feat: 系统配置新增偏移量信息;部分指令逻辑完成

sql/demo.sql

@@ -68,7 +68,10 @@ VALUES
     (18, 16, '试管圆心间距', 'sys_offset_tube_distance', '100' , '', '',''),
     (19, 16, '试管高度', 'sys_offset_tube_height', '300' , '', '',''),
     (20, 16, '试管架高度', 'sys_offset_tube_rack_height', '280' , '', '',''),
-    (21, 16, '拍子高度', 'sys_offset_lid_height', '350' , '', '','');
+    (21, 16, '拍子高度', 'sys_offset_lid_height', '350' , '', '',''),
+    (22, 16, '试管夹取高度', 'sys_offset_tube_take_height', '10' , '', '',''),
+    (23, 16, '拍子夹取高度', 'sys_offset_lid_take_height', '10' , '', '',''),
+    (24, 16, '试管架夹取高度', 'sys_offset_tube_rack_take_height', '10' , '', '','');
 
 
 -- 创建 solutions 溶液 表

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

@@ -24,7 +24,7 @@ public class CMDForm {
       params : {
        // 添加溶液所需字段
         tubeNum: 试管编号
-        solutions: 溶液id
+        solutionId: 溶液id
         volume: 容量
         // 关于温度
         temperature: 温度

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

@@ -6,6 +6,7 @@ import com.qyft.gd.model.vo.BaseDataVO;
 import com.qyft.gd.model.vo.ContainerListVO;
 import com.qyft.gd.model.vo.SysSettingVO;
 import jakarta.annotation.PostConstruct;
+import lombok.Getter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
@@ -21,6 +22,8 @@ public class BaseDataService {
     private final ContainerService containerService;
     private final SysSettingsMapper sysSettingsMapper;
     private final BaseDataVO map = new BaseDataVO();
+    @Getter
+    Map<String, Object> offsetMap = new HashMap<>();
 
     public BaseDataService(SysSettingsService sysSettingsService, ContainerService containerService, SysSettingsMapper sysSettingsMapper) {
         this.sysSettingsService = sysSettingsService;
@@ -28,6 +31,17 @@ public class BaseDataService {
         this.sysSettingsMapper = sysSettingsMapper;
     }
 
+    // 根据容液id获取泵id
+    public String getPumpIdBySolutionId(int solutionId) {
+        List<ContainerListVO> containers = map.getContainers();
+        for (ContainerListVO container : containers) {
+            if (container.getSolutionId() == solutionId) {
+                return container.getPumpId();
+            }
+        }
+        return null;
+    }
+
     // 获取试管架某个试管坐标
     public String getTubePositionByHeatArea(int areaId, int tubeNumber) {
         SysSettingVO sysSettingVO = findSysSettingById(map.getHeat_area(), areaId);
@@ -75,6 +89,15 @@ public class BaseDataService {
         }
         return null; // 如果没有找到，返回 null
     }
+    // 获取某个加热区的机器代码
+    public String getHeatAreaHardwareIdById(int id) {
+        for (SysSettingVO sysSettingVO : map.getHeat_area()) {
+            if (sysSettingVO.getId() == id) {
+                return sysSettingVO.getHardwareId();
+            }
+        }
+        return null; // 如果没有找到，返回 null
+    }
 
     // 获取所有基础数据
     public BaseDataVO getBaseData() {
@@ -97,6 +120,12 @@ public class BaseDataService {
         List<SysSettingVO> lidAreaList = sysSettingsService.getConfig("lid_area");
         List<SysSettingVO> sysSettingList = sysSettingsService.getConfig("sys_setting");
         List<ContainerListVO> containerList = containerService.getAllContainer();
+
+        List<SysSettingVO> sysSettingVOList = sysSettingsService.getConfig("sys_offset");
+        for (SysSettingVO sysSettingVO : sysSettingVOList) {
+            offsetMap.put(sysSettingVO.getCode(), sysSettingVO.getValue());
+        }
+
         map.setHeat_area(heatAreaList);
         map.setSolution_area(solutionAreaList);
         map.setLid_area(lidAreaList);
@@ -108,17 +137,11 @@ public class BaseDataService {
 
