feat:定义指令

src/main/java/com/iflytop/handacid/common/enums/Device.java

@@ -3,44 +3,14 @@ package com.iflytop.handacid.common.enums;
 import lombok.Getter;
 
 public enum Device {
-    Z_MOTOR(HardwareType.STEPPER_MOTOR, "Z 轴升降电机"),
-    CERAMIC_PUMP_1(HardwareType.STEPPER_MOTOR, "陶瓷泵 1"),
-    CERAMIC_PUMP_2(HardwareType.STEPPER_MOTOR, "陶瓷泵 2"),
-    BRUSHLESS_PUMP_1(HardwareType.STEPPER_MOTOR, "无刷泵 1"),
-    BRUSHLESS_PUMP_2(HardwareType.STEPPER_MOTOR, "无刷泵 2"),
-    BRUSHLESS_PUMP_3(HardwareType.STEPPER_MOTOR, "无刷泵 3"),
-    BRUSHLESS_PUMP_4(HardwareType.STEPPER_MOTOR, "无刷泵 4"),
-    BRUSHLESS_PUMP_5(HardwareType.STEPPER_MOTOR, "无刷泵 5"),
-    BRUSHLESS_PUMP_6(HardwareType.STEPPER_MOTOR, "无刷泵 6"),
-    BRUSHLESS_PUMP_7(HardwareType.STEPPER_MOTOR, "无刷泵 7"),
-    BRUSHLESS_PUMP_8(HardwareType.STEPPER_MOTOR, "无刷泵 8"),
-    BRUSHLESS_PUMP_9(HardwareType.STEPPER_MOTOR, "无刷泵 9"),
-    BRUSHLESS_PUMP_10(HardwareType.STEPPER_MOTOR, "无刷泵 10"),
-    STEP_PUMP_1(HardwareType.STEPPER_MOTOR, "步进泵 1"),
-    STEP_PUMP_2(HardwareType.STEPPER_MOTOR, "步进泵 2"),
-    STEP_PUMP_3(HardwareType.STEPPER_MOTOR, "步进泵 3"),
-    STIR_MOTOR_1(HardwareType.STEPPER_MOTOR, "搅拌电机 1"),
-    STIR_MOTOR_2(HardwareType.STEPPER_MOTOR, "搅拌电机 2"),
-    TITRATION_MOTOR_1(HardwareType.STEPPER_MOTOR, "滴定移动电机 1"),
-    TITRATION_MOTOR_2(HardwareType.STEPPER_MOTOR, "滴定移动电机 2"),
-    CLAW(HardwareType.SERVO_MOTOR, "夹爪"),
-    ROBOTIC_ARM_BIG(HardwareType.STEPPER_MOTOR, "双轴机械臂大臂"),
-    ROBOTIC_ARM_SMALL(HardwareType.STEPPER_MOTOR, "双轴机械臂小臂"),
-    HEAT_ROD_1(HardwareType.IO_DEVICE, "加热棒 1"),
-    HEAT_ROD_2(HardwareType.IO_DEVICE, "加热棒 2"),
-    TRICOLOR_LIGHT(HardwareType.IO_DEVICE, "三色灯"),
-    BEEP(HardwareType.IO_DEVICE, "蜂鸣器"),
-    MAGNET(HardwareType.IO_DEVICE, "电磁开关"),
-    CONTAINER_LOW_LEVEL_1(HardwareType.IO_DEVICE, "容器低液位检测 1"),
-    CONTAINER_LOW_LEVEL_2(HardwareType.IO_DEVICE, "容器低液位检测 2"),
-    CONTAINER_LOW_LEVEL_3(HardwareType.IO_DEVICE, "容器低液位检测 3"),
-    CONTAINER_LOW_LEVEL_4(HardwareType.IO_DEVICE, "容器低液位检测 4"),
-    CONTAINER_LOW_LEVEL_5(HardwareType.IO_DEVICE, "容器低液位检测 5"),
-    CONTAINER_LOW_LEVEL_6(HardwareType.IO_DEVICE, "容器低液位检测 6"),
-    CONTAINER_LOW_LEVEL_7(HardwareType.IO_DEVICE, "容器低液位检测 7"),
-    CONTAINER_LOW_LEVEL_8(HardwareType.IO_DEVICE, "容器低液位检测 8"),
-    HEATER_TUBE_EXIST_1(HardwareType.IO_DEVICE, "加热位是否存在试管 1"),
-    HEATER_TUBE_EXIST_2(HardwareType.IO_DEVICE, "加热位是否存在试管 2"),
+    PUMP_1(HardwareType.STEPPER_MOTOR, "泵 1"),
+    PUMP_2(HardwareType.STEPPER_MOTOR, "泵 2"),
+    PUMP_3(HardwareType.STEPPER_MOTOR, "泵 3"),
+    PUMP_4(HardwareType.STEPPER_MOTOR, "泵 4"),
+    VALVE_1(HardwareType.IO_DEVICE, "阀 1"),
+    VALVE_2(HardwareType.IO_DEVICE, "阀 2"),
+    VALVE_3(HardwareType.IO_DEVICE, "阀 3"),
+    VALVE_4(HardwareType.IO_DEVICE, "阀 4"),
     ;
 
