手动业务指令

src/main/java/com/iflytop/colortitration/app/cache/DevicePositionData.java

@@ -0,0 +1,13 @@
+package com.iflytop.colortitration.app.cache;
+
+
+public class DevicePositionData {
+
+    public static final String HEAT_AREA_1 = "";
+    public static final String HEAT_AREA_2 = "HEAT_AREA_2";
+
+    public static final String TITRATION_AREA_1 = "TITRATION_AREA_1"; //
+    public static final String TITRATION_AREA_2 = "TITRATION_AREA_2";
+
+
+}

src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodCloseCommand.java

@@ -0,0 +1,39 @@
+package com.iflytop.colortitration.app.command.control.heat;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.HeatModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 关闭加热棒
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("heater_stop")
+public class HeatRodCloseCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String heatModuleCodeStr = commandDTO.getStringParam("heatModuleCode");
+        if (StringUtils.isEmpty(heatModuleCodeStr)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
+        return runAsync(() -> {
+            heatModuleService.closeHeatRod(heatModuleCode);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/heat/HeatRodOpenCommand.java

@@ -0,0 +1,40 @@
+package com.iflytop.colortitration.app.command.control.heat;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.HeatModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开启加热棒
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("heater_start")
+public class HeatRodOpenCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String heatModuleCodeStr = commandDTO.getStringParam("heatModuleCode");
+        Double temperature = commandDTO.getDoubleParam("temperature");
+        if (StringUtils.isEmpty(heatModuleCodeStr) || temperature == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
+        return runAsync(() -> {
+            heatModuleService.openHeatRod(heatModuleCode, temperature);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelineCleanStartCommand.java

@@ -0,0 +1,42 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始清洗管路
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_clean_start")
+public class PipelineCleanStartCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(titrationModuleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.titrationMotorMoveToWastePool(titrationModuleCode);//移动到废液池
+            titrationModuleService.cleanStart(titrationModuleCode, solutionId);//开始清洗
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelineCleanStopCommand.java

@@ -0,0 +1,40 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止清洗管路
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_clean_stop")
+public class PipelineCleanStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(titrationModuleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.cleanStop(titrationModuleCode, solutionId);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelineDrainStartCommand.java

@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始排空管路
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_drain_start")
+public class PipelineDrainStartCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(titrationModuleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.titrationMotorMoveToWastePool(titrationModuleCode);//移动到废液池
+            titrationModuleService.drainStart(titrationModuleCode, solutionId);//开始排空
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelineDrainStopCommand.java

@@ -0,0 +1,40 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止排空管路
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_drain_stop")
+public class PipelineDrainStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String motorCode = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(motorCode) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(motorCode);
+        return runAsync(() -> {
+            titrationModuleService.drainStop(titrationModuleCode, solutionId);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelinePreFillStartCommand.java

@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始预充管路
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_pre_fill_start")
+public class PipelinePreFillStartCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(titrationModuleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.titrationMotorMoveToWastePool(titrationModuleCode);//移动到废液池
+            titrationModuleService.preFillStart(titrationModuleCode, solutionId);//开始预充
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/PipelinePreFillStopCommand.java

@@ -0,0 +1,40 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止预充管窥
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_pre_fill_stop")
+public class PipelinePreFillStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(titrationModuleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.preFillStop(titrationModuleCode, solutionId);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/WastePoolDrainStartCommand.java

@@ -0,0 +1,29 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始抽废液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_waste_drain_start")
+public class WastePoolDrainStartCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(titrationModuleService::drainWasteStart);
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/pipeline/WastePoolDrainStopCommand.java

@@ -0,0 +1,29 @@
+package com.iflytop.colortitration.app.command.control.pipeline;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止抽废液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_waste_drain_stop")
+public class WastePoolDrainStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+
+        return runAsync(titrationModuleService::drainWasteStop);
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/solution/ShakeStartCommand.java

@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.control.solution;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始摇匀溶液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("shake_start")
+public class ShakeStartCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String motorCode = commandDTO.getStringParam("titrationModuleCode");
+        Double speed = commandDTO.getDoubleParam("speed");
+        Integer time = commandDTO.getIntegerParam("time");
+        if (StringUtils.isEmpty(motorCode)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(motorCode);
+        return runAsync(() -> {
+            titrationModuleService.shakeStart(titrationModuleCode, speed, time);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/solution/ShakeStopCommand.java

@@ -0,0 +1,39 @@
+package com.iflytop.colortitration.app.command.control.solution;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止摇匀加液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("shake_stop")
+public class ShakeStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String motorCode = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(motorCode)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(motorCode);
+        return runAsync(() -> {
+            titrationModuleService.shakeStop(titrationModuleCode);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/solution/SolutionAddCommand.java