     // 计算试管坐标
     private void calculateTubeCoordinates() {
-        List<SysSettingVO> sysSettingVOList = sysSettingsService.getConfig("sys_offset");
-        Map<String, Object> offsetMap = new HashMap<>();
-        for (SysSettingVO sysSettingVO : sysSettingVOList) {
-            offsetMap.put(sysSettingVO.getCode(), sysSettingVO.getValue());
-        }
-        log.info("calculateTubeCoordinates offsetMap:{}", offsetMap);
-        calculateTubePositions(map.getHeat_area(), offsetMap, 0);
-        calculateTubePositions(map.getSolution_area(), offsetMap, 1);
+        calculateTubePositions(map.getHeat_area(), 0);
+        calculateTubePositions(map.getSolution_area(), 1);
     }
     // 封装计算试管位置的公共方法
-    private void calculateTubePositions(List<SysSettingVO> areaList, Map<String, Object> offsetMap, int type) {
+    private void calculateTubePositions(List<SysSettingVO> areaList, int type) {
         areaList.forEach(sysSettingVO -> {
             List<String> tubePositionList = new ArrayList<>();
             // 试管架中心点

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.device.service.DeviceService;
-import com.qyft.gd.device.service.DeviceStateService;
 import com.qyft.gd.model.form.CMDForm;
 import com.qyft.gd.model.vo.ExecutionResult;
 import lombok.extern.slf4j.Slf4j;
@@ -19,14 +18,16 @@ import java.util.function.Supplier;
 public class CMDService {
 
     DeviceService deviceService;
-    DeviceStateService deviceStateService;
     WebSocketService webSocketService;
-    Map<String, Function<CMDForm, Boolean>> commandMap;
+    BaseDataService baseDataService;
+    Map<String, Function<Map<String, Object>, List<Supplier<Boolean>>>> commandMap;
+    CMDForm form;
 
     @Autowired
-    public CMDService(DeviceService deviceService , WebSocketService webSocketService) {
+    public CMDService(DeviceService deviceService , WebSocketService webSocketService, BaseDataService baseDataService) {
         this.deviceService = deviceService;
         this.webSocketService = webSocketService;
+        this.baseDataService = baseDataService;
         // 初始化命令映射
         this.commandMap = new HashMap<>();
         commandMap.put(Commands.UP_TRAY, this::upTray);
@@ -45,149 +46,169 @@ public class CMDService {
         commandMap.put(Commands.MOVE_TO_HEAT_AREA, this::moveToHeatArea);
     }
     // 移至加热
-    private boolean moveToHeatArea(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> moveToHeatArea(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.moveRailArmToPoint(1,2,3));
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
         cmdList.add(() -> deviceService.closeClaw());
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 移动单个试管
-    private Boolean moveTube(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+    private List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
+        return cmdList;
     }
 
 // 机械臂
-    private Boolean moveMachineArm(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 装回盖子
-    private Boolean putBackCap(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.moveRailArmToPoint(11,22,33));
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,54,6));
         cmdList.add(() -> deviceService.closeClaw());
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 取试管架盖
-    private Boolean takeOffCap(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.moveRailArmToPoint(13,42,53));
         cmdList.add(() -> deviceService.openClaw());
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 拍照
-    private Boolean takePhoto(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.takePhoto());
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 停止加热
-    private Boolean stopHeat(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.stopHeating((String) cmdForm.getParams().get("areaId")));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+        cmdList.add(() -> deviceService.stopHeating(hardwareId));
+        return cmdList;
     }
 // 开始加热
-    private Boolean startHeat(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.startHeating((String) cmdForm.getParams().get("areaId"),(Double) cmdForm.getParams().get("temperature")));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+
+        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+        cmdList.add(() -> deviceService.startHeating(hardwareId, (Double) params.get("temperature")));
+        return cmdList;
     }
 // 开始摇匀
-    private Boolean startShakeUp(CMDForm cmdForm) {
-//        deviceService.startShaking();
-//        Timer timer = new Timer();
-//        TimerTask task = new TimerTask() {
-//            @Override
-//            public void run() {
-//                deviceService.stopShaking();
-//            }
-//        };
-//        timer.schedule(task, 1000);
-//        return true;
+    private List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.setShakingSpeed((Integer) params.get("speed")));
         cmdList.add(() -> deviceService.startShaking());
-        cmdList.add(() -> deviceService.setShakingSpeed((Integer) cmdForm.getParams().get("speed")));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 // 结束摇匀
-    private Boolean stopShakeUp(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.stopShaking());
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        return cmdList;
     }
 
