feat:工艺添加溶液，部分实现

src/main/java/com/iflytop/gd/app/model/bo/Point3D.java

@@ -1,14 +1,16 @@
 package com.iflytop.gd.app.model.bo;
 
 
-import lombok.Getter;
+import lombok.Data;
 
-@Getter
+@Data
 public class Point3D {
-    private final Double x;
-    private final Double y;
-    private final Double z;
+    private Double x;
+    private Double y;
+    private Double z;
 
+    public Point3D() {
+    }
     public Point3D(Double x, Double y, Double z) {
         this.x = x;
         this.y = y;

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

@@ -4,10 +4,8 @@ import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.DeviceState;
 import com.iflytop.gd.app.model.bo.CraftsStep;
 import com.iflytop.gd.app.model.bo.Point3D;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommandBundle;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
 import com.iflytop.gd.common.enums.HeatModuleId;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -19,6 +17,7 @@ import org.springframework.stereotype.Service;
 public class CraftsStepService {
     private final DeviceCommandService deviceCommandService;
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DevicePositionService devicePositionService;
 
     /**
      * 执行单个工艺步骤
@@ -44,38 +43,46 @@ public class CraftsStepService {
      * 添加溶液
      */
     private boolean addLiquid(String heatId, JSONObject params) throws Exception {
-        //TODO 判断加液区是否空闲
-        DeviceState.getInstance().waitLiquidIdle();//等待加液区空闲
-        //TODO 判断托盘电机是否升起
-        //升起托盘
         HeatModuleId heatModuleId = HeatModuleId.valueOf(heatId);
-        double heaterMotorMoveUpPosition = 0.0; //TODO 加热位抬升托盘位置 从数据库中获取
-        deviceCommandUtilService.heaterMotorMove(heatModuleId, heaterMotorMoveUpPosition);
+
+        //等待加液区空闲
+        DeviceState.getInstance().waitLiquidIdle();//等待加液区空闲
+
+        double heaterMotorMoveUp = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
+        deviceCommandUtilService.heaterMotorMove(heatModuleId, heaterMotorMoveUp);//抬升加热位托盘
         //TODO 判断托盘是否有拍子
-        //将机械臂移动至托盘上方
-        Point3D aboveTrayPoint3D = new Point3D(0.0, 0.0, 0.0);//TODO 托盘上方点位 从数据库中获取
-        deviceCommandUtilService.gantryMove(aboveTrayPoint3D);
-        //下降机械臂使夹爪可以夹住拍子
-        double aboveTrayCapPosition = 0.0;//TODO 下降机械臂使夹爪可以夹住拍子的位置 从数据库中获取
-        deviceCommandUtilService.gantryXMove(aboveTrayCapPosition);
-        //夹住拍子
-        double clawClampPosition = 0.0;//TODO 夹拍子收紧度 从数据库中获取
-        deviceCommandUtilService.clawClamp(clawClampPosition);
-        //机械臂提升至安全高度
-        double gantryCarryCapUpSafePosition = 0.0;//TODO 机械臂携带拍子的安全高度位置 从数据库中获取
-        deviceCommandUtilService.gantryZMove(gantryCarryCapUpSafePosition);
-        //下降拍子存放区1个位置
-        deviceCommandUtilService.capMotorMove(-1);
-        //将机械臂移动至拍子存放区上方
-        //下降机械臂
-        //松开夹爪
-        //将机械臂移动至托盘上方
-        //下降机械臂使夹爪可以夹住托盘
-        //机械臂提升至安全位置
-        //移动机械臂至加液区
-        //下降机械臂将托盘与试管落入加液区
-        //松开夹爪
-        //提升机械臂至安全高度
+        Point3D heatAreaCapClawPointPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方点位
+        deviceCommandUtilService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至拍子上方
+        double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离
+        deviceCommandUtilService.clawMove(clawCapPick);//将夹爪张开
+        double clawDescendDistance = devicePositionService.getPosition(DevicePositionCode.clawDescendDistance).getDistance();//获取下降机械臂使夹爪可以夹住的距离
+        deviceCommandUtilService.gantryZMove(clawDescendDistance);  //下降机械臂使夹爪可以夹住拍子
+        double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
+        deviceCommandUtilService.clawMove(clawCapGrip);//将夹爪收紧
+        double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
+        deviceCommandUtilService.gantryZMoveBy(capSafetyHeight);//机械臂提升至移动拍子的安全高度
+        deviceCommandUtilService.capMotorMove(-1); //下降拍子存放区1个位置
+        Point3D capStorageCapClawPoint = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//将机械臂移动至拍子存放区上方;
+        Point3D capStorageCapClawPointSafetyHeight = new Point3D(capStorageCapClawPoint.getX(), capStorageCapClawPoint.getY(), capStorageCapClawPoint.getZ() + capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
+        deviceCommandUtilService.gantryMove(capStorageCapClawPointSafetyHeight);//移动机械臂至拍子存放区上方加上拍子的安全高度
+        deviceCommandUtilService.gantryZMoveBy(capSafetyHeight);//下降机械臂，使拍子落入存放区
+        deviceCommandUtilService.clawMove(clawCapPick); //松开夹爪，放开拍子
+        deviceCommandUtilService.gantryZMoveBy(capStorageCapClawPoint.getZ());//将机械臂抬升至托盘上方
+        Point3D heatAreaTrayClaw = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
+        deviceCommandUtilService.gantryMove(heatAreaTrayClaw);//将机械臂移动至托盘上方
+        double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
+        deviceCommandUtilService.clawMove(clawTrayPick);//将夹爪张开
+        deviceCommandUtilService.gantryZMove(clawDescendDistance);  //下降机械臂使夹爪可以夹住托盘
+        double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
+        deviceCommandUtilService.clawMove(clawTrayGrip);//将夹爪收紧
+        double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
+        deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//机械臂提升至移动托盘的安全高度
+        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
+        Point3D liquidAreaTrayPointSafetyHeight = new Point3D(liquidAreaTrayPoint.getX(),liquidAreaTrayPoint.getY(), liquidAreaTrayPoint.getZ() + traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
+        deviceCommandUtilService.gantryMove(liquidAreaTrayPointSafetyHeight);//移动机械臂至加液区托盘点位上方加上移动托盘的安全高度
+        deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//下降机械臂将托盘与试管落入加液区
+        deviceCommandUtilService.clawMove(clawTrayPick);//松开夹爪，放下托盘
+        deviceCommandUtilService.gantryZMoveBy(clawDescendDistance);
         //for 根据工艺配置添加溶液
         //加液机械臂移动至第N个试管
         //启动x加液泵添加m毫升溶液
@@ -95,12 +102,16 @@ public class CraftsStepService {
      * 加热
      */
     private boolean heating(String heatId, JSONObject params) {
+
         //if 判断加液区是否有托盘
         //将机械臂移动至加液区托盘上方
         //下降机械臂使夹爪可以夹住托盘
         //夹住托盘
         //将托盘提升至安全高度
         //将机械臂移动至加热区上方
+
+        DeviceState.getInstance().setLiquidIdleTrue();//释放加液区等待
+
         //下降机械臂使托盘与试管落入加热区
         //将机械臂提升至安全高度
         //移动机械臂至拍子存放区上方

