同步现场代码

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

@@ -26,7 +26,7 @@ public class DoorCloseCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             deviceStateService.getDeviceState().getDoor().setOpen(false);
-            doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
+            doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
         });
     }
 }

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

@@ -22,15 +22,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("door_open")//业务指令注解
 public class DoorOpenCommand extends BaseCommandHandler {
     private final DoorModuleService doorModuleService;
-    private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance();
             deviceStateService.getDeviceState().getDoor().setOpen(true);
-            doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
+            doorModuleService.doorMoveEnd(cmdDTO.getCommandId(), cmdDTO.getCommand());
         });
     }
 }

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

@@ -1,6 +1,5 @@
 package com.iflytop.gd.app.command.control;
 
-import cn.hutool.json.JSONArray;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.api.ContainerService;
@@ -27,18 +26,26 @@ public class FilledSolutionStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
-            for (int i = 0; i < idJsonArray.size(); i++) {
-                String idStr = idJsonArray.getStr(i);
-                CompletableFuture.runAsync(() -> {
-                    try {
-                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr));
-                        solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice);
-                    } catch (Exception e) {
-                        log.error("停止预充失败", e);
-                    }
-                });
+//            JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
+//            for (int i = 0; i < idJsonArray.size(); i++) {
+//                String idStr = idJsonArray.getStr(i);
+//                CompletableFuture.runAsync(() -> {
+//                    try {
+//                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr));
+//                        solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice);
+//                    } catch (Exception e) {
+//                        log.error("停止预充失败", e);
+//                    }
+//                });
+//            }
+            for (AcidPumpDeviceCode acidPumpDeviceCode : AcidPumpDeviceCode.values()) {
+                try {
+                    solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDeviceCode);
+                } catch (Exception e) {
+                    log.error("停止预充错误", e);
+                }
             }
+            Thread.sleep(1000);
             solutionModuleService.dualRobotOrigin();
         });
     }

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

@@ -22,7 +22,6 @@ import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
-import java.util.Optional;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -68,12 +67,12 @@ public class SolutionAddCommand extends BaseCommandHandler {
                         List<CommandFuture> futuresList = new ArrayList<>();
                         for (int k = 0; k < solutionList.size(); k++) {
                             JSONObject addSolution = solutionList.getJSONObject(k);
-                            Long solId = addSolution.getLong("solutionId");
+                            Long solId = addSolution.getLong("solutionId");//实际前端传递的是容器id
                             Double volume = addSolution.getDouble("volume");
                             //AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                            Container container = containerService.getContainerBySolutionId(solId);
+                            Container container = containerService.getById(solId);
                             if (container == null) {
-                                throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
+                                throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器
                             }
                             AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵
                             int scale = container.getScale() == null ? 120 : container.getScale();//系数
@@ -86,6 +85,7 @@ 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/command/debug/DebugDoorOpenCommand.java

@@ -26,13 +26,11 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_door_open")
 public class DebugDoorOpenCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
-    private final DevicePositionService devicePositionService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen);
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance());
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMoveToEnd();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java

@@ -0,0 +1,64 @@
+package com.iflytop.gd.app.command.debug.step;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.bo.Point3D;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.api.DevicePositionService;
+import com.iflytop.gd.app.service.device.DeviceCommandService;
+import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService;
+import com.iflytop.gd.app.service.device.DeviceStateService;
+import com.iflytop.gd.app.service.device.module.CapModuleService;
+import com.iflytop.gd.app.service.device.module.GantryModuleService;
+import com.iflytop.gd.app.service.device.module.HeatModuleService;
+import com.iflytop.gd.app.service.device.module.SolutionModuleService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.command.CommandFuture;
+import com.iflytop.gd.common.command.DeviceCommandBundle;
+import com.iflytop.gd.common.command.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 展示烟雾
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_show_smog")
+public class DebugShowSmogCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+    private final GantryModuleService gantryModuleService;
+    private final DevicePositionService devicePositionService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+        double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
+        double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
+        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
+        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance();
+        double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度
+        Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位
+        return runAsync(() -> {
+            gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
+            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
+            gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
+            gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+            Thread.sleep(3000);
+            gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
+            gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开
+            gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/controller/CraftsController.java

