fix:修改了一些注释

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

@@ -25,7 +25,9 @@ public class CapLiftingOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            //拍子升降回原点
             deviceCommandUtilService.trayMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            //将拍子升降是否在原点状态设置为true
             selfTestService.getSelfTestState().setCapLiftingOrigin(true);
         });
     }

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

@@ -28,9 +28,10 @@ public class DoorCloseCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            //门电机回原点
             deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            //将门状态设置为false
             deviceStateService.setDoorStatus(false);
-            //TODO 关门口判断加液模块是否有托盘
         });
     }
 }

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

@@ -25,14 +25,15 @@ public class DoorOpenCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
-    private final GantryArmService gantryArmService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            gantryArmService.setLiquidIdleTrue();//释放加液区等待
+            //从数据库获取开门距离
             Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance();
+            //门电机移动开门距离
             deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
+            //将门状态设置为true
             deviceStateService.setDoorStatus(true);
         });
     }

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

@@ -15,7 +15,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 指定加液机械臂回原点
+ * 加液机械臂回原点
  */
 @Slf4j
 @Component
@@ -27,7 +27,9 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            //加液臂电机使能
             liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
+            //将加液臂移动至0位
             liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
         });
     }

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

@@ -25,21 +25,21 @@ public class GantryXOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Boolean x = cmdDTO.getBooleanParam("x");
-            Boolean y = cmdDTO.getBooleanParam("y");
-            Boolean z = cmdDTO.getBooleanParam("z");
+            Boolean x = cmdDTO.getBooleanParam("x");//x轴是否回原点
+            Boolean y = cmdDTO.getBooleanParam("y");//y轴是否回原点
+            Boolean z = cmdDTO.getBooleanParam("z");//z轴是否回原点
             if (x != null && x) {
                 deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-                selfTestService.getSelfTestState().setGantryXOrigin(true);
+                selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态
             }
             if (y != null && y) {
                 deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-                selfTestService.getSelfTestState().setGantryYOrigin(true);
+                selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态
             }
 
             if (z != null && z) {
                 deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-                selfTestService.getSelfTestState().setGantryZOrigin(true);
+                selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态
             }
         });
     }

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

@@ -25,12 +25,14 @@ public class HeatStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
+            //从系统状态中获取指定加热区设定的温度数值
             double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature();
+            //开启加热
             deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
-            deviceStateService.setHeatModuleStateHeating(heatModuleId, true);
+            deviceStateService.setHeatModuleStateHeating(heatModuleId, true);//设置状态加热中
         });
     }
 }

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

@@ -25,11 +25,12 @@ public class HeatStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
+            //关闭加热
             deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
-            deviceStateService.setHeatModuleStateHeating(heatModuleId, false);
+            deviceStateService.setHeatModuleStateHeating(heatModuleId, false);//设置状态停止加热
         });
     }
 }

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

@@ -49,13 +49,13 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
             deviceStateService.setSolutionModuleStateTrayStatus(0);
             Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
-            Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
+            Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(),
+                    heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加热区
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//将机械臂提升至托盘上方高度
             Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
-            //下降机械臂使夹爪可以夹住拍子
             double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
             deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住拍子
@@ -65,7 +65,8 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
             deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
             Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
-            Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
+            Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(),
+                    heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
             trayState.setHeatModuleId(heatModuleId);

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

@@ -56,7 +56,8 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             deviceStateService.setHeatModuleStateCapExist(heatModuleId, false);
             deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1); //下降拍子存放区1个位置
             Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
-            Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
+            Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(),
+                    capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawSafetyHeightPoint3D);//移动机械臂至拍子存放区上方上减去拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), capSafetyHeight);//下降机械臂，使拍子落入存放区
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick); //松开夹爪，放开拍子
@@ -73,7 +74,8 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0);
             trayState.setInHeatModule(false);
             Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
-            Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
+            Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(),
+                    liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘

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

@@ -34,20 +34,21 @@ public class SolutionAddCommand extends BaseCommandHandler {
         deviceStateService.setSolutionModuleStatePumping(true);
         return runAsync(() -> {
             JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList");
-            for (int i = 0; i < dataList.size(); i++) {
+            for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置
                 JSONObject tubeSol = dataList.getJSONObject(i);
-                Integer tubeNum = tubeSol.getInt("tubeNum");
+                Integer tubeNum = tubeSol.getInt("tubeNum");//获取试管编号
                 JSONArray solutionList = tubeSol.getJSONArray("solutionList");
-                for (int j = 0; j < solutionList.size(); j++) {
+                for (int j = 0; j < solutionList.size(); j++) {//遍历该试管应该加哪种液
                     JSONObject addSolution = solutionList.getJSONObject(j);
                     Long solId = addSolution.getLong("solId");
                     Double volume = addSolution.getDouble("volume");
-                    AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);
+                    AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
                     if (acidPumpDevice == null) {
-                        throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
+                        throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//工艺未找到对应溶液容器
                     }
                     deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位
-                    deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
+                    deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(),
+                            cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                 }
             }
             deviceCommandUtilService.dualRobotOrigin();

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

@@ -29,8 +29,11 @@ public class TrayDownCommand extends BaseCommandHandler {
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
-            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
+            //从数据库获取加热位下降托盘位置
+            double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance();
+            //下降加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);
+            //TODO 设置相应加热区托盘状态
         });
     }
 }

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

@@ -25,10 +25,12 @@ public class TrayLiftingOriginCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
+            //加热模块升降电机回原点
             deviceCommandUtilService.heaterMotorMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
+            //设置对应的加热区是否在原点状态
             switch (heatModuleId) {
                 case heat_module_01 -> selfTestService.getSelfTestState().setTrayLifting01Origin(true);
                 case heat_module_02 -> selfTestService.getSelfTestState().setTrayLifting02Origin(true);

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

@@ -26,11 +26,14 @@ public class TrayUpCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        String heatId = cmdDTO.getStringParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
-            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
+            //获取加热位抬升托盘位置
+            double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
+            //抬升加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);
+            //TODO 设置相应加热区托盘状态
         });
     }
 }