增加TODO

src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java

@@ -24,7 +24,7 @@ public class DoorCloseCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DeviceStateService deviceStateService;
 
-
+    //TODO 关门时不再询问用户拿走还是放入托盘，增加传感器或者摄像头来监听，现在先改成添加溶液和移至加热的时候询问
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {

src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java

@@ -27,7 +27,7 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            //加液臂电机使能
+            //加液臂电机使能 TODO将来干掉
             liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
             //将加液臂移动至0位
             liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);

src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java → src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java

@@ -18,13 +18,14 @@ import java.util.concurrent.CompletableFuture;
 @Component
 @RequiredArgsConstructor
 @CommandMapping("gantry_origin")//业务指令注解
-public class GantryXOriginCommand extends BaseCommandHandler {
+public class GantryOriginCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final SelfTestService selfTestService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            //TODO 回原点指令要拆分成三个
             Boolean x = cmdDTO.getBooleanParam("x");//x轴是否回原点
             Boolean y = cmdDTO.getBooleanParam("y");//y轴是否回原点
             Boolean z = cmdDTO.getBooleanParam("z");//z轴是否回原点

src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java

@@ -33,6 +33,7 @@ public class HeatStartCommand extends BaseCommandHandler {
             //开启加热
             deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
             deviceStateService.setHeatModuleStateHeating(heatModuleId, true);//设置状态加热中
+            //TODO以后思考如果加热棒不可恒温
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java

@@ -34,6 +34,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        //TODO 需要校验目标加热位是否有托盘，加液位置是否有托盘
+        //TODO 有的指令不能并行，前端也应该友好提示，机械臂是否繁忙
+        //TODO 简单的前端确认弹窗是否有托盘即可
         return runAsync(() -> {
             TrayState trayState = deviceStateService.getTrayInSolutionModule();
 

src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

@@ -29,6 +29,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
     private final ContainerService containerService;
     private final DeviceStateService deviceStateService;
 
+    //TODO 添加溶液UI重新设计
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         deviceStateService.setSolutionModuleStatePumping(true);