@@ -86,7 +86,7 @@ public class CraftsController {
     @Operation(summary = "开始执行工艺")
     @PostMapping("/start")
     public Result<SetCraftsVO> startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) {
-        return Result.success(craftsService.startCrafts(startCraftsDTO.getCraftId(), startCraftsDTO.getHeatId()));
+        return Result.success(craftsService.startCrafts(startCraftsDTO));
     }
 
     @Operation(summary = "暂停执行工艺")

src/main/java/com/iflytop/gd/app/controller/SystemController.java

@@ -12,6 +12,9 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import java.time.Instant;
+import java.time.LocalDateTime;
+
 @Tag(name = "系统")
 @RestController
 @RequestMapping("/api/sys")
@@ -21,19 +24,6 @@ public class SystemController {
     private final SystemConfigService systemConfigService;
     private final DeviceStateService deviceStateService;
 
-    @Operation(summary = "是否启动虚拟模式")
-    @PostMapping("/virtual")
-    public Result<?> changeVirtualMode(Boolean mode) {
-        deviceStateService.getDeviceState().setVirtual(mode);
-        return Result.success();
-    }
-
-    @Operation(summary = "模拟向硬件写入完毕")
-    @PostMapping("/initComplete")
-    public Result<?> setInitComplete(Boolean initComplete) {
-        deviceStateService.getDeviceState().setInitComplete(initComplete);
-        return Result.success();
-    }
 
     @Operation(summary = "系统状态")
     @GetMapping("/device-status")
@@ -48,4 +38,10 @@ public class SystemController {
         return Result.success();
     }
 
+    @Operation(summary = "获取系统时间")
+    @GetMapping("/datetime")
+    public Result<?> getDatetime() {
+        return Result.success(Instant.now().toEpochMilli());
+    }
+
 }

src/main/java/com/iflytop/gd/app/controller/TestController.java

@@ -7,7 +7,7 @@ import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.CapModuleService;
 import com.iflytop.gd.app.service.device.module.OtherModuleService;
-import com.iflytop.gd.app.service.device.module.SolutionModuleService;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import io.swagger.v3.oas.annotations.Operation;
@@ -36,6 +36,21 @@ public class TestController {
     private final OtherModuleService otherModuleService;
     private final DeviceEmergencyStopService deviceEmergencyStopService;
 
+    @Operation(summary = "启动虚拟模式")
+    @PostMapping("/virtual")
+    public Result<?> changeVirtualMode() {
+        deviceStateService.getDeviceState().setVirtual(true);
+        deviceStateService.getDeviceState().setInitComplete(true);
+        return Result.success();
+    }
+
+    @Operation(summary = "模拟向硬件写入完毕")
+    @PostMapping("/initComplete")
+    public Result<?> setInitComplete(Boolean initComplete) {
+        deviceStateService.getDeviceState().setInitComplete(initComplete);
+        return Result.success();
+    }
+
     @Operation(summary = "获取所有传感器读数")
     @GetMapping("/all-sensor")
     public Result<List<AllSensorDTO>> getAllSensor() throws HardwareException {
@@ -57,7 +72,6 @@ public class TestController {
         return Result.success();
     }
 
-
     @Operation(summary = "获取指令互斥状态")
     @GetMapping("/mutex-state")
     public Result<CommandMutexState> getCommandMutexState() throws HardwareException {
@@ -71,7 +85,6 @@ public class TestController {
         return Result.success();
     }
 
-
     @Operation(summary = "触发急停")
     @PostMapping("/press-emergency-stop")
     public Result<?> pressEmergencyStop() throws Exception {
@@ -92,4 +105,11 @@ public class TestController {
         otherModuleService.craftsFinishBeepRemind();
         return Result.success();
     }
+
+    @Operation(summary = "设置当前温度")
+    @PostMapping("/set-temperature")
+    public Result<?> setTemperature(HeatModuleCode code, Double temperature) throws Exception {
+        testService.setTemperature(code, temperature);
+        return Result.success();
+    }
 }