@@ -0,0 +1,48 @@
+package com.iflytop.colortitration.app.command.control.solution;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始加液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_add_start")
+public class SolutionAddCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String moduleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        Double volume = commandDTO.getDoubleParam("volume");
+        String type = commandDTO.getStringParam("type");
+        if (type.equals("drop")) {
+            volume = 0.5;
+        }
+        if (StringUtils.isEmpty(moduleCodeStr) || solutionId == null || StringUtils.isEmpty(type)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(moduleCodeStr);
+        Double finalVolume = volume;
+        return runAsync(() -> {
+            //移动滴定电机到滴定位
+            titrationModuleService.titrationMotorMoveToSolution(titrationModuleCode);
+            titrationModuleService.addSolutionStart(titrationModuleCode, solutionId, finalVolume);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/solution/SolutionStopCommand.java

@@ -0,0 +1,40 @@
+package com.iflytop.colortitration.app.command.control.solution;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 结束加液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("solution_add_stop")
+public class SolutionStopCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String moduleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        Integer solutionId = commandDTO.getIntegerParam("solutionId");
+        if (StringUtils.isEmpty(moduleCodeStr) || solutionId == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(moduleCodeStr);
+        return runAsync(() -> {
+            titrationModuleService.addSolutionStop(titrationModuleCode, solutionId);
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/transfer/HeatAreaMoveTitrationAreaCommand.java

@@ -0,0 +1,75 @@
+package com.iflytop.colortitration.app.command.control.transfer;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 加热区转移至滴定区
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("heat_move_to_titration_area")
+public class HeatAreaMoveTitrationAreaCommand extends BaseCommandHandler {
+    private final DeviceState deviceState;
+    private final TransferModuleService transferModuleService;
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String heatModuleCodeStr = commandDTO.getStringParam("heatModuleCode");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(heatModuleCodeStr) || StringUtils.isEmpty(titrationModuleCodeStr)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
+        boolean tubeExist = switch (titrationModuleCode) {  //首先滴定位是否存在试管
+            case MultipleModuleCode.MODULE_1 -> deviceState.isTrayExist1();
+            case MultipleModuleCode.MODULE_2 -> deviceState.isTrayExist2();
+        };
+        if (!tubeExist) throw new AppException(ResultCode.TARGET_MODULE_NO_TUBE);//目标模块无试管
+        boolean heatTubeExist = switch (heatModuleCode) {  //加热位是否存在试管
+            case MultipleModuleCode.MODULE_1 ->
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).isBubeExist();
+            case MultipleModuleCode.MODULE_2 ->
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).isBubeExist();
+        };
+        if (heatTubeExist) throw new AppException(ResultCode.TARGET_MODULE_OCCUPIED);//目标模块被占用
+        //3、判断夹爪是否夹取了试管 todo
+        return runAsync(() -> {
+            //滴定电机回原点
+            titrationModuleService.titrationMotorOrigin(titrationModuleCode);
+            //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+            transferModuleService.roboticMoveToHeat(heatModuleCode);
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //z轴下降
+            transferModuleService.zMoveDownWithHeatArea();
+            //关闭夹爪
+            transferModuleService.clawClose();
+            //1移动到滴定位上方
+            transferModuleService.roboticMoveToTitration(titrationModuleCode);
+            //z轴下降
+            transferModuleService.zMoveDownWithTitrationArea();
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //机械臂回到原点
+            transferModuleService.roboticMoveToOrigin();
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationAreaMoveHeatAreaCommand.java

@@ -0,0 +1,75 @@
+package com.iflytop.colortitration.app.command.control.transfer;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 滴定区转移至加热区
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("titration_move_to_heat_area")
+public class TitrationAreaMoveHeatAreaCommand extends BaseCommandHandler {
+    private final DeviceState deviceState;
+    private final TransferModuleService transferModuleService;
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        String heatModuleCodeStr = commandDTO.getStringParam("heatModuleCode");
+        String titrationModuleCodeStr = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(heatModuleCodeStr) || StringUtils.isEmpty(titrationModuleCodeStr)) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(titrationModuleCodeStr);
+        MultipleModuleCode heatModuleCode = MultipleModuleCode.valueOf(heatModuleCodeStr);
+        boolean tubeExist = switch (titrationModuleCode) {  //首先滴定位是否存在试管
+            case MultipleModuleCode.MODULE_1 -> deviceState.isTrayExist1();
+            case MultipleModuleCode.MODULE_2 -> deviceState.isTrayExist2();
+        };
+        if (!tubeExist) throw new AppException(ResultCode.TARGET_MODULE_NO_TUBE);//目标模块无试管
+        boolean heatTubeExist = switch (heatModuleCode) {  //加热位是否存在试管
+            case MultipleModuleCode.MODULE_1 ->
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).isBubeExist();
+            case MultipleModuleCode.MODULE_2 ->
+                    deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).isBubeExist();
+        };
+        if (heatTubeExist) throw new AppException(ResultCode.TARGET_MODULE_OCCUPIED);//目标模块被占用
+        //3、判断夹爪是否夹取了试管 todo
+        return runAsync(() -> {
+            //滴定电机回原点
+            titrationModuleService.titrationMotorOrigin(titrationModuleCode);
+            //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+            transferModuleService.roboticMoveToTitration(titrationModuleCode);
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //z轴下降
+            transferModuleService.zMoveDownWithTitrationArea();
+            //关闭夹爪
+            transferModuleService.clawClose();
+            //1移动到滴定位上方
+            transferModuleService.roboticMoveToHeat(heatModuleCode);
+            //z轴下降
+            transferModuleService.zMoveDownWithHeatArea();
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //机械臂回到原点
+            transferModuleService.roboticMoveToOrigin();
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/transfer/TitrationMoveTrayAreaCommand.java

