setTaskId(tasks.getId());
-//            taskSteps.setStepDescription("执行指令:" + cmdMap.get(commandName));
-//            taskStepsService.addTaskSteps(taskSteps);
-//        }
-//        initExecutorThread(cmdList);
-        return true;
+        return null;
     }