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/core/aspect/DeviceStateChangeAspect.java

@@ -38,7 +38,7 @@ public class DeviceStateChangeAspect {
             if (methodArgs != null && methodArgs.length > 0) {
                 // 保存修改后的值
                 Object afterValue = methodArgs[0];
-                log.info("设备状态发生改变，类型{}.{}({})", className, methodName, afterValue);
+//                log.info("设备状态发生改变，类型{}.{}({})", className, methodName, afterValue);
                 webSocketService.push(WebSocketMessageType.STATUS, deviceStateService.getDeviceState());
             }
         } catch (Exception e) {

src/main/java/com/iflytop/gd/app/model/bo/status/crafts/CraftsState.java → src/main/java/com/iflytop/gd/app/model/bo/status/device/CraftsState.java

@@ -1,13 +1,21 @@
-package com.iflytop.gd.app.model.bo.status.crafts;
+package com.iflytop.gd.app.model.bo.status.device;
 
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.common.enums.automaton.CraftStates;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import org.springframework.context.annotation.Scope;
+import org.springframework.stereotype.Component;
 
 @Schema(description = "工艺")
 @Data
+@Component
+@Scope("prototype")
+@RequiredArgsConstructor
+@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
 public class CraftsState {
     @Schema(description = "工艺状态")
     private CraftStates state;

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

@@ -73,6 +73,24 @@ public class DeviceState {
         return null;
     }
 
+    public synchronized TrayState getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) {
+        for (TrayState t : tray) {
+            if (heatModuleCode.equals(t.getHeatModuleId())) {
+                return t;
+            }
+        }
+        return null;
+    }
+
+    public synchronized TrayState getTrayInSolutionModule() {
+        for (TrayState t : tray) {
+            if (t.isInSolutionModule()) {
+                return t;
+            }
+        }
+        return null;
+    }
+
     public synchronized TrayState getTrayState(String trayUUID) {
         for (TrayState t : tray) {
             if (t.getUuid().equals(trayUUID)) {

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

@@ -1,14 +1,22 @@
 package com.iflytop.gd.app.model.bo.status.device;
 
-import com.iflytop.gd.app.model.bo.status.crafts.CraftsState;
+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();
@@ -28,11 +36,13 @@ public class TrayState {
     @Schema(description = "当前托盘的工艺")
     private CraftsState crafts = null;
 
-    public TrayState() {
+    @PostConstruct
+    private void init(){
         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/model/bo/status/device/TubeState.java

@@ -14,4 +14,7 @@ public class TubeState {
 
     @Schema(description = "是否存在试管 true存在")
     private boolean exists = true;
+
+    @Schema(description = "是否需要添加溶液 true需要")
+    private boolean needAddSolution = true;
 }

src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java

@@ -16,4 +16,7 @@ public class StartCraftsDTO {
 
     @Schema(description = "加热区id，非必填，如果不传递则自动分配加热区")
     private HeatModuleCode heatId;
+
+    @Schema(description = "需要加液的试管")
+    private int[] tubes;
 }

src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java

@@ -12,7 +12,7 @@ public class SetTrayTubeVO {
     @Schema(description = "托盘UUID")
     private String trayUuid;
 
-    @Schema(description = "矿石 ID")
+    @Schema(description = "试管")
     private TubeState[] tubes;
 
