feat: 指令加入实验记录

src/main/java/com/qyft/gd/common/constant/Commands.java

@@ -104,4 +104,14 @@ public class Commands {
      */
     public static final String CLOSE_CLAW = "closeClaw";
 
+    /**
+     * 开门
+     */
+    public static final String OPEN_DOOR = "openDoor";
+
+    /**
+     * 关门
+     */
+    public static final String CLOSE_DOOR = "closeDoor";
+
 }

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

@@ -1,6 +1,7 @@
 package com.qyft.gd.controller;
 
 import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.qyft.gd.model.dto.StopTaskDTO;
 import com.qyft.gd.model.dto.TaskDTO;
 import com.qyft.gd.model.entity.Tasks;
 import com.qyft.gd.model.vo.TaskListVO;
@@ -37,7 +38,7 @@ public class TasksController {
 
     @Operation(summary = "添加新实验")
     @PostMapping("/")
-    public Result<Integer> addTask(@RequestBody TaskDTO dto) {
+    public Result<Tasks> addTask(@RequestBody TaskDTO dto) {
         return Result.success(tasksService.addTask(dto.getName()));
     }
 
@@ -56,7 +57,7 @@ public class TasksController {
 
     @Operation(summary = "停止实验")
     @PostMapping("/stop")
-    public Result<Integer> stopTask(@Parameter(description = "实验id") @RequestParam Long taskId) {
-        return Result.success(tasksService.stopTask(taskId));
+    public Result<Integer> stopTask(@RequestBody StopTaskDTO dto) {
+        return Result.success(tasksService.stopTask(dto.getTaskId()));
     }
 }

src/main/java/com/qyft/gd/model/dto/StopTaskDTO.java

@@ -0,0 +1,10 @@
+package com.qyft.gd.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class StopTaskDTO {
+    @Schema(description = "实验id")
+    private Long taskId;
+}

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

@@ -5,6 +5,8 @@ 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.DeviceService;
+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.ExecutionResult;
 import lombok.extern.slf4j.Slf4j;
@@ -18,19 +20,43 @@ import java.util.function.Supplier;
 @Service
 public class CMDService {
 
+    private final TasksService tasksService;
+    private final TaskStepsService taskStepsService;
     DeviceService deviceService;
     WebSocketService webSocketService;
     BaseDataService baseDataService;
     Map<String, Function<Map<String, Object>, List<Supplier<Boolean>>>> commandMap;
     CMDForm form;
+    Map<String, String> cmdMap;
 
     @Autowired
-    public CMDService(DeviceService deviceService , WebSocketService webSocketService, BaseDataService baseDataService) {
+    public CMDService(DeviceService deviceService , WebSocketService webSocketService, BaseDataService baseDataService, TasksService tasksService, TaskStepsService taskStepsService) {
         this.deviceService = deviceService;
         this.webSocketService = webSocketService;
         this.baseDataService = baseDataService;
+        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);
@@ -47,6 +73,22 @@ public class CMDService {
         commandMap.put(Commands.MOVE_TO_HEAT_AREA, this::moveToHeatArea);
         commandMap.put(Commands.OPEN_CLAW, this::openClaw);
         commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
+        this.tasksService = tasksService;
+        this.taskStepsService = taskStepsService;
+    }
+
+    // 开门
+    public List<Supplier<Boolean>> openDoor(Map<String, Object> params) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.openDoor());
+        return cmdList;
+    }
+
+    // 关门
+    public List<Supplier<Boolean>> closeDoor(Map<String, Object> params) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.closeDoor());
+        return cmdList;
     }
     // 机械臂爪子开启
     public List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
@@ -293,6 +335,9 @@ public class CMDService {
         int z = Integer.parseInt(tubePositionArr[2]);
         // 泵id
         String pumpId = baseDataService.getPumpIdBySolutionId((Integer) params.get("solutionId"));
+        if(params.get("flowRate") != null) {
+            cmdList.add(() -> deviceService.setFlowRate(Integer.parseInt(pumpId), (Integer) params.get("flowRate")));
+        }
         cmdList.add(() -> deviceService.moveLiquidArmToPoint(x,y,z));
         cmdList.add(() -> deviceService.addLiquid(Long.valueOf(pumpId), ((Integer)params.get("volume"))));
         return cmdList;
@@ -352,6 +397,13 @@ public class CMDService {
             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;
     }

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

@@ -12,7 +12,10 @@ import com.qyft.gd.system.common.base.BasePageQuery;
 public interface TasksService extends IService<Tasks> {
     IPage<TaskListVO> getPage(BasePageQuery pageQuery);
     TaskListVO selectById(Long id);
-    int addTask(String taskName);
+    Tasks addTask(String taskName);
+
+    Tasks getIngTask();
+
     int removeByIds(String ids);
     int stopTask(Long taskId);
 }

src/main/java/com/qyft/gd/service/impl/TasksServiceImpl.java

@@ -88,7 +88,7 @@ public class TasksServiceImpl extends ServiceImpl<TasksMapper, Tasks> implements
     }
 
     @Override
-    public int addTask(String taskName) {
+    public Tasks addTask(String taskName) {
         Tasks tasks = new Tasks();
         tasks.setName(taskName);
         User user = userService.currentUser();
@@ -100,7 +100,12 @@ public class TasksServiceImpl extends ServiceImpl<TasksMapper, Tasks> implements
         taskSteps.setTaskId(tasks.getId());
         taskSteps.setStepDescription("开始实验");
         taskStepsService.addTaskSteps(taskSteps);
-        return Math.toIntExact(tasks.getId());
+        return tasks;
+    }
+
+    @Override
+    public Tasks getIngTask() {
+        return tasksMapper.selectOne(new QueryWrapper<Tasks>().eq("status", 1));
     }
 
     @Override