fix:修复现场锁问题、增加真空泵阀门控制

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

@@ -85,10 +85,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 actionCommandService.moveTrayToHeatModule(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//将托盘移动至指定加热模块
                 actionCommandService.heatModuleInstallCap(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//指定加热模块安装拍子
                 gantryModuleService.gantryXYMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
+                solutionModuleService.releaseSolutionModule();//释放加液区等待
             } finally {
-                deviceStateService.getDeviceState().getGantryArm().setIdle(true);//机械臂空闲
                 deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);//该指令结束
-                solutionModuleService.releaseSolutionModule();//释放加液区等待
             }
         });
     }

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

@@ -91,7 +91,6 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 actionCommandService.heatModuleRemoveTray(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//指定加热模块移除托盘
                 gantryModuleService.gantryXYMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
             } finally {
-                deviceStateService.getDeviceState().getGantryArm().setIdle(true);//机械臂空闲
                 deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);//该指令结束
             }
         });

src/main/java/com/iflytop/gd/app/command/debug/DebugVacuumValveCloseCommand.java

@@ -7,6 +7,7 @@ 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.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -26,9 +27,20 @@ public class DebugVacuumValveCloseCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
-
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(cmdDTO.getStringParam("heatId"));
         return runAsync(() -> {
+            DeviceCommandBundle deviceCommand;
+            switch (heatModuleCode) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve1Open();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve2Open();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve3Open();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve4Open();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve5Open();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve6Open();
+                default -> throw new RuntimeException("index 未找到");
+            }
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

src/main/java/com/iflytop/gd/app/command/debug/DebugVacuumValveOpenCommand.java

@@ -7,6 +7,7 @@ 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.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -26,10 +27,20 @@ public class DebugVacuumValveOpenCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
-
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(cmdDTO.getStringParam("heatId"));
         return runAsync(() -> {
-
+            DeviceCommandBundle deviceCommand;
+            switch (heatModuleCode) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve1Close();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve2Close();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve3Close();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve4Close();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve5Close();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve6Close();
+                default -> throw new RuntimeException("index 未找到");
+            }
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -28,7 +28,7 @@ public class TrayService {
      * 放入了新托盘
      */
     public synchronized TrayState trayIn() {
-        if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {
+        if (deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
             TrayState trayState = trayStateObjectProvider.getObject();
             trayState.setInSolutionModule(true);
             TubeState[] tubes = new TubeState[16];

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

@@ -399,16 +399,11 @@ public class CraftsStepService {
      */
     private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception {
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
-        try {
-            capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度
-            actionCommandService.moveTrayToHeatModule(heatModuleCode);//将托盘移动至指定加热模块
-            actionCommandService.heatModuleInstallCap(heatModuleCode);//指定加热模块安装拍子
-            gantryModuleService.gantryXYMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
-        } finally {
-            deviceStateService.getDeviceState().getGantryArm().setIdle(true);//机械臂空闲
-            deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);//该指令结束
-            solutionModuleService.releaseSolutionModule();//释放加液区等待
-        }
+        capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度
+        actionCommandService.moveTrayToHeatModule(heatModuleCode);//将托盘移动至指定加热模块
+        actionCommandService.heatModuleInstallCap(heatModuleCode);//指定加热模块安装拍子
+        gantryModuleService.gantryXYMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
+        solutionModuleService.releaseSolutionModule();//释放加液区等待
     }
 
     /**
@@ -416,16 +411,10 @@ public class CraftsStepService {
      */
     private void moveToSolutionModule(HeatModuleCode heatModuleCode) throws Exception {
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
-
-        try {
-            solutionModuleService.requestSolutionModule();//申请使用加液区并等待
-            capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度
-            actionCommandService.heatModuleRemoveCap(heatModuleCode);//指定加热模块移除拍子
-            actionCommandService.heatModuleRemoveTray(heatModuleCode);//指定加热模块移除托盘
-            gantryModuleService.gantryXYMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
-        } finally {
-            deviceStateService.getDeviceState().getGantryArm().setIdle(true);//机械臂空闲
-            deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);//该指令结束
-        }
+        solutionModuleService.requestSolutionModule();//申请使用加液区并等待
+        capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度
+        actionCommandService.heatModuleRemoveCap(heatModuleCode);//指定加热模块移除拍子
+        actionCommandService.heatModuleRemoveTray(heatModuleCode);//指定加热模块移除托盘
+        gantryModuleService.gantryXYMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
     }
 }