@@ -0,0 +1,70 @@
+package com.iflytop.colortitration.app.command.control.transfer;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 滴定区转移至托盘位
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("titration_move_tray_area")
+public class TitrationMoveTrayAreaCommand extends BaseCommandHandler {
+    private final DeviceState deviceState;
+    private final TransferModuleService transferModuleService;
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer tubeNum = commandDTO.getIntegerParam("tubeNum");
+        String moduleCode = commandDTO.getStringParam("moduleCode");
+        if (StringUtils.isEmpty(moduleCode) || tubeNum == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(moduleCode);
+        boolean tubeExist = switch (titrationModuleCode) {  //1首先滴定位试管状态
+            case MultipleModuleCode.MODULE_1 ->
+                    deviceState.getTitrationModuleStateMap().get(titrationModuleCode).isBubeExist();
+            case MultipleModuleCode.MODULE_2 ->
+                    deviceState.getTitrationModuleStateMap().get(titrationModuleCode).isBubeExist();
+        };
+        if (!tubeExist) throw new AppException(ResultCode.TARGET_MODULE_NO_TUBE);//目标被占用
+        //3、判断夹爪是否夹取了试管 todo
+
+        return runAsync(() -> {
+            //滴定电机回原点
+            titrationModuleService.titrationMotorOrigin(titrationModuleCode);
+            //移动到滴定位
+            transferModuleService.roboticMoveToTitration(titrationModuleCode);
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //z轴下降
+            transferModuleService.zMoveDownWithTitrationArea();
+            //抓紧夹爪
+            transferModuleService.clawClose();
+            //移动到试管位上方
+            transferModuleService.roboticMoveToTubePosition(tubeNum);
+            //z轴下降
+            transferModuleService.zMoveDownWithTitrationArea();
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //机械臂回到原点
+            transferModuleService.roboticMoveToOrigin();
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java

@@ -0,0 +1,76 @@
+package com.iflytop.colortitration.app.command.control.transfer;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.state.DeviceState;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 托盘位转移至滴定区
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("tray_move_titration_area")
+public class TrayMoveTitrationAreaCommand extends BaseCommandHandler {
+    private final DeviceState deviceState;
+    private final TransferModuleService transferModuleService;
+    private final TitrationModuleService titrationModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        Integer tubeNum = commandDTO.getIntegerParam("tubeNum");
+        String moduleCode = commandDTO.getStringParam("titrationModuleCode");
+        if (StringUtils.isEmpty(moduleCode) || tubeNum == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);//参数缺失
+        }
+        MultipleModuleCode titrationModuleCode = MultipleModuleCode.valueOf(moduleCode);
+        boolean trayExist = switch (titrationModuleCode) {  //1、首先检测试管所在的托盘传感器的值
+            case MultipleModuleCode.MODULE_1 -> deviceState.isTrayExist1();
+            case MultipleModuleCode.MODULE_2 -> deviceState.isTrayExist2();
+        };
+        if (!trayExist) throw new AppException(ResultCode.TARGET_MODULE_OCCUPIED);//目标模块无试管
+        //3、判断夹爪是否夹取了试管 todo
+
+        return runAsync(() -> {
+            //滴定电机回原点
+            titrationModuleService.titrationMotorOrigin(titrationModuleCode);
+            //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
+            transferModuleService.roboticMoveToTubePosition(tubeNum);
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //z轴下降
+            transferModuleService.zMoveDownWithTrayArea();
+            //关闭夹爪
+            transferModuleService.clawClose();
+            //判断滴定位传感器状态
+            boolean titrationExist = switch (titrationModuleCode) {  //1、首先检测试管所在的托盘传感器的值
+                case MultipleModuleCode.MODULE_1 ->
+                        deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).isBubeExist();
+                case MultipleModuleCode.MODULE_2 ->
+                        deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_2).isBubeExist();
+            };
+            if (titrationExist) throw new AppException(ResultCode.TARGET_MODULE_OCCUPIED);//目标模块被占用
+            //移动到滴定位上方
+            transferModuleService.roboticMoveToTitration(titrationModuleCode);
+            //z轴下降
+            transferModuleService.zMoveDownWithTitrationArea();
+            //打开夹爪
+            transferModuleService.clawOpen();
+            //机械臂回到原点
+            transferModuleService.roboticMoveToOrigin();
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/common/enums/DevicePositionCode.java

