1

src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java

@@ -39,6 +39,7 @@ public class FilledSolutionStopCommand extends BaseCommandHandler {
                     }
                 });
             }
+            Thread.sleep(1000);
             solutionModuleService.dualRobotOrigin();
         });
     }

src/main/java/com/iflytop/gd/app/command/control/SolutionAddCommand.java

@@ -86,6 +86,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                         CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
                     }
                 }
+                Thread.sleep(1000);
                 solutionModuleService.dualRobotOrigin();
                 deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);

src/main/java/com/iflytop/gd/app/core/CraftsContext.java

@@ -2,9 +2,12 @@ package com.iflytop.gd.app.core;
 
 import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.app.model.bo.CraftsStep;
+import com.iflytop.gd.app.model.bo.status.device.CraftsState;
+import com.iflytop.gd.app.model.bo.status.device.TrayState;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.service.crafts.CraftsStepService;
+import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.constant.WebSocketMessageType;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -34,6 +37,7 @@ public class CraftsContext implements Runnable {
     private final StateMachine<CraftStates, CraftEvents> sm;
     private final WebSocketSender webSocketService;
     private final CraftsStepService craftsStepService;
+    private final DeviceStateService deviceStateService;
     private int currentIndex = 0;
 
     /**
@@ -43,23 +47,30 @@ public class CraftsContext implements Runnable {
                          Crafts craft,
                          StateMachineFactory<CraftStates, CraftEvents> factory,
                          WebSocketSender webSocketService,
-                         CraftsStepService craftsStepService) {
+                         CraftsStepService craftsStepService,
+                         DeviceStateService deviceStateService) {
         this.heatModuleCode = heatModuleCode;
         this.ores = ores;
         this.craft = craft;
         this.craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class);
         this.webSocketService = webSocketService;
         this.craftsStepService = craftsStepService;
+        this.deviceStateService = deviceStateService;
 
         this.sm = factory.getStateMachine(heatModuleCode.toString());
         sm.addStateListener(new StateMachineListenerAdapter<>() {
             @Override
             public void stateEntered(State<CraftStates, CraftEvents> state) {
+                CraftsState craftsState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode).getCrafts();
+                craftsState.setState(state.getId());
+                craftsState.setCurrentIndex(currentIndex);
+
                 Map<String, Object> dataMap = new HashMap<>();
                 dataMap.put("heatId", heatModuleCode);
                 dataMap.put("state", state.getId());
                 dataMap.put("index", currentIndex);
                 webSocketService.push(WebSocketMessageType.CRAFTS_STATE, dataMap);
+
             }
         });
         Mono.from(sm.startReactively()).block();

src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java

@@ -75,7 +75,7 @@ public class DeviceState {
 
     public synchronized TrayState getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) {
         for (TrayState t : tray) {
-            if (heatModuleCode.equals(t.getHeatModuleId())) {
+            if (t.getHeatModuleId().equals(heatModuleCode)) {
                 return t;
             }
         }

src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java

@@ -30,6 +30,9 @@ public class HeatModuleState {
     @Schema(description = "当前加热类型")
     private HeatingType heatingType =  HeatingType.stop;
 
+    @Schema(description = "是否正在加热，true为正在加热，false为未加热")//可能去掉这个状态
+    private boolean heating = false;
+
     @Schema(description = "是否启动散热，true为正在散热，false为未在散热")
     private boolean fanOpen = false;
 

src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java

@@ -1,22 +1,13 @@
 package com.iflytop.gd.app.model.bo.status.device;
 
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
-import jakarta.annotation.PostConstruct;
 import lombok.Data;
-import lombok.RequiredArgsConstructor;
-import org.springframework.context.annotation.Scope;
-import org.springframework.stereotype.Component;
 
 import java.util.UUID;
 
 @Schema(description = "托盘")
 @Data
-@Component
-@Scope("prototype")
-@RequiredArgsConstructor
-@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
 public class TrayState {
     @Schema(description = "托盘唯一id")
     private String uuid = UUID.randomUUID().toString();
@@ -36,13 +27,11 @@ public class TrayState {
     @Schema(description = "当前托盘的工艺")
     private CraftsState crafts = null;
 
-    @PostConstruct
-    private void init(){
+    public TrayState() {
         for (int i = 0; i < tubes.length; i++) {
             TubeState tubeState = new TubeState();
             tubeState.setTubeNum(i + 1);
             tubes[i] = tubeState;
         }
     }
-
 }

src/main/java/com/iflytop/gd/app/service/api/CraftsService.java

@@ -4,12 +4,15 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.iflytop.gd.app.core.CraftsContext;
 import com.iflytop.gd.app.mapper.CraftsMapper;
+import com.iflytop.gd.app.model.bo.status.device.CraftsState;
 import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
+import com.iflytop.gd.app.model.bo.status.device.TrayState;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.model.vo.CraftStatusVO;
 import com.iflytop.gd.app.model.vo.SetCraftsVO;
 import com.iflytop.gd.app.service.crafts.CraftsStepService;
+import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -20,6 +23,7 @@ import com.iflytop.gd.common.result.ResultCode;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.statemachine.config.StateMachineFactory;
 import org.springframework.stereotype.Service;
 