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

@@ -58,7 +58,7 @@ public class ActionCommandService {
         }
         heatModuleService.heaterMotorMoveNoWait(commandId, command, heatModuleCode, trayLower);//下降加热模块
         gantryModuleService.gantryZMoveZero(commandId, command);//抬升z轴
-        Thread.sleep(3800);
+        Thread.sleep(3000);
         deviceCommandTempUtilService.carryMoveXYToSolutionManyPoints(commandId, command, heatModuleCode, ClawItemType.tray);//携带托盘移动至加液模块
         gantryModuleService.gantryXYMove(commandId, command, liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
         deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, heatModuleCode);//移动完毕恢复抬升状态
@@ -94,6 +94,7 @@ public class ActionCommandService {
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起
         gantryModuleService.clawMove(commandId, command, 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
+        heatModuleService.vacuumValveClose(commandId, command, heatModuleCode);
         gantryModuleService.clawMove(commandId, command, 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
         capModuleService.capMotorMoveByNumNoWait(commandId, command, -1);//拍子存放模块下降1个拍子位置
@@ -134,11 +135,12 @@ public class ActionCommandService {
         capModuleService.capUpBalanceNoWait(commandId, command); //提升拍子存放区
 
         deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, heatModuleCode);
-        Thread.sleep(3800);
+        Thread.sleep(3700);
 
         gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
         gantryModuleService.clawMove(commandId, command, 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
+        heatModuleService.vacuumValveOpen(commandId, command, heatModuleCode);
         gantryModuleService.gantryZMoveZero(commandId, command);//抬升z轴
     }
 

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

@@ -341,7 +341,8 @@ public class DeviceCommandTempUtilService {
                         HeatModuleCode.heat_module_05,
                         HeatModuleCode.heat_module_06);
             } else if (ClawItemType.tray.equals(clawItemType)) {//移动托盘
-                if(deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1){
+                if(deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1
+                || deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayUp() == 1){
                     //路线 4、1、3、6
                     points = new Point3D[]{heatArea4TrayClawPoint3D, heatArea1TrayClawPoint3D, heatArea3TrayClawPoint3D, heatArea6TrayClawPoint3D};
                     //不避让的模块

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

@@ -37,6 +37,56 @@ public class HeatModuleService {
     private final DeviceStateService deviceStateService;
 
     /**
+     * 真空泵阀门关闭
+     */
+    public void vacuumValveClose(HeatModuleCode heatModuleCode) throws Exception {
+        vacuumValveClose(null, null, heatModuleCode);
+    }
+
+    /**
+     * 真空泵阀门关闭
+     */
+    public void vacuumValveClose(String commandId, String command, HeatModuleCode heatModuleCode) throws Exception {
+        DeviceCommandBundle deviceCommand;
+        switch (heatModuleCode) {
+            case heat_module_01 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve1Open();
+            case heat_module_02 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve2Open();
+            case heat_module_03 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve3Open();
+            case heat_module_04 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve4Open();
+            case heat_module_05 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve5Open();
+            case heat_module_06 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve6Open();
+            default -> throw new RuntimeException("heatModuleCode 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
+
+    /**
+     * 真空泵阀门开启
+     */
+    public void vacuumValveOpen(HeatModuleCode heatModuleCode) throws Exception {
+        vacuumValveOpen(null, null, heatModuleCode);
+    }
+
+    /**
+     * 真空泵阀门开启
+     */
+    public void vacuumValveOpen(String commandId, String command, HeatModuleCode heatModuleCode) throws Exception {
+        DeviceCommandBundle deviceCommand;
+        switch (heatModuleCode) {
+            case heat_module_01 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve1Close();
+            case heat_module_02 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve2Close();
+            case heat_module_03 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve3Close();
+            case heat_module_04 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve4Close();
+            case heat_module_05 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve5Close();
+            case heat_module_06 -> deviceCommand = DeviceCommandGenerator.vacuumPumpValve6Close();
+            default -> throw new RuntimeException("heatModuleCode 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
+
+    /**
      * 加热模块升降电机移动到指定位置
      */
     public void heaterMotorMoveOrigin(HeatModuleCode heatModuleId) throws Exception {