@@ -0,0 +1,72 @@
+package com.iflytop.colortitration.app.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 设备位置代码
+ */
+@Getter
+public enum DevicePositionCode {
+    ////////////相对距离
+    /**
+     * 夹爪松开距离
+     */
+    clawReleaseDistance(DevicePositionType.DISTANCE, "夹爪松开距离"),
+    /**
+     * 夹爪收紧距离
+     */
+    clawGripDistance(DevicePositionType.DISTANCE, "夹爪收紧距离"),
+    /**
+     * z轴下降高度
+     */
+    trayDownDistance(DevicePositionType.DISTANCE, "试管位托盘下降距离"),
+    /**
+     * 滴定位下降高度
+     */
+    titrationDownDistance(DevicePositionType.DISTANCE, "滴定位下降高度"),
+    /**
+     * 加热位下降高度
+     */
+    heatDownDistance(DevicePositionType.DISTANCE, "加热位托盘下降距离"),
+    /**
+     * 滴定电机1加液位置
+     */
+    titrationAddSolutionDistance_1(DevicePositionType.DISTANCE, "滴定电机1加液位置"),
+    /**
+     * 滴定电机2加液位置
+     */
+    titrationAddSolutionDistance_2(DevicePositionType.DISTANCE, "滴定电机2加液位置"),
+    /**
+     * 滴定电机移动至废液池距离
+     */
+    titrationWastePoolDistance(DevicePositionType.DISTANCE, "滴定电机移动至废液池距离"),
+    ////////////////位置
+    /**
+     * 滴定位1位置
+     */
+    titrationArea_1(DevicePositionType.POINT_3D, "滴定位1位置"),
+    /**
+     * 滴定位2位置
+     */
+    titrationArea_2(DevicePositionType.POINT_3D, "滴定位2位置"),
+    /**
+     * 加热位置1
+     */
+    heatArea_1(DevicePositionType.POINT_3D, "加热位置1"),
+    /**
+     * 加热位置2
+     */
+    heatArea_2(DevicePositionType.POINT_3D, "加热位置2"),
+    /**
+     * 试管架1号试管位置
+     */
+    tube(DevicePositionType.POINT_3D, "试管1位置");
+
+    private final DevicePositionType type;
+    private final String name;
+
+    DevicePositionCode(DevicePositionType type, String name) {
+        this.type = type;
+        this.name = name;
+    }
+}

src/main/java/com/iflytop/colortitration/app/common/enums/DevicePositionType.java

@@ -0,0 +1,35 @@
+package com.iflytop.colortitration.app.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 设备位置类型
+ */
+@Getter
+public enum DevicePositionType {
+    /**
+     * 直线距离
+     */
+    DISTANCE("距离"),
+    /**
+     * 位置
+     */
+    POSITION("位置"),
+    /**
+     * 二维点
+     */
+    POINT_2D("二维点"),
+    /**
+     * 三维点
+     */
+    POINT_3D("三维点");
+
+
+    private final String name;
+
+    // 构造函数
+    DevicePositionType(String name) {
+        this.name = name;
+    }
+
+}

src/main/java/com/iflytop/colortitration/app/service/DeviceInitService.java

@@ -29,6 +29,7 @@ public class DeviceInitService {
                 log.info("初始化开始");
 
                 initDeviceState();
+                //缓存点位数据
 
                 deviceState.setInitComplete(true);
                 log.info("初始化完毕");

src/main/java/com/iflytop/colortitration/app/service/module/HeatModuleService.java

@@ -1,5 +1,8 @@
 package com.iflytop.colortitration.app.service.module;
 
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
 import com.iflytop.colortitration.app.service.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -14,4 +17,26 @@ import org.springframework.stereotype.Service;
 public class HeatModuleService {
     private final DeviceCommandService deviceCommandService;
 
+    /**
+     * 关闭加热棒
+     */
+    public void closeHeatRod(MultipleModuleCode heatModuleCode) {
+        DeviceCommand deviceCommand = switch (heatModuleCode) {
+            case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.heatRod1Close();
+            case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.heatRod2Close();
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 打开就加热棒
+     */
+    public void openHeatRod(MultipleModuleCode heatModuleCode, double temperature) {
+        DeviceCommand deviceCommand = switch (heatModuleCode) {
+            case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.heatRod1Open(temperature);
+            case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.heatRod2Open(temperature);
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
 }

src/main/java/com/iflytop/colortitration/app/service/module/TitrationModuleService.java

