调试指令修改

src/types/debug.d.ts

@@ -54,7 +54,7 @@ declare namespace Debug {
 
   interface PumpData {
     speed?: number
-    volume?: number
+    distance?: number
     direction?: 'forward' | 'backward'
   }
 

src/views/debug/index.vue

@@ -178,8 +178,10 @@ const commandHandle = async (command: string, params?: unknown) => {
               el-form-item
                 ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_open', { ...debugStore.formData.transferModule.clawMotorData, distance: debugStore.formData.transferModule.clawMotorData.distance })")
                   | 打开
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_close', { ...debugStore.formData.transferModule.clawMotorData, distance: -(debugStore.formData.transferModule.clawMotorData.distance ?? 0) })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_open', { ...debugStore.formData.transferModule.clawMotorData, distance: -(debugStore.formData.transferModule.clawMotorData.distance ?? 0) })")
                   | 闭合
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_stop', {})")
+                  | 停止
       el-col(:span="8")
         el-card
           template(#header)
@@ -188,8 +190,8 @@ const commandHandle = async (command: string, params?: unknown) => {
           el-divider 陶瓷蠕动泵
           div.card-box
             el-form
-              el-form-item(label="容量")
-                el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.volume", type="number", placeholder="请输入容量")
+              el-form-item(label="距离")
+                el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.distance", type="number", placeholder="请输入距离")
                   template(#append)
                     | mL
               el-form-item(label="速度")
@@ -200,6 +202,8 @@ const commandHandle = async (command: string, params?: unknown) => {
                 el-select(v-model="debugStore.formData.peristalticPumpData.ceramicPump.pumpCode", placeholder="请选择泵")
                   el-option(v-for="item in 2", :key="item", :label="`泵-${item}`", :value="`ceramic_pump_${item}`")
               el-form-item
+              ft-button(size="small", type="primary", :click-handle="() => commandHandle('ceramic_pump_move', { ...debugStore.formData.peristalticPumpData.ceramicPump})")
+                | 移动
                 ft-button(size="small", type="primary", :click-handle="() => commandHandle('ceramic_pump_open', { ...debugStore.formData.peristalticPumpData.ceramicPump, direction: 'forward' })")
                   | 正转
                 ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('ceramic_pump_close')")
@@ -209,8 +213,8 @@ const commandHandle = async (command: string, params?: unknown) => {
           el-divider 无刷蠕动泵
           div.card-box
             el-form
-              el-form-item(label="容量")
-                el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.volume", type="number", placeholder="请输入容量")
+              el-form-item(label="距离")
+                el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.distance", type="number", placeholder="请输入距离")
                   template(#append)
                     | mL
               el-form-item(label="速度")
@@ -221,6 +225,8 @@ const commandHandle = async (command: string, params?: unknown) => {
                 el-select(v-model="debugStore.formData.peristalticPumpData.brushlessPump.pumpCode", placeholder="请选择泵")
                   el-option(v-for="item in 10", :key="item", :label="`泵-${item}`", :value="`brushless_pump_${item}`")
               el-form-item
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_move', { ...debugStore.formData.peristalticPumpData.brushlessPump})")
+                  | 正转
                 ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.brushlessPump, direction: 'forward' })")
                   | 正转
                 ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('brushless_pump_close')")
@@ -230,8 +236,8 @@ const commandHandle = async (command: string, params?: unknown) => {
           el-divider 步进蠕动泵
           div.card-box
             el-form
-              el-form-item(label="容量")
-                el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.volume", type="number", placeholder="请输入容量")
+              el-form-item(label="距离")
+                el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.distance", type="number", placeholder="请输入距离")
                   template(#append)
                     | mL
               el-form-item(label="速度")
@@ -242,6 +248,8 @@ const commandHandle = async (command: string, params?: unknown) => {
                 el-select(v-model="debugStore.formData.peristalticPumpData.stepPump.pumpCode", type="number", placeholder="请选择泵")
                   el-option(v-for="item in 3", :key="item", :label="`泵-${item}`", :value="`step_pump_${item}`")
               el-form-item
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_move', { ...debugStore.formData.peristalticPumpData.stepPump})")
+                  | 移动
                 ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.stepPump, direction: 'forward' })")
                   | 正转
                 ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('brushless_pump_close')")
@@ -271,16 +279,16 @@ const commandHandle = async (command: string, params?: unknown) => {
                   el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`titration_motor_${item}`")
               el-form-item
                 ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_move_by', { ...debugStore.formData.titrationModule.relative, distance: debugStore.formData.titrationModule.relative.distance })")
-                  | 前进
+                  | 相对移动
                 ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('titration_motor_stop', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
                   | 停止
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_move_by', { ...debugStore.formData.titrationModule.relative, distance: -(debugStore.formData.titrationModule.relative.distance ?? 0) })")
-                  | 后退
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_move_to', { ...debugStore.formData.titrationModule.relative, position: -(debugStore.formData.titrationModule.relative.distance ?? 0) })")
+                  | 绝对移动
                 ft-button(type="primary", size="small", :click-handle="() => commandHandle('titration_motor_origin', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
                   | 回原点
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_enable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_enable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
                   | 电机使能
-                ft-button(size="small", :click-handle="() => commandHandle('z_disable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
+                ft-button(size="small", :click-handle="() => commandHandle('titration_motor_disable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
                   | 电机失能
       el-col(:span="8")
         el-card
@@ -312,9 +320,9 @@ const commandHandle = async (command: string, params?: unknown) => {
                 el-select(v-model="debugStore.formData.lightModule.color", placeholder="请选择颜色")
                   el-option(v-for="item in [{ value: 'red', label: '红色' }, { value: 'yellow', label: '黄色' }, { value: 'green', label: '绿色' }]", :key="item.value", :label="item.label", :value="item.value")
               el-form-item
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('door_open', { ...debugStore.formData.door })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('light_open', { ...debugStore.formData.lightModule.color })")
                   | 开启
-                ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('door_stop')")
+                ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('light_close')")
                   | 关闭
         el-card
           template(#header)
@@ -336,19 +344,19 @@ const commandHandle = async (command: string, params?: unknown) => {
                     | 次
               el-form-item(label="电机")
                 el-select(v-model="debugStore.formData.magnetStirMotor.relative.motorCode", placeholder="请选择电机")
-                  el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`magnet_stir_motor_${item}`")
+                  el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`stir_motor_${item}`")
               el-form-item
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: debugStore.formData.magnetStirMotor.relative.distance })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: debugStore.formData.magnetStirMotor.relative.distance })")
                   | 前进
-                ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('magnet_stir_motor_stop', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
+                ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('stir_motor_stop', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
                   | 停止
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: -(debugStore.formData.magnetStirMotor.relative.distance ?? 0) })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: -(debugStore.formData.magnetStirMotor.relative.distance ?? 0) })")
                   | 后退
-                ft-button(type="primary", size="small", :click-handle="() => commandHandle('magnet_stir_motor_origin', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
+                ft-button(type="primary", size="small", :click-handle="() => commandHandle('stir_motor_origin', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
                   | 回原点
-                ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_enable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
+                ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_enable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
                   | 电机使能
-                ft-button(size="small", :click-handle="() => commandHandle('magnet_stir_motor_disable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
+                ft-button(size="small", :click-handle="() => commandHandle('stir_motor_disable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
                   | 电机失能
           el-divider 磁子投放
           ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_open')")