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

@@ -9,6 +9,90 @@ import com.iflytop.gd.common.enums.command.*;
 public class DeviceCommandGenerator {
 
     /**
+     * 真空泵阀门 1 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve1Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_1, CmdAction.open, null, "真空泵阀门1 开启");
+    }
+
+    /**
+     * 真空泵阀门 2 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve2Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_2, CmdAction.open, null, "真空泵阀门2 开启");
+    }
+
+    /**
+     * 真空泵阀门 3 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve3Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_3, CmdAction.open, null, "真空泵阀门3 开启");
+    }
+
+    /**
+     * 真空泵阀门 4 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve4Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_4, CmdAction.open, null, "真空泵阀门4 开启");
+    }
+
+    /**
+     * 真空泵阀门 5 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve5Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_5, CmdAction.open, null, "真空泵阀门5 开启");
+    }
+
+    /**
+     * 真空泵阀门 6 开启
+     */
+    public static DeviceCommandBundle vacuumPumpValve6Open() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_6, CmdAction.open, null, "真空泵阀门6 开启");
+    }
+
+    /**
+     * 真空泵阀门 1 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve1Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_1, CmdAction.close, null, "真空泵阀门1 关闭");
+    }
+
+    /**
+     * 真空泵阀门 2 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve2Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_2, CmdAction.close, null, "真空泵阀门2 关闭");
+    }
+
+    /**
+     * 真空泵阀门 3 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve3Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_3, CmdAction.close, null, "真空泵阀门3 关闭");
+    }
+
+    /**
+     * 真空泵阀门 4 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve4Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_4, CmdAction.close, null, "真空泵阀门4 关闭");
+    }
+
+    /**
+     * 真空泵阀门 5 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve5Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_5, CmdAction.close, null, "真空泵阀门5 关闭");
+    }
+
+    /**
+     * 真空泵阀门 6 关闭
+     */
+    public static DeviceCommandBundle vacuumPumpValve6Close() {
+        return controlCmd(CmdDevice.vacuum_pump_valve_6, CmdAction.close, null, "真空泵阀门6 关闭");
+    }
+
+    /**
      * 门 移动
      */
     public static DeviceCommandBundle doorMoveToEnd() {
@@ -759,7 +843,6 @@ public class DeviceCommandGenerator {
 
     /**
      * 加液泵 泵1旋转
-     *
      */
     public static DeviceCommandBundle acidPump1Rotate(CmdDirection direction) {
         DeviceCommandParams params = new DeviceCommandParams();

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

@@ -37,6 +37,12 @@ public enum CmdDevice {
     heat_rod_4,
     heat_rod_5,
     heat_rod_6,
+    vacuum_pump_valve_1,
+    vacuum_pump_valve_2,
+    vacuum_pump_valve_3,
+    vacuum_pump_valve_4,
+    vacuum_pump_valve_5,
+    vacuum_pump_valve_6,
     tricolor_light,
     fill_light,
     cold_trap,