@@ -1,10 +1,26 @@
 package com.iflytop.colortitration.app.service.module;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.iflytop.colortitration.app.common.enums.DevicePositionCode;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
 import com.iflytop.colortitration.app.service.DeviceCommandService;
+import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.exception.AppException;
+import com.iflytop.colortitration.common.model.entity.Container;
+import com.iflytop.colortitration.common.model.entity.Position;
+import com.iflytop.colortitration.common.model.entity.Pump;
+import com.iflytop.colortitration.common.result.ResultCode;
+import com.iflytop.colortitration.common.service.ContainerService;
+import com.iflytop.colortitration.common.service.PositionService;
+import com.iflytop.colortitration.common.service.PumpService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.concurrent.TimeUnit;
+
 /**
  * 滴定模块
  */
@@ -13,5 +29,337 @@ import org.springframework.stereotype.Service;
 @RequiredArgsConstructor
 public class TitrationModuleService {
     private final DeviceCommandService deviceCommandService;
+    private final ContainerService containerService;
+    private final PumpService pumpService;
+    private final PositionService positionService;
+
+    /**
+     * 添加溶液开始
+     */
+    public void addSolutionStart(MultipleModuleCode titrationModuleCode, Integer solutionId, double volume) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9MoveBy(volume);
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10MoveBy(volume);
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1MoveBy(volume);
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2MoveBy(volume);
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1MoveBy(volume);
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2MoveBy(volume);
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3MoveBy(volume);
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 添加溶液结束
+     */
+    public void addSolutionStop(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1ForwardRotate();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2ForwardRotate();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3ForwardRotate();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4ForwardRotate();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5ForwardRotate();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6ForwardRotate();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7ForwardRotate();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8ForwardRotate();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9ForwardRotate();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10ForwardRotate();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1ForwardRotate();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2ForwardRotate();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1ForwardRotate();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2ForwardRotate();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3ForwardRotate();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 预充开始
+     */
+    public void preFillStart(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1ForwardRotate();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2ForwardRotate();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3ForwardRotate();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4ForwardRotate();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5ForwardRotate();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6ForwardRotate();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7ForwardRotate();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8ForwardRotate();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9ForwardRotate();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10ForwardRotate();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1ForwardRotate();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2ForwardRotate();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1ForwardRotate();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2ForwardRotate();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3ForwardRotate();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 预充结束
+     */
+    public void preFillStop(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1Stop();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2Stop();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3Stop();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4Stop();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5Stop();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6Stop();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7Stop();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8Stop();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9Stop();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10Stop();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1Stop();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2Stop();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1Stop();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2Stop();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3Stop();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 清洗开始
+     */
+    public void cleanStart(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1ForwardRotate();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2ForwardRotate();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3ForwardRotate();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4ForwardRotate();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5ForwardRotate();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6ForwardRotate();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7ForwardRotate();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8ForwardRotate();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9ForwardRotate();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10ForwardRotate();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1ForwardRotate();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2ForwardRotate();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1ForwardRotate();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2ForwardRotate();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3ForwardRotate();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 清洗结束
+     */
+    public void cleanStop(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1Stop();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2Stop();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3Stop();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4Stop();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5Stop();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6Stop();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7Stop();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8Stop();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9Stop();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10Stop();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1Stop();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2Stop();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1Stop();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2Stop();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3Stop();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 排空溶液开始