 }

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

@@ -4,12 +4,17 @@ 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.bo.status.device.TubeState;
+import com.iflytop.gd.app.model.dto.StartCraftsDTO;
 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;
@@ -20,12 +25,12 @@ 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;
 
 import java.util.Arrays;
 import java.util.List;
-import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
@@ -44,10 +49,14 @@ 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();
@@ -89,7 +98,9 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     /**
      * 启动执行工艺
      */
-    public synchronized SetCraftsVO startCrafts(Long craftId, HeatModuleCode heatModuleCode) {
+    public synchronized SetCraftsVO startCrafts(StartCraftsDTO startCraftsDTO) {
+        long craftId = startCraftsDTO.getCraftId();
+        HeatModuleCode heatModuleCode = startCraftsDTO.getHeatId();
         Crafts craft = this.getById(craftId);
         if (craft == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
@@ -98,6 +109,9 @@ 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 +123,23 @@ 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 +147,33 @@ 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();
+        //配置可操作试管
+        TubeState[] tubeStateArr = trayState.getTubes();
+        List<Integer> needTubeNumArr = Arrays.stream(startCraftsDTO.getTubes()).boxed() .toList();
+        for (TubeState tubeState : tubeStateArr) {
+            if(!needTubeNumArr.contains(tubeState.getTubeNum())){
+                tubeState.setNeedAddSolution(false);
+            }
+        }
+
+        //配置状态
+        CraftsState craftsState = craftsStateObjectProvider.getObject();
+        craftsState.setCraft(craft);
+        craftsState.setOres(ores);
+        craftsState.setState(CraftStates.READY);
+        craftsState.setCurrentIndex(0);
+        trayState.setHeatModuleId(heatModuleCode);
+        trayState.setCrafts(craftsState);
+
+        //组装返回值
         SetCraftsVO setCraftsVO = new SetCraftsVO();
         setCraftsVO.setHeatId(heatModuleCode);
         setCraftsVO.setCraftsName(craft.getName());

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

@@ -10,6 +10,8 @@ import org.springframework.stereotype.Service;
 
 import java.io.BufferedReader;
 import java.io.InputStreamReader;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
 
 /**
  * 系统配置接口服务

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

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.service.api;
 
 import com.iflytop.gd.app.model.dto.AllSensorDTO;
 import com.iflytop.gd.app.service.device.DeviceStateService;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
@@ -45,4 +46,8 @@ public class TestService {
         deviceStateService.getDeviceState().reset();
     }
 
+    public void setTemperature(HeatModuleCode code, Double temperature){
+        deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature);
+    }
+
 }

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

@@ -1,10 +1,12 @@
 package com.iflytop.gd.app.service.api;
 
+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.vo.SetTrayTubeVO;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
 import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
@@ -17,12 +19,13 @@ import java.util.List;
 public class TrayService {
     private final DeviceStateService deviceStateService;
     private final SolutionModuleService solutionModuleService;
+    private final ObjectProvider<TrayState> trayStateObjectProvider;
 
     /**
      * 放入了新托盘
      */
     public synchronized TrayState trayIn() {
-        TrayState trayState = new TrayState();
+        TrayState trayState = trayStateObjectProvider.getObject();
         trayState.setInSolutionModule(true);
         deviceStateService.getDeviceState().getTray().add(trayState);
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);