     /**

src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java

@@ -25,26 +25,10 @@ public class MotorHandler extends CommandHandler {
     private final MotorWrapperDriver driver_;
 
     private final Map<Device, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
-            Map.entry(Device.ROBOTIC_ARM_BIG, StepMotorMId.DualRobot1M),
-            Map.entry(Device.ROBOTIC_ARM_SMALL, StepMotorMId.DualRobot2M),
-            Map.entry(Device.Z_MOTOR, StepMotorMId.RobotArmZM),
-            Map.entry(Device.BRUSHLESS_PUMP_1, StepMotorMId.BrushlessPump1M),
-            Map.entry(Device.BRUSHLESS_PUMP_2, StepMotorMId.BrushlessPump2M),
-            Map.entry(Device.BRUSHLESS_PUMP_3, StepMotorMId.BrushlessPump3M),
-            Map.entry(Device.BRUSHLESS_PUMP_4, StepMotorMId.BrushlessPump4M),
-            Map.entry(Device.BRUSHLESS_PUMP_5, StepMotorMId.BrushlessPump5M),
-            Map.entry(Device.BRUSHLESS_PUMP_6, StepMotorMId.BrushlessPump6M),
-            Map.entry(Device.BRUSHLESS_PUMP_7, StepMotorMId.BrushlessPump7M),
-            Map.entry(Device.BRUSHLESS_PUMP_8, StepMotorMId.BrushlessPump8M),
-            Map.entry(Device.BRUSHLESS_PUMP_9, StepMotorMId.BrushlessPump9M),
-            Map.entry(Device.BRUSHLESS_PUMP_10, StepMotorMId.BrushlessPump10M),
-            Map.entry(Device.STEP_PUMP_1, StepMotorMId.StepPump1M),
-            Map.entry(Device.STEP_PUMP_2, StepMotorMId.StepPump2M),
-            Map.entry(Device.STEP_PUMP_3, StepMotorMId.StepPump3M),
-            Map.entry(Device.STIR_MOTOR_1, StepMotorMId.TitratorStir1M),
-            Map.entry(Device.STIR_MOTOR_2, StepMotorMId.TitratorStir2M),
-            Map.entry(Device.TITRATION_MOTOR_1, StepMotorMId.Titrator1M),
-            Map.entry(Device.TITRATION_MOTOR_2, StepMotorMId.Titrator2M)
+            Map.entry(Device.PUMP_1, StepMotorMId.BrushlessPump1M),
+            Map.entry(Device.PUMP_2, StepMotorMId.BrushlessPump2M),
+            Map.entry(Device.PUMP_3, StepMotorMId.BrushlessPump3M),
+            Map.entry(Device.PUMP_4, StepMotorMId.BrushlessPump4M)
     );
     private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));