+     */
+    public void drainStart(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1BackwardRotate();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2BackwardRotate();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3BackwardRotate();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4BackwardRotate();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5BackwardRotate();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6BackwardRotate();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7BackwardRotate();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8BackwardRotate();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9BackwardRotate();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10BackwardRotate();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1BackwardRotate();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2BackwardRotate();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1BackwardRotate();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2BackwardRotate();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3BackwardRotate();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 排空结束
+     */
+    public void drainStop(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        //找到泵
+        Device deviceCode = getPumpCode(titrationModuleCode, solutionId);
+        DeviceCommand deviceCommand = switch (deviceCode) {
+            case Device.BRUSHLESS_PUMP_1 -> DeviceCommandGenerator.brushlessPump1Stop();
+            case Device.BRUSHLESS_PUMP_2 -> DeviceCommandGenerator.brushlessPump2Stop();
+            case Device.BRUSHLESS_PUMP_3 -> DeviceCommandGenerator.brushlessPump3Stop();
+            case Device.BRUSHLESS_PUMP_4 -> DeviceCommandGenerator.brushlessPump4Stop();
+            case Device.BRUSHLESS_PUMP_5 -> DeviceCommandGenerator.brushlessPump5Stop();
+            case Device.BRUSHLESS_PUMP_6 -> DeviceCommandGenerator.brushlessPump6Stop();
+            case Device.BRUSHLESS_PUMP_7 -> DeviceCommandGenerator.brushlessPump7Stop();
+            case Device.BRUSHLESS_PUMP_8 -> DeviceCommandGenerator.brushlessPump8Stop();
+            case Device.BRUSHLESS_PUMP_9 -> DeviceCommandGenerator.brushlessPump9Stop();
+            case Device.BRUSHLESS_PUMP_10 -> DeviceCommandGenerator.brushlessPump10Stop();
+            case Device.CERAMIC_PUMP_1 -> DeviceCommandGenerator.ceramicPump1Stop();
+            case Device.CERAMIC_PUMP_2 -> DeviceCommandGenerator.ceramicPump2Stop();
+            case Device.STEP_PUMP_1 -> DeviceCommandGenerator.stepPump1Stop();
+            case Device.STEP_PUMP_2 -> DeviceCommandGenerator.stepPump2Stop();
+            case Device.STEP_PUMP_3 -> DeviceCommandGenerator.stepPump3Stop();
+            default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+
+    }
+
+    /**
+     * 获取泵的code值
+     */
+    public Device getPumpCode(MultipleModuleCode titrationModuleCode, Integer solutionId) {
+        Container container = containerService.getOne(new LambdaQueryWrapper<>(Container.class).eq(Container::getSolutionsId, solutionId));
+        if (container != null) {
+            Pump pump = pumpService.getOne(new LambdaQueryWrapper<>(Pump.class).eq(Pump::getContainerId, container.getId()).eq(Pump::getSolutionModule, titrationModuleCode.name()));
+            return pump.getDeviceCode();
+        }
+        return null;
+    }
+
+    /**
+     * 摇匀开始
+     */
+    public void shakeStart(MultipleModuleCode titrationModuleCode, Double speed, Integer time) throws InterruptedException {
+        if (speed != null) {
+            DeviceCommand deviceCommand = switch (titrationModuleCode) {
+                case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.stirMotor1SetSpeed(speed);
+                case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.stirMotor2SetSpeed(speed);
+            };
+            deviceCommandService.sendCommand(deviceCommand);
+        }
+        DeviceCommand deviceCommand = switch (titrationModuleCode) {
+            case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.stirMotor1ForwardRotate();
+            case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.stirMotor2ForwardRotate();
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+        if (time != null) {
+            TimeUnit.SECONDS.sleep(time);
+            DeviceCommand stopCommand = switch (titrationModuleCode) {
+                case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.stirMotor1Stop();
+                case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.stirMotor2Stop();
+            };
+            deviceCommandService.sendCommand(stopCommand);
+        }
+
+    }
+
+    /**
+     * 停止摇匀
+     */
+    public void shakeStop(MultipleModuleCode titrationModuleCode) {
+        DeviceCommand deviceCommand = switch (titrationModuleCode) {
+            case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.stirMotor1Stop();
+            case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.stirMotor2Stop();
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 滴定电机移动到滴定位
+     */
+    public void titrationMotorMoveToSolution(MultipleModuleCode moduleCode) {
+        Position position = switch (moduleCode) {
+            case MultipleModuleCode.MODULE_1 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationAddSolutionDistance_1);
+            case MultipleModuleCode.MODULE_2 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationAddSolutionDistance_2);
+        };
+        DeviceCommand deviceCommand = switch (moduleCode) {
+            case MODULE_1 -> DeviceCommandGenerator.titrationMotor1MoveTo(position.getDistance());
+            case MODULE_2 -> DeviceCommandGenerator.titrationMotor2MoveTo(position.getDistance());
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 滴定电机移动至废液池
+     */
+    public void titrationMotorMoveToWastePool(MultipleModuleCode moduleCode) {
+        Position position = positionService.getPositionByCode(DevicePositionCode.titrationWastePoolDistance);
+        DeviceCommand deviceCommand = switch (moduleCode) {
+            case MODULE_1 -> DeviceCommandGenerator.titrationMotor1MoveTo(position.getDistance());
+            case MODULE_2 -> DeviceCommandGenerator.titrationMotor2MoveTo(position.getDistance());
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 滴定电机移动到原点
+     */
+    public void titrationMotorOrigin(MultipleModuleCode moduleCode) {
+        DeviceCommand deviceCommand = switch (moduleCode) {
+            case MODULE_1 -> DeviceCommandGenerator.titrationMotor1Origin();
+            case MODULE_2 -> DeviceCommandGenerator.titrationMotor2Origin();
+        };
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 开始抽废液
+     */
+    public void drainWasteStart() {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.stepPump3ForwardRotate();
+        deviceCommandService.sendCommand(deviceCommand);
+    }
+
+    /**
+     * 结束抽废液
+     */
+    public void drainWasteStop() {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.stepPump3Stop();
+        deviceCommandService.sendCommand(deviceCommand);
+    }
 