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

@@ -5,28 +5,25 @@ import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.CraftsDebugGenerator;
 import com.iflytop.gd.app.model.bo.CraftsStep;
 import com.iflytop.gd.app.model.bo.Point3D;
+import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.*;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
+import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
-import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
-import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
-import com.iflytop.gd.hardware.exception.HardwareException;
-import com.iflytop.gd.hardware.type.IO.OutputIOMId;
-import com.iflytop.gd.hardware.type.MId;
+import com.iflytop.gd.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.concurrent.CompletableFuture;
-
 /**
  * 工艺步骤执行服务
  */
@@ -78,6 +75,15 @@ public class CraftsStepService {
                 && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
             moveToSolutionModule(heatModuleCode);
         }
+
+        JSONArray tubeNums = params.getJSONArray("tubeNums");
+        for (int i = 0; i < tubeNums.size(); i++) {
+            JSONObject tubeSol = tubeNums.getJSONObject(i);
+            Integer tubeNum = tubeSol.getInt("tubeNum");
+
+        }
+
+
         JSONArray tubeSolList = params.getJSONArray("tubeSolList");
         for (int i = 0; i < tubeSolList.size(); i++) {
             JSONObject tubeSol = tubeSolList.getJSONObject(i);
@@ -87,14 +93,15 @@ public class CraftsStepService {
                 JSONObject addLiquid = addLiquidList.getJSONObject(j);
                 Long solId = addLiquid.getLong("solId");
                 Double volume = addLiquid.getDouble("volume");
-                AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
-                if (acidPumpDevice == null) {
-                    throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
+                Container container = containerService.getContainerBySolutionId(solId);
+                if (container == null) {
+                    throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器
                 }
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", tubeNum));
+                AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵
+                int scale = container.getScale() == null ? 120 : container.getScale();//系数
                 solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquid));
-                solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
+                CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液
+                CommandUtil.wait(deviceCommandFuture);
             }
         }
         solutionModuleService.dualRobotOrigin();
@@ -126,8 +133,15 @@ public class CraftsStepService {
         Double temperature = params.getDouble("temperature");
         Integer second = params.getInt("second");
         heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic);
+        //达到目标温度后才算开始加热
+        while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) {
+            delay(1);
+        }
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.constant);
         delay(second);
         heatModuleService.heatRodClose(heatModuleCode);//停止加热
+        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.finish);
         heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
         return true;
     }
@@ -166,7 +180,7 @@ public class CraftsStepService {
     public void finish(HeatModuleCode heatModuleCode) throws Exception {
         moveToSolutionModule(heatModuleCode);
         //蜂鸣器提示
-        otherModuleService.craftsFinishBeepRemind();
+//        otherModuleService.craftsFinishBeepRemind();
     }
 
     /**
@@ -190,29 +204,30 @@ 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
@@ -221,11 +236,8 @@ 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
     }
 
@@ -253,15 +265,15 @@ 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
@@ -274,10 +286,10 @@ 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/DeviceEmergencyStopService.java

@@ -29,7 +29,7 @@ public class DeviceEmergencyStopService {
     }
 
     /**
-     * 处理接触急停
+     * 处理解除急停
      */
     public void release(){
         commandPoolManager.restartExecutor();

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

@@ -92,6 +92,16 @@ public class DeviceStepCommandService {
         stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_4_MOTOR_MID);
         stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_5_MOTOR_MID);
         stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_6_MOTOR_MID);
+
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_1_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_2_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_3_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_4_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_5_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_6_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_7_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_8_MOTOR_MID);
+
         stepMotorCtrlDriver.stepMotorStop(StepMotorMId.SHAKE_MOTOR_MID);
         liquidDistributionArmDriver.moduleStop(LiquidArmMId.LiquidDistributionArm);
         miniServoDriver.miniServoStop(MiniServoMId.CLAW_MID);

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/DoorModuleService.java

@@ -85,4 +85,13 @@ public class DoorModuleService {
         CommandUtil.wait(deviceCommandFuture);
     }
 
+    /**
+     * 门点击移动至最远距离
+     */
+    public void doorMoveEnd(String commandId, String command) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMoveToEnd();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
+
 }

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

@@ -51,10 +51,10 @@ public class GantryModuleService {
     public void gantryMove(String commandId, String command, Point3D point) throws Exception {
         DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
         CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryXMoveDeviceCommand);
-
         DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY());
         CommandFuture gantryYMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryYMoveDeviceCommand);
         CommandUtil.wait(gantryXMoveDeviceCommandFuture, gantryYMoveDeviceCommandFuture);
+
         DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
         CommandFuture gantryZMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryZMoveDeviceCommand);
         CommandUtil.wait(gantryZMoveDeviceCommandFuture);

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()) {
@@ -84,29 +85,60 @@ public class SolutionModuleService {
      * 双轴械臂 移动至指定试管
      */
     public void dualRobotMovePoint(int index) throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
+        } else {
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
+        }
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin() throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
+        } else {
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
+        }
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin(String commandId, String command, CmdAxis cmdAxis) throws Exception {
-        if (cmdAxis == CmdAxis.joint1) {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+        if (!deviceStateService.getDeviceState().isVirtual()) {
+            if (cmdAxis == CmdAxis.joint1) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            } else {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            }
         } else {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+            new Thread(() -> {
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }).start();
         }
+
     }
 