 // 移至加液
-    private Boolean moveToActionArea(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> moveToActionArea(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        // 加液位是否有托盘
-//        Boolean liquidTrayStatus = deviceStateService.getDeviceStatus().getLiquidTrayStatus();
-//        if(liquidTrayStatus) {
-//            return false;
-//        }
-        cmdList.add(() -> deviceService.moveRailArmToPoint(1, 2, 3));
+        Map<String ,Object> map = baseDataService.getOffsetMap();
+        String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
+        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(() -> deviceService.moveRailArmToPoint(x1,y1,z1));
+        // 打开钩子
         cmdList.add(() -> deviceService.openClaw());
-        cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        // 下降高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1 - (Integer) map.get("sys_offset_tube_rack_take_height")));
+        // 闭合钩子
         cmdList.add(() -> deviceService.closeClaw());
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        // 机械臂抬起高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1,y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        // 机械臂移动到加液位高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        // 机械臂下降高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2, z2));
+        // 机械臂打开钩子
+        cmdList.add(() -> deviceService.openClaw());
+        // 机械臂上升高度
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2,y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height")));
+        // 关闭钩子
+        cmdList.add(() -> deviceService.closeClaw());
+
+        return cmdList;
 
     }
 // 加液
-    private Boolean injectFluid(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
         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((Long) params.get("pumpId"), ((Integer)params.get("volume"))));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        // 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((Integer) params.get("solutionId"));
+        cmdList.add(() -> deviceService.moveLiquidArmToPoint(x,y,z));
+        cmdList.add(() -> deviceService.addLiquid(Long.valueOf(pumpId), ((Integer)params.get("volume"))));
+        return cmdList;
     }
 // 放下托盘
-    private boolean downTray(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> downTray(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.lowerTray((String) cmdForm.getParams().get("heaterId")));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+        if(params.get("height") != null && params.get("speed") != null) {
+            cmdList.add(() -> deviceService.setTrayParams(hardwareId, (Integer) params.get("speed"), (Integer) params.get("height")));
+        }
+        cmdList.add(() -> deviceService.lowerTray(hardwareId));
+        return cmdList;
     }
+
     // 抬起托盘
-    private boolean upTray(CMDForm cmdForm) {
+    private List<Supplier<Boolean>> upTray(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        cmdList.add(() -> deviceService.raiseTray((String) cmdForm.getParams().get("heaterId")));
-        initExecutorThread(cmdList, cmdForm);
-        return true;
+        String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
+        if(params.get("height") != null && params.get("speed") != null) {
+            cmdList.add(() -> deviceService.setTrayParams(hardwareId, (Integer) params.get("speed"), (Integer) params.get("height")));
+        }
+        cmdList.add(() -> deviceService.raiseTray(hardwareId));
+      
+        return cmdList;
     }
-    private void initExecutorThread(List<Supplier<Boolean>> cmdList, CMDForm cmdForm) {
-        new Thread(() -> run(cmdList, cmdForm)).start();
+    private void initExecutorThread(List<Supplier<Boolean>> cmdList) {
+        new Thread(() -> run(cmdList)).start();
     }
 
-    private void run(List<Supplier<Boolean>> cmdList, CMDForm cmdForm) {
+    private void run(List<Supplier<Boolean>> cmdList) {
         ExecutionResult executionResult = new ExecutionResult();
-        executionResult.setCommandId(cmdForm.getCommandId());
-        executionResult.setCommandName(cmdForm.getCommand());
+        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(cmdForm));
+                log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
                 executionResult.setStatus(CMDResultCode.FAILURE.getCode());
                 executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
                 webSocketService.pushMsg("cmd", executionResult);
@@ -200,12 +221,13 @@ public class CMDService {
     }
 
     public boolean executeCommand(CMDForm cmdForm) {
+        form = cmdForm;
         String commandName = cmdForm.getCommand();
-        Function<CMDForm, Boolean> command = commandMap.get(commandName);
+        Function<Map<String, Object>, List<Supplier<Boolean>>> command = commandMap.get(commandName);
         if (command == null) {
             return false;
         }
-        command.apply(cmdForm);
+        command.apply(form.getParams());
         return true;
     }
 }