 }

src/main/java/com/iflytop/colortitration/app/service/module/TransferModuleService.java

@@ -1,6 +1,13 @@
 package com.iflytop.colortitration.app.service.module;
 
+import com.iflytop.colortitration.app.common.enums.DevicePositionCode;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
 import com.iflytop.colortitration.app.service.DeviceCommandService;
+import com.iflytop.colortitration.common.model.bo.Point3D;
 import com.iflytop.colortitration.common.service.PositionService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -16,4 +23,148 @@ public class TransferModuleService {
     private final DeviceCommandService deviceCommandService;
     private final PositionService positionService;
 
+    /**
+     * 机械臂回原点
+     */
+    public void roboticMoveToOrigin() throws Exception {
+        // Z轴回零点
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+        // 机械臂大轴移动
+        DeviceCommand xMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(0.0);
+        CommandFuture xcommandFuture = deviceCommandService.sendCommand(xMoveCommand);
+        // 机械臂小轴移动
+        DeviceCommand yMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(0.0);
+        CommandFuture ycommandFuture = deviceCommandService.sendCommand(yMoveCommand);
+        CommandUtil.wait(xcommandFuture, ycommandFuture);
+    }
+
+    /**
+     * 机械臂移动到指定试管为止
+     */
+    public void roboticMoveToTubePosition(Integer index) throws Exception {
+        Point3D position = positionService.getPositionByCode(DevicePositionCode.tube).getPoint3D(); //根据index和第一个托盘试管的位置计算index试管的位置 todo
+        // Z轴回零点
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+        // 机械臂大轴移动
+        DeviceCommand xMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture xcommandFuture = deviceCommandService.sendCommand(xMoveCommand);
+        // 机械臂小轴移动
+        DeviceCommand yMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture ycommandFuture = deviceCommandService.sendCommand(yMoveCommand);
+        CommandUtil.wait(xcommandFuture, ycommandFuture);
+    }
+
+    /**
+     * 机械臂移动到指定滴定位
+     */
+    public void roboticMoveToTitration(MultipleModuleCode moduleCode) throws Exception {
+        Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
+            case MultipleModuleCode.MODULE_1 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationArea_2).getPoint3D();
+        };
+        // Z轴回零点
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+        // 机械臂大轴移动
+        DeviceCommand xMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture xcommandFuture = deviceCommandService.sendCommand(xMoveCommand);
+        // 机械臂小轴移动
+        DeviceCommand yMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture ycommandFuture = deviceCommandService.sendCommand(yMoveCommand);
+        CommandUtil.wait(xcommandFuture, ycommandFuture);
+    }
+
+    /**
+     * 机械臂移动到指定加热位
+     */
+    public void roboticMoveToHeat(MultipleModuleCode moduleCode) throws Exception {
+        Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
+            case MultipleModuleCode.MODULE_1 ->
+                    positionService.getPositionByCode(DevicePositionCode.heatArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 ->
+                    positionService.getPositionByCode(DevicePositionCode.heatArea_2).getPoint3D();
+        };
+        // Z轴回零点
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+        // 机械臂大轴移动
+        DeviceCommand xMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture xcommandFuture = deviceCommandService.sendCommand(xMoveCommand);
+        // 机械臂小轴移动
+        DeviceCommand yMoveCommand = DeviceCommandGenerator.roboticArmBigMotorMoveTo(position.getX());
+        CommandFuture ycommandFuture = deviceCommandService.sendCommand(yMoveCommand);
+        CommandUtil.wait(xcommandFuture, ycommandFuture);
+    }
+
+    /**
+     * 夹爪打开
+     */
+    public void clawOpen() throws Exception {
+        //夹爪张开distance
+        Double distance = positionService.getPositionByCode(DevicePositionCode.clawReleaseDistance).getDistance();
+        DeviceCommand clawOpenCommand = DeviceCommandGenerator.clawMove(distance);
+        CommandFuture clawOpenFuture = deviceCommandService.sendCommand(clawOpenCommand);
+        CommandUtil.wait(clawOpenFuture);
+    }
+
+    /**
+     * 夹爪抓紧
+     */
+    public void clawClose() throws Exception {
+        //夹爪张开distance
+        Double distance = positionService.getPositionByCode(DevicePositionCode.clawGripDistance).getDistance();
+        DeviceCommand clawOpenCommand = DeviceCommandGenerator.clawMove(distance);
+        CommandFuture clawOpenFuture = deviceCommandService.sendCommand(clawOpenCommand);
+        CommandUtil.wait(clawOpenFuture);
+    }
+
+    /**
+     * z轴托盘位下降
+     */
+    public void zMoveDownWithTrayArea() throws Exception {
+        Double distance = positionService.getPositionByCode(DevicePositionCode.trayDownDistance).getDistance();
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(distance);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+    }
+
+    /**
+     * z轴滴定位下降
+     */
+    public void zMoveDownWithTitrationArea() throws Exception {
+        Double distance = positionService.getPositionByCode(DevicePositionCode.titrationDownDistance).getDistance();
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(distance);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+    }
+
+    /**
+     * z轴加热位下降
+     */
+    public void zMoveDownWithHeatArea() throws Exception {
+        Double distance = positionService.getPositionByCode(DevicePositionCode.heatDownDistance).getDistance();
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(distance);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+    }
+
+    /**
+     * z轴回原点
+     */
+    public void zMoveOrigin() throws Exception {
+        // Z轴回零点
+        DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
+        CommandFuture zOriginFuture = deviceCommandService.sendCommand(zOriginCommand);
+        CommandUtil.wait(zOriginFuture);
+    }
+
+
 }