 
@@ -185,8 +217,8 @@ public class SolutionModuleService {
     /**
      * 添加溶液
      */
-    public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
-        acidPumpMoveBy(null, null, acidPumpDevice, position);
+    public CommandFuture acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
+        return acidPumpMoveBy(null, null, acidPumpDevice, position);
     }
 
     /**

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 = 10000)
     public void fetchTemperature() {
         try {
             if (!deviceStateService.getDeviceState().isVirtual()) {
@@ -42,12 +42,14 @@ public class FetchTemperatureScheduledTask {
                 deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_06).setTemperature(heatModule06Temperature);
 
             } else {//虚拟模式随便写个值
-//                List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
-//                for (HeatModuleState heatModuleState : heatModuleStateList) {
-//                    if (heatModuleState.isHeating()) {
-//                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleState.getModuleCode()).setTemperature(123.0);
-//                    }
-//                }
+                List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+                for (HeatModuleState heatModuleState : heatModuleStateList) {
+                    if (heatModuleState.isHeating()) {
+                        heatModuleState.setTemperature(heatModuleState.getTargetTemperature());
+                    } else {
+                        heatModuleState.setTemperature(26.0);
+                    }
+                }
             }
         } catch (Exception e) {
             log.error("定时采集加热棒温度错误", e);

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.service.scheduled;
 
 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.vo.HeatCountdownVO;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
@@ -21,7 +22,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加热倒计时
+ * 加热时间到自动抬起
  */
 @Slf4j
 @Service
@@ -32,53 +33,42 @@ public class HeatCountdownScheduledTask {
     private final HeatModuleService heatModuleService;
     private final WebSocketSender webSocketSender;
 
-    @Scheduled(fixedRate = 1000)
+    @Scheduled(fixedDelay = 1000)
     public void fetchTemperature() {
         try {
             LocalDateTime now = LocalDateTime.now();
-            List<HeatCountdownVO> heatCountdownVOList = new ArrayList<>();
             for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) {
+                //工艺除外
+                TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleState.getModuleCode());
+                if (trayState != null && trayState.getCrafts() != null) {
+                    continue;
+                }
                 if (heatModuleState.getHeatingType() == HeatingType.thermostatic) {//如果这个加热模块在加热中
                     if (heatModuleState.getTemperature() + 1 > heatModuleState.getHeatTemperature()) {//当前温度达到目标温度，允许有1度以内的误差
+                        heatModuleState.setStartHeatTime(now);
                         heatModuleState.setHeatingType(HeatingType.constant);//修改状态为恒温中
-                        if (heatModuleState.getStartHeatTime() == null) {
-                            //设定开始加热时间
-                            heatModuleState.setStartHeatTime(now);
-                        } else {
-                            LocalDateTime endTime = heatModuleState.getStartHeatTime().minusSeconds(heatModuleState.getTargetTime());
-                            //判断是否达到目标加热时间
-                            if (endTime.isBefore(now)) {//加热完毕
-                                double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
-                                //抬起托盘
-                                heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
-                                heatModuleState.setTrayUp(1);
-                                //关闭加棒
-                                heatModuleService.heatRodClose(heatModuleState.getModuleCode());
-                                heatModuleState.setHeatingType(HeatingType.stop);
-                                //还原状态
-                                heatModuleState.setStartHeatTime(null);
-                                heatModuleState.setTargetTime(null);
-                                heatModuleState.setWarmUpTemperature(null);
-                                heatModuleState.setHeatTemperature(null);
-                                heatModuleState.setTargetTemperature(null);
-                                heatModuleState.setHeatingType(HeatingType.stop);
-                            } else {//加热中
-                                long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
-                                HeatCountdownVO heatCountdownVO = new HeatCountdownVO();
-                                heatCountdownVO.setHeatModuleCode(heatModuleState.getModuleCode());
-                                heatCountdownVO.setCountdown((int) diffSeconds);
-                                heatCountdownVO.setCountdownStr(LocalDateTimeUtil.formatSecondsToHMS(diffSeconds));
-                                heatCountdownVO.setStartTime(heatModuleState.getStartHeatTime());
-                                heatCountdownVO.setEndTime(endTime);
-                                heatCountdownVOList.add(heatCountdownVO);
-                            }
-                        }
+                    }
+                } else if (heatModuleState.getHeatingType() == HeatingType.constant) {
+                    LocalDateTime endTime = heatModuleState.getStartHeatTime().plusSeconds(heatModuleState.getTargetTime());
+                    //判断是否达到目标加热时间
+                    long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间
+                    if (diffSeconds <= 0) {//加热完毕
+                        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
+                        //抬起托盘
+                        heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift);
+                        heatModuleState.setTrayUp(1);
+                        //关闭加棒
+                        heatModuleService.heatRodClose(heatModuleState.getModuleCode());
+                        //还原状态
+                        heatModuleState.setStartHeatTime(null);//开始加热时间
+                        heatModuleState.setTargetTime(null);//加热器目标加热时间
+                        heatModuleState.setWarmUpTemperature(null);//加热器预热温度
+                        heatModuleState.setHeatTemperature(null);//加热器加热温度
+                        heatModuleState.setTargetTemperature(null);//加热器目标温度
+                        heatModuleState.setHeatingType(HeatingType.finish);
                     }
                 }
             }
-            if (!heatCountdownVOList.isEmpty()) {
-                webSocketSender.pushHeatCountdown(heatCountdownVOList);
-            }
         } catch (Exception e) {
             log.error("加热倒计时错误", e);
         }