@@ -44,10 +48,14 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     private final WebSocketSender webSocketService;
     private final CraftsStepService craftsStepService;
     private final OresService oresService;
+    private final DeviceStateService deviceStateService;
+    private final ObjectProvider<CraftsState> craftsStateObjectProvider;
+
     private final ConcurrentHashMap<HeatModuleCode, CraftsContext> contextMap = new ConcurrentHashMap<>();
     private final ConcurrentHashMap<HeatModuleCode, Future<?>> futureMap = new ConcurrentHashMap<>();
     private ExecutorService executor;
 
+
     @PostConstruct
     public void init() {
         this.executor = Executors.newCachedThreadPool();
@@ -98,6 +106,9 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
         if (ores == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
         }
+        if(deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0){
+            throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY);
+        }
         //判断是否指定加热区id
         if (heatModuleCode == null) {
             //如果没有指定加热区id，则自动获取一个
@@ -109,23 +120,23 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
                 heatModuleCode = heatModuleState.getModuleCode();
             }
         } else {
-            if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺
-                log.error("工艺正在执行中，不可重复开始执行。");
-                throw new AppException(ResultCode.CRAFT_RUNNING);
-            }
+//            if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺
+//                log.error("工艺正在执行中，不可重复开始执行。");
+//                throw new AppException(ResultCode.CRAFT_RUNNING);
+//            }
         }
         log.info("准备开始工艺，加热模块{},工艺{}", heatModuleCode, craft.getName());
         //TODO 传感器校验heatModuleCode是否被占用
 
         // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置
-        CraftsContext existing = contextMap.get(heatModuleCode);
-        if (existing != null) {
-            CraftStates state = existing.getSm().getState().getId();
-            if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) {
-                throw new AppException(ResultCode.CRAFT_RUNNING);
-            }
-            clearCraftContext(heatModuleCode);
-        }
+//        CraftsContext existing = contextMap.get(heatModuleCode);
+//        if (existing != null) {
+//            CraftStates state = existing.getSm().getState().getId();
+//            if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) {
+//                throw new AppException(ResultCode.CRAFT_RUNNING);
+//            }
+//            clearCraftContext(heatModuleCode);
+//        }
 
         CraftsContext ctx = new CraftsContext(
                 heatModuleCode,
@@ -133,12 +144,21 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
                 craft,
                 stateMachineFactory,
                 webSocketService,
-                craftsStepService
+                craftsStepService,
+                deviceStateService
         );
         contextMap.put(heatModuleCode, ctx);
         Future<?> future = executor.submit(ctx);
         futureMap.put(heatModuleCode, future);
 
+        TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule();
+        CraftsState craftsState = craftsStateObjectProvider.getObject();
+        craftsState.setCraft(craft);
+        craftsState.setOres(ores);
+        craftsState.setState(CraftStates.READY);
+        craftsState.setCurrentIndex(0);
+        trayState.setCrafts(craftsState);
+
         SetCraftsVO setCraftsVO = new SetCraftsVO();
         setCraftsVO.setHeatId(heatModuleCode);
         setCraftsVO.setCraftsName(craft.getName());

src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

@@ -195,29 +195,30 @@ public class CraftsStepService {
         Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
 
+        capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度
         gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
         gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，准备夹取托盘
         gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
         gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘
         gantryModuleService.gantryZMove(0);//抬升z轴
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
+//        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
         gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
         gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
 //                deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(heatModuleCode);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(heatModuleCode);Thread.sleep(3200);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
         gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
         gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘
         gantryModuleService.gantryZMove(0);//抬升z轴
 
-        capModuleService.capUpBalance();//提升拍子存放区至拍子夹取的高度
         gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
         gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子
         gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
         gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子
         gantryModuleService.gantryZMove(0);//抬升z轴
         gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
+        capModuleService.capUpBalanceNoWait(); //提升拍子存放区
         gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
         gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放拍子
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子
@@ -226,11 +227,8 @@ public class CraftsStepService {
 //                trayState.setInHeatModule(true);
         heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热模块托盘
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
-        capModuleService.capUpBalance(); //提升拍子存放区
         gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
 
-        heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热位托盘
-        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);
         solutionModuleService.releaseSolutionModule();//释放加液区
     }
 