src/main/java/com/iflytop/colortitration/common/model/entity/Position.java

@@ -2,10 +2,14 @@ package com.iflytop.colortitration.common.model.entity;
 
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.iflytop.colortitration.common.base.BaseEntity;
+import com.iflytop.colortitration.common.model.bo.Point2D;
+import com.iflytop.colortitration.common.model.bo.Point3D;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
+import java.util.Arrays;
+
 @Data
 @TableName("position")
 @EqualsAndHashCode(callSuper = true)
@@ -22,4 +26,28 @@ public class Position extends BaseEntity {
 
     @Schema(description = "位置信息")
     private String position;
+
+    public Point3D getPoint3D() {
+        String[] positions = position.split(",");
+        Double[] doublePositions = Arrays.stream(positions)
+                .map(Double::parseDouble)
+                .toArray(Double[]::new);
+        return new Point3D(doublePositions[0], doublePositions[1], doublePositions[2]);
+    }
+
+    public Point2D getPoint2D() {
+        String[] positions = position.split(",");
+        Double[] doublePositions = Arrays.stream(positions)
+                .map(Double::parseDouble)
+                .toArray(Double[]::new);
+        return new Point2D(doublePositions[0], doublePositions[1]);
+    }
+
+    public Double getDistance() {
+        return Double.valueOf(position);
+    }
+
+    public Double getPositon() {
+        return Double.valueOf(position);
+    }
 }

src/main/java/com/iflytop/colortitration/common/result/ResultCode.java

@@ -54,18 +54,17 @@ public enum ResultCode implements IResultCode, Serializable {
     COMMAND_NOT_FOUND("6000", "指令未找到"),
     COMMAND_ALREADY_EXECUTING("6001", "指令正在执行，无法重复执行"),
     SENSOR_STATUS_FAILED("6010", "获取传感器状态失败"),
-    TARGET_HEAT_MODULE_OCCUPIED("6021", "目标加热模块被占用"),
-    TARGET_HEAT_MODULE_NO_TRAY("6022", "目标加热模块无托盘"),
-    SOLUTION_MODULE_NO_TRAY("6023", "加液模块无托盘"),
-    CAP_LIFT_ERROR("6024", "拍子升降错误"),
+    TARGET_MODULE_OCCUPIED("6021", "目标模块被占用"),
+    TARGET_MODULE_NO_TUBE("6022", "目标模块无试管"),
     CMD_BUSY("6025", "设备忙，请稍后"),
-    HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"),
-    CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"),
-    SOLUTION_MODULE_OCCUPIED("6028", "加液模块被占用"),
     ;
-    /** 状态码 */
+    /**
+     * 状态码
+     */
     private final String code;
-    /** 提示信息 */
+    /**
+     * 提示信息
+     */
     private final String msg;
 
     @Override

src/main/java/com/iflytop/colortitration/common/service/PositionService.java

@@ -1,8 +1,10 @@
 package com.iflytop.colortitration.common.service;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.colortitration.common.model.entity.Position;
+import com.iflytop.colortitration.app.common.enums.DevicePositionCode;
 import com.iflytop.colortitration.common.mapper.PositionMapper;
+import com.iflytop.colortitration.common.model.entity.Position;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -12,5 +14,11 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class PositionService extends ServiceImpl<PositionMapper, Position> {
+    /**
+     * 根据位置Code获取位置
+     */
+    public Position getPositionByCode(DevicePositionCode code) {
+        return this.getOne(new LambdaQueryWrapper<>(Position.class).eq(Position::getCode, code));
+    }
 
 }