fix:补全设备操作方法

sql/demo.sql

@@ -222,11 +222,12 @@ CREATE TABLE ctrl_func_step
     id          INTEGER PRIMARY KEY AUTOINCREMENT,
     func_cmd    TEXT NOT NULL,
     device_cmd  TEXT NOT NULL,
+    remarks     TEXT,
     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);
+INSERT INTO ctrl_func_step (func_cmd, device_cmd, remarks, params)
+VALUES ('openDoor', 'openDoor', null, null),
+       ('openDoor', 'openDoor', null, null),
+       ('openDoor', 'openDoor', null, null);

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

@@ -18,6 +18,9 @@ public class CtrlFuncStep extends BaseEntity {
     @Schema(description = "设备指令")
     private String deviceCmd;
 
+    @Schema(description = "备注说明")
+    private String remarks;
+
     @Schema(description = "设备指令的参数，为null则动态传入")
     private String params;
 

src/main/java/com/qyft/gd/device/model/form/CtrlFuncForm.java

@@ -27,6 +27,9 @@ public class CtrlFuncForm {
         @Schema(description = "设备指令")
         private String deviceCmd;
 
+        @Schema(description = "备注说明")
+        private String remarks;
+
         @Schema(description = "设备指令的参数，为null则动态传入")
         private Map<String, Object> params;
 

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

@@ -136,6 +136,83 @@ public class DeviceCtrlService {
     }
 
     /**
+     * 指定加热区密封拍子
+     */
+    public boolean sealLidOn(Map<String, Object> params) {
+        try {
+            Integer heatId = (Integer) params.get("heatId");
+            String hardwareId = baseDataService.getHeatAreaHardwareIdById(heatId);
+            if (hardwareId == null) {
+                log.info("指定加热区密封拍子，传入参数错误:{}", JSONUtil.toJsonStr(params));
+                return false;
+            }
+            return deviceTcpCMDService.setSealLid(hardwareId, true);
+        } catch (Exception e) {
+            log.info("指定加热区密封拍子，执行异常", e);
+            return false;
+        }
+    }
+
+    /**
+     * 指定加热区解除密封拍子
+     */
+    public boolean sealLidOff(Map<String, Object> params) {
+        try {
+            Integer heatId = (Integer) params.get("heatId");
+            String hardwareId = baseDataService.getHeatAreaHardwareIdById(heatId);
+            if (hardwareId == null) {
+                log.info("指定加热区解除密封拍子，传入参数错误:{}", JSONUtil.toJsonStr(params));
+                return false;
+            }
+            return deviceTcpCMDService.setSealLid(hardwareId, false);
+        } catch (Exception e) {
+            log.info("指定加热区解除密封拍子，执行异常", e);
+            return false;
+        }
+    }
+
+    /**
+     * 拍子存放区高度向上一个级别
+     */
+    public boolean capHeightUp(Map<String, Object> params) {
+        try {
+            return deviceTcpCMDService.capHeightUp();
+        } catch (Exception e) {
+            log.info("拍子存放区高度向上一个级别，执行异常", e);
+            return false;
+        }
+    }
+
+    /**
+     * 拍子存放区高度向下移动一个级别
+     */
+    public boolean capHeightDown(Map<String, Object> params) {
+        try {
+            return deviceTcpCMDService.capHeightDown();
+        } catch (Exception e) {
+            log.info("拍子存放区高度向下移动一个级别，执行异常", e);
+            return false;
+        }
+    }
+
+    /**
+     * 导轨机械臂移至拍子存放区上方
+     */
+    public boolean moveToCapArea(Map<String, Object> params) {
+        try {
+            String capAreaPosition = baseDataService.getLidPosition();
+            String[] capAreaPositionArr = capAreaPosition.split(",");
+            int x = Integer.parseInt(capAreaPositionArr[0]);
+            int y = Integer.parseInt(capAreaPositionArr[1]);
+            int z = Integer.parseInt(capAreaPositionArr[2]);
+            return deviceTcpCMDService.moveRailArmToPoint(x, y, z);
+        } catch (Exception e) {
+            log.info("导轨机械臂移至拍子存放区上方，执行异常，传入参数:{}", JSONUtil.toJsonStr(params), e);
+            return false;
+        }
+    }
+
+    /**
      * 指定加热区开始加热
      *
      * @param params heatId加热区id,temperature目标温度

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

@@ -272,16 +272,11 @@ public class DeviceTcpCMDService {
      * @param hardwareId 加热器id
      * @param on         true 密封， false 解除密封
      */
-    public synchronized boolean setSealLid(int hardwareId, boolean on) {
+    public synchronized boolean setSealLid(String hardwareId, boolean on) {
         Map<String, Object> params = new HashMap<>();
         params.put("hardwareId", hardwareId);
         params.put("on", on);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_SEAL_LID, params);
-        if (deviceFeedback == null || deviceFeedback.getError() != null) {
-            log.error("TCP setSealLid 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
-            return false;
-        }
-        return true;
+        return this.putTask(DeviceCommands.SET_SEAL_LID, params);
     }
 
 
@@ -428,6 +423,30 @@ public class DeviceTcpCMDService {
     }
 
     /**
+     * 拍子存放区高度向上一个级别
+     */
+    public synchronized boolean capHeightUp() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_CAP_HEIGHT);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP capHeightUp 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     * 拍子存放区高度向下移动一个级别
+     */
+    public synchronized boolean capHeightDown() {
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_CAP_HEIGHT);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP capHeightDown 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    /**
      * 调整拍子存放区高度
      *
      * @param level 高度等级 0-6

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

@@ -34,8 +34,13 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂相对运动", "moveRailArmRelative", "{\"x\":0,\"y\":0,\"z\":0}"));
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea", "{\"heatId\":2}"));
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至加液区上方", "moveToActionArea", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至拍子存放区上方", "moveToCapArea", "{}"));
         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("指定加热区密封拍子", "sealLidOn", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区解除密封拍子", "sealLidOff", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍子存放区高度向上一个级别", "capHeightUp", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍子存放区高度向下移动一个级别", "capHeightDown", "{}"));
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区开始加热", "startHeating", "{\"heatId\":2}"));
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区停止加热", "stopHeating", "{\"heatId\":2}"));
         ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区抬起托盘", "raiseTray", "{\"heatId\":2}"));
@@ -64,6 +69,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
         ctrlFuncVO.setId(ctrlFunc.getId());
         ctrlFuncVO.setName(ctrlFunc.getName());
         ctrlFuncVO.setFuncCmd(ctrlFunc.getFuncCmd());
+        ctrlFuncVO.setFuncCmd(ctrlFunc.getFuncCmd());
         ctrlFuncVO.setCtrlFuncStepList(ctrlFuncStepList);
         return ctrlFuncVO;
     }
@@ -117,6 +123,7 @@ public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> i
                     CtrlFuncStep ctrlFuncStep = new CtrlFuncStep();
                     ctrlFuncStep.setFuncCmd(ctrlFunc.getFuncCmd());
                     ctrlFuncStep.setDeviceCmd(ctrlFuncStepForm.getDeviceCmd());
+                    ctrlFuncStep.setRemarks(ctrlFuncStepForm.getRemarks());
                     ctrlFuncStep.setParams(JSONUtil.toJsonStr(ctrlFuncStepForm.getParams()));
                     return ctrlFuncStep;
                 }).toList();