@@ -258,15 +256,15 @@ public class CraftsStepService {
 
 //        TrayState trayState = deviceStateService.getTrayInSolutionModule();
         solutionModuleService.requestSolutionModule();//申请使用加液区并等待
-        capModuleService.capUpBalance(); //提升拍子存放区至拍子夹取的高度
+        capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度
         gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
         heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘
         gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子
         gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
         gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
-        gantryModuleService.gantryZMove(0);//抬升z轴
-        capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
+        capModuleService.capMotorMoveByNumNoWait(-1);//拍子存放模块下降1个拍子位置
+        gantryModuleService.gantryZMove(0); Thread.sleep(2000);//抬升z轴
         gantryModuleService.gantryMove(capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
         gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
         gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放夹取的拍子
@@ -279,10 +277,10 @@ public class CraftsStepService {
         gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘
 //                trayState.setInHeatModule(false);//托盘是否在加热模块中
-        gantryModuleService.gantryZMove(0);//抬升z轴
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(heatModuleCode);//TODO 临时避让下降
+        gantryModuleService.gantryZMove(0);Thread.sleep(2500);//抬升z轴
 //                deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLower);//下降加热模块托盘
 //                deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(heatModuleCode);//TODO 临时避让下降
         gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
         gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
         deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态

src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java

@@ -38,6 +38,15 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会恢复之前升起的状态
      */
+    public void moveTrayHeatModuleAvoidUpNoWait(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidUpNoWait(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
+    }
+
+    /**
+     * 避让抬升
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会恢复之前升起的状态
+     */
     public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
     }
@@ -94,6 +103,15 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会下降所有升起的加热模块并且记录
      */
+    public void moveTrayHeatModuleAvoidDownNoWait(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidDownNoWait(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
+    }
+
+    /**
+     * 避让下降
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会下降所有升起的加热模块并且记录
+     */
     public void moveTrayHeatModuleAvoidDown(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidDown(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
     }

src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java

@@ -30,6 +30,13 @@ public class CapModuleService {
     /**
      * 将拍子升降区抬升至可以获取的位置
      */
+    public void capUpBalanceNoWait() throws Exception {
+        capUpBalanceNoWait(null, null);
+    }
+
+    /**
+     * 将拍子升降区抬升至可以获取的位置
+     */
     public void capUpBalance() throws Exception {
         capUpBalance(null, null);
     }
@@ -79,7 +86,7 @@ public class CapModuleService {
             }
         }
         if (capNum == 0) {
-            throw new AppException(ResultCode.CAP_MODULE_NO_CAP);
+            return;
         }
         double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度
         double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21;
@@ -169,6 +176,15 @@ public class CapModuleService {
      *
      * @param num 1为上升1格，-1为下降1格
      */
+    public void capMotorMoveByNumNoWait(int num) throws Exception {
+        capMotorMoveByNumNoWait(null, null, num);
+    }
+
+    /**
+     * 调整拍子升降电机位置
+     *
+     * @param num 1为上升1格，-1为下降1格
+     */
     public void capMotorMoveByNum(int num) throws Exception {
         capMotorMoveByNum(null, null, num);
     }

src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java

@@ -69,6 +69,7 @@ public class SolutionModuleService {
      * 释放加液区
      */
     public synchronized void releaseSolutionModule() throws InterruptedException {
+        log.info("释放加液模块占用");
         deviceStateService.getDeviceState().getSolutionModule().setIdle(true);
         // 唤醒队列中的第一个线程
         if (!waitingQueue.isEmpty()) {

src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java

@@ -19,7 +19,7 @@ public class FetchTemperatureScheduledTask {
     private final GDDeviceStatusService gdDeviceStatusService;
     private final DeviceStateService deviceStateService;
 
-    @Scheduled(fixedRate = 30000)
+    @Scheduled(fixedRate = 300000)
     public void fetchTemperature() {
         try {
             if (!deviceStateService.getDeviceState().isVirtual()) {

src/main/resources/sql/init.sql

@@ -56,10 +56,10 @@ CREATE TABLE IF NOT EXISTS container
 );
 
 INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, scale,capacity_total, capacity_used)
-VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 120,5000, 0),
-       (2, 0, 'container_02', 2, 'acid_pump_02', 100,5000, 2500),
-       (3, 0, 'container_03', 3, 'acid_pump_03', 111,5000, 2600),
-       (4, 0, 'container_04', 4, 'acid_pump_04', 107,5000, 4000),
+VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 364,5000, 0),
+       (2, 0, 'container_02', 2, 'acid_pump_02', 133,5000, 2500),
+       (3, 0, 'container_03', 3, 'acid_pump_03', 160,5000, 2600),
+       (4, 0, 'container_04', 4, 'acid_pump_04', 163,5000, 4000),
        (5, 0, 'container_05', 5, 'acid_pump_05', 117,5000, 2400),
        (6, 0, 'container_06', 6, 'acid_pump_06', 105,5000, 4500),
        (7, 0, 'container_07', 7, 'acid_pump_07', 187,5000, 4900),