feat:指令逻辑添加

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

@@ -19,5 +19,19 @@ public class CMDForm {
 
     @Schema(description = "参数")
     private Map<String, Object> params;
+    /*
+      params : {
+      // 添加溶液所需字段
+        tubeNum: 试管编号
+        pumpId: 溶液id
+        volume: 容量
+        // 关于温度
+        temperature: 温度
+        // 关于时间
+        time: 时间
+
+        shelfId: 试管架id
+      }
+     */
 
 }

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

@@ -11,9 +11,10 @@ import com.qyft.gd.model.vo.WebsocketResult;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
-import java.util.HashMap;
-import java.util.Map;
+import java.sql.Array;
+import java.util.*;
 import java.util.function.Function;
+import java.util.function.Supplier;
 
 @Service
 public class CMDService {
@@ -44,89 +45,125 @@ public class CMDService {
         commandMap.put(Commands.GET_LIQUID_AMOUNT,  this::getLiquidAmount);
         commandMap.put(Commands.MOVE_TUBE, this::moveTube);
     }
-
+// 移动单个试管
     private Boolean moveTube(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 当前溶液数量
     private Boolean getLiquidAmount(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 机械臂
     private Boolean moveMachineArm(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 装回盖子
     private Boolean putBackCap(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 取试管架盖
     private Boolean takeOffCap(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 移出异常
     private Boolean moveToHeatArea(CMDForm cmdForm) {
         //TODO 执行指令
         return true;
     }
-
+// 移至异常
     private Boolean moveToUnusual(CMDForm cmdForm) {
-        //TODO 执行指令
+        //TODO 获取异常区位置
         return true;
     }
-
+// 拍照
     private Boolean takePhoto(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.takePhoto());
+        return run(cmdList);
     }
-
+// 停止加热
     private Boolean stopHeat(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.stopHeating());
+        return run(cmdList);
     }
-
+// 开始加热
     private Boolean startHeat(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.startHeating((Integer) cmdForm.getParams().get("time")));
+        return run(cmdList);
     }
-
+// 摇匀
     private Boolean shakeUp(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
-    }
-
+        deviceService.startShaking();
+        Timer timer = new Timer();
+        TimerTask task = new TimerTask() {
+            @Override
+            public void run() {
+                deviceService.stopShaking();
+            }
+        };
+        timer.schedule(task, 1000);
+        return true;
+    }
+// 检查加液位状态(是否被占用)
     private Boolean checkActionArea(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        return run(cmdList);
     }
-
+// 移至加液
     private Boolean moveToActionArea(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
-    }
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // TODO 加液位是否被占用
+        cmdList.add(() -> deviceService.moveRailArmToPoint(1, 2, 3));
+        cmdList.add(() -> deviceService.openClaw());
+        // TODO 检查加液位是否被占用
+        cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
+        return run(cmdList);
 
+    }
+// 恒温
     private Boolean keepHeat(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // TODO 加热到指定温度,通过传感器使其恒温
+        return run(cmdList);
     }
-
+// 加液
     private Boolean injectFluid(CMDForm cmdForm) {
-        //TODO 执行指令
-        return true;
-    }
-
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // TODO 计算出试管的坐标
+        // TODO 获取加液位是否有试管(传感器?)
+        // TODO 溶液id 容量
+        Map<String,  Object> params = cmdForm.getParams();
+        cmdList.add(() -> deviceService.addLiquid((Integer) params.get("pumpId"), ((Integer)params.get("volume"))));
+        return run(cmdList);
+    }
+// 放下托盘
     private boolean downTray(CMDForm cmdForm) {
-        //TODO 执行指令
-        return false;
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.moveTrayToHeight(0));
+        return run(cmdList);
     }
-
+    // 抬起托盘
     private boolean upTray(CMDForm cmdForm) {
-        //TODO 执行指令
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceService.moveTrayToHeight(20));
+        return run(cmdList);
+    }
+
+    private boolean run(List<Supplier<Boolean>> cmdList) {
+        // 执行所有命令
+        for (Supplier<Boolean> command : cmdList) {
+            boolean result = command.get();
+            if (!result) {
+                return false;
+            }
+        }
         return true;
     }