diff --git a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java index 4b5bb53..9457c54 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java +++ b/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 handle(CmdDTO cmdDTO) { return runAsync(() -> { diff --git a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java index a0ff635..71feef5 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java @@ -27,7 +27,7 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler { @Override public CompletableFuture 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); diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java similarity index 94% rename from src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java rename to src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java index 66ffa30..ee520d3 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java +++ b/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 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 diff --git a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java index 922a637..1b46218 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java +++ b/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 }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java index ba5ae20..91157d3 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java @@ -34,6 +34,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { public CompletableFuture 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(); diff --git a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java index c9e1e80..532832a 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java +++ b/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 handle(CmdDTO cmdDTO) { deviceStateService.setSolutionModuleStatePumping(true);