src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java

@@ -1,10 +1,6 @@
 package com.iflytop.gd.app.ws.client;
 
-import com.iflytop.gd.app.core.CommandPoolManager;
-import com.iflytop.gd.app.service.api.CraftsService;
 import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
-import com.iflytop.gd.app.service.device.DeviceStateService;
-import com.iflytop.gd.app.service.device.DeviceStepCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;

src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java

@@ -16,7 +16,7 @@ public class WebSocketSender {
         websocketResult.setType(type);
         websocketResult.setData(data);
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
-        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
+//        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
     }
 
     public void pushCraftsDebug(Object data) {

src/main/java/com/iflytop/gd/common/command/DeviceCommandGenerator.java

@@ -10,6 +10,14 @@ public class DeviceCommandGenerator {
 
     /**
      * 门 移动
+     */
+    public static DeviceCommandBundle doorMoveToEnd() {
+        return controlMotorCmd(CmdDevice.door_motor, CmdAction.move_end, null, "门 移动到最远距离");
+    }
+
+
+    /**
+     * 门 移动
      *
      * @param position 位置 单位mm
      */

src/main/java/com/iflytop/gd/common/enums/HeatingType.java

@@ -20,4 +20,8 @@ public enum HeatingType {
      * 恒温中
      */
     constant,
+    /**
+     * 加热完成
+     */
+    finish,
 }

src/main/java/com/iflytop/gd/common/enums/command/CmdAction.java

@@ -1,7 +1,7 @@
 package com.iflytop.gd.common.enums.command;
 
 public enum CmdAction {
-    move, move_by, move_joint, move_point, origin, rotate,
+    move, move_by, move_joint, move_point, origin, rotate, move_end,
 
     open, close, stop, start, set, get,
     open_power, close_power, open_circle, close_circle,

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

@@ -37,9 +37,10 @@ public enum ResultCode implements IResultCode, Serializable {
     OPERATION_NOT_ALLOWED("4003", "业务操作不允许"),
     DATA_ALREADY_EXISTS("4004", "数据已存在"),
 
+    CONTAINER_NOT_FOUND("4005", "未找到对应溶液容器"),
+
     CRAFT_RUNNING("4101", "工艺正在执行"),
     CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"),
-    CRAFT_CONTAINER_NOT_FOUND("4005", "工艺未找到对应溶液容器"),
     CRAFT_NO_TRAY("4005", "工艺未找到托盘"),
     //============================ 5xxx：系统 & 第三方 ============================
     SYSTEM_ERROR("5000", "系统内部错误"),

src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java

@@ -3,16 +3,13 @@ package com.iflytop.gd.common.utils;
 public class LocalDateTimeUtil {
 