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

@@ -0,0 +1,59 @@
+package com.iflytop.gd.hardware.command.handlers;
+
+import com.iflytop.gd.common.command.DeviceCommand;
+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.DODriver.OutputIOCtrlDriver;
+import com.iflytop.gd.hardware.type.IO.OutputIOMId;
+import com.iflytop.gd.hardware.type.MId;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+//
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class IOCtrlHandler extends CommandHandler {
+    private final OutputIOCtrlDriver driver_;
+    private final Map<CmdDevice, OutputIOMId>  supportCmdDeviceIOOutputMap = Map.ofEntries(
+            Map.entry(CmdDevice.vacuum_pump_valve_3, OutputIOMId.DO_VACUUM_VALVE3),
+            Map.entry(CmdDevice.vacuum_pump_valve_4, OutputIOMId.DO_VACUUM_VALVE4),
+            Map.entry(CmdDevice.vacuum_pump_valve_5, OutputIOMId.DO_VACUUM_VALVE5),
+            Map.entry(CmdDevice.vacuum_pump_valve_6, OutputIOMId.DO_VACUUM_VALVE6)
+    );
+
+    private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = supportCmdDeviceIOOutputMap.entrySet().stream()
+            .collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
+
+    private final Set<CmdAction> supportActions = Set.of(CmdAction.open, CmdAction.close);
+
+    @Override
+    protected Map<CmdDevice, MId> getSupportCmdDeviceMIdMap()
+    {
+        return supportCmdDeviceMIdMap;
+    }
+
+    @Override
+    protected Set<CmdAction> getSupportActions() {
+        return supportActions;
+    }
+
+    @Override
+    public void handleCommand(DeviceCommand command) throws Exception {
+        // 发送命令
+        if (command.getAction() == CmdAction.open) {
+            log.info("open {}", command.getDevice());
+            driver_.open(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+        } else if (command.getAction() == CmdAction.close) {
+            log.info("close {}", command.getDevice());
+            driver_.close(supportCmdDeviceIOOutputMap.get(command.getDevice()));
+        }
+    }
+}

src/main/java/com/iflytop/gd/hardware/drivers/CameraBaslerDriver.java

@@ -2,6 +2,7 @@ package com.iflytop.gd.hardware.drivers;
 
 import com.iflytop.gd.camera.BaslerCameraWrapper;
 import lombok.extern.slf4j.Slf4j;
+import org.opencv.core.Core;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
@@ -142,7 +143,11 @@ public class CameraBaslerDriver {
         Mat colorMat = new Mat();
         Imgproc.cvtColor(frameMat, colorMat, Imgproc.COLOR_BayerRG2RGB);
 
-        Imgcodecs.imwrite(filePath, colorMat);
+        // 上下镜像翻转：flipCode = 0
+        Mat flippedMat = new Mat();
+        Core.flip(colorMat, flippedMat, 0);
+
+        Imgcodecs.imwrite(filePath, flippedMat);
         log.info("彩色图片已保存到: {}", filePath);
     }
 }

src/main/java/com/iflytop/gd/hardware/type/IO/OutputIOMId.java

@@ -11,6 +11,10 @@ public enum OutputIOMId {
 	DO_FAN6("FAN6", MId.IO1_IO, 5,false),
 	DO_TRAY_MOTOR_CLAMP("TRAY_MOTOR_CLAMP [ 托盘电机 ] ", MId.IO1_IO, 6,false),
 	DO_HBOTZ_MOTOR_CLAMP("HBOTZ_MOTOR_CLAMP [ 龙门架Z轴 ] ", MId.IO1_IO, 7,false),
+	DO_VACUUM_VALVE3("VACUUM_PUMP_VALVE3 [ 真空阀3 ] ", MId.IO1_IO, 8,false),
+	DO_VACUUM_VALVE4("VACUUM_PUMP_VALVE4 [ 真空阀4 ] ", MId.IO1_IO, 9,false),
+	DO_VACUUM_VALVE5("VACUUM_PUMP_VALVE5 [ 真空阀5 ] ", MId.IO1_IO, 10,false),
+	DO_VACUUM_VALVE6("VACUUM_PUMP_VALVE6 [ 真空阀6 ] ", MId.IO1_IO, 11,false),
 	DO_WATER_PUMP("WATER_PUMP [ 水泵 ] ", MId.IO1_IO, 12,false),
 	DO_VENTILATOR("VENTILATOR [ 风机电源 ]", MId.IO1_IO, 13,false),
 	DO_COLD_TRAP_POWER("COLD_TRAP_POWER[ 冷阱 电源 ]", MId.IO1_IO, 14,false),