     /**
-     * 秒数格式化为 “HH:mm:ss” 格式。
-     * @param diffSeconds 两个时间点相差的秒数（可以为正或负）
-     * @return 格式化后的 “HH:mm:ss” 字符串
+     * 秒数格式化为 “mm:ss” 格式。
      */
     public static String formatSecondsToHMS(long diffSeconds) {
         long absSeconds = Math.abs(diffSeconds);
-        long hours = absSeconds / 3600;
-        long minutes = (absSeconds % 3600) / 60;
+        long minutes = absSeconds / 60;
         long seconds = absSeconds % 60;
-        return String.format("%02d:%02d:%02d", hours, minutes, seconds);
+        return String.format("%02d:%02d", minutes, seconds);
     }
 
 }

src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java

@@ -5,8 +5,8 @@ import com.iflytop.gd.common.enums.command.CmdAction;
 import com.iflytop.gd.common.enums.command.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.DoorDriver;
-import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -18,7 +18,7 @@ import java.util.stream.Collectors;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-public class DoorHandler extends CommandHandler  {
+public class DoorHandler extends CommandHandler {
     private final DoorDriver driver_;
 
     private final Map<CmdDevice, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
@@ -26,11 +26,10 @@ public class DoorHandler extends CommandHandler  {
     );
     private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
-    private final Set<CmdAction> supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop);
+    private final Set<CmdAction> supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop, CmdAction.move_end);
 
     @Override
-    protected Map<CmdDevice, MId> getSupportCmdDeviceMIdMap()
-    {
+    protected Map<CmdDevice, MId> getSupportCmdDeviceMIdMap() {
         return supportCmdDeviceMIdMap;
     }
 
@@ -45,24 +44,22 @@ public class DoorHandler extends CommandHandler  {
         StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice());
         if (command.getAction() == CmdAction.origin) {
             driver_.moveToHome(stepMotorMId);
-        }
-        else if(command.getAction() == CmdAction.stop) {
+        } else if (command.getAction() == CmdAction.stop) {
             driver_.stop(stepMotorMId);
-        }
-        else if(command.getAction() == CmdAction.move) {
+        } else if (command.getAction() == CmdAction.move) {
             double position = command.getParam().getPosition();
             driver_.moveTo(stepMotorMId, position);
-        }
-        else if(command.getAction() == CmdAction.move_by) {
+        } else if (command.getAction() == CmdAction.move_by) {
             double distance = command.getParam().getPosition();
 
             driver_.moveBy(stepMotorMId, distance);
-        }
-        else if(command.getAction() == CmdAction.set) {
+        } else if (command.getAction() == CmdAction.set) {
             Double speed = command.getParam().getSpeed();
-            if(speed != null) {
+            if (speed != null) {
                 driver_.setSpeed(stepMotorMId, speed);
             }
+        } else if (command.getAction() == CmdAction.move_end) {
+            driver_.moveToEnd(stepMotorMId);
         }
     }
 }

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java

@@ -76,4 +76,9 @@ public class DoorDriver{
         stepMotorCtrlDriver_.stepMotorStop(stepMotorMId);
         motorEnable(stepMotorMId, true);
     }
+
+    public void moveToEnd(StepMotorMId stepMotorMId) throws Exception {
+        log.info("Motor {} Move To End", stepMotorMId.mid.getDescription());
+        stepMotorCtrlDriver_.stepMotorEasyMoveToEndPointBlock(stepMotorMId);
+    }
 }

src/main/resources/application-dev.yml

@@ -18,7 +18,7 @@ spring:
 mybatis-plus:
   configuration:
     # 开启 SQL 日志输出（可选）
-    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
+#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
     # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations：
     mapper-locations: classpath*:mapper/*.xml
 

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),