src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java

@@ -1,10 +1,12 @@
 package com.iflytop.gd.app.service;
 
 import com.iflytop.gd.app.model.bo.Point3D;
+import com.iflytop.gd.app.model.entity.DevicePosition;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
 import com.iflytop.gd.common.enums.HeatModuleId;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
@@ -16,6 +18,7 @@ import java.util.concurrent.TimeUnit;
 @RequiredArgsConstructor
 public class DeviceCommandUtilService {
     private final DeviceCommandService deviceCommandService;
+    private final DevicePositionService devicePositionService;
 
     /**
      * 龙门架机械臂移动到指定点
@@ -58,9 +61,36 @@ public class DeviceCommandUtilService {
     }
 
     /**
-     * 收紧夹爪
+     * 龙门架机械臂X轴相对移动到指定点
      */
-    public void clawClamp(double position) throws Exception {
+    public void gantryXMoveBy(double position) throws Exception {
+        DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMoveBy(position);
+        CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(gantryXMoveDeviceCommand);
+        commandWait(gantryXMoveDeviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Y轴相对移动到指定点
+     */
+    public void gantryYMoveBy(double position) throws Exception {
+        DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryYMoveBy(position);
+        CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(gantryXMoveDeviceCommand);
+        commandWait(gantryXMoveDeviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Z轴相对移动到指定点
+     */
+    public void gantryZMoveBy(double position) throws Exception {
+        DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryZMoveBy(position);
+        CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(gantryXMoveDeviceCommand);
+        commandWait(gantryXMoveDeviceCommandFuture);
+    }
+
+    /**
+     * 移动夹爪
+     */
+    public void clawMove(double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
         commandWait(deviceCommandFuture);
@@ -68,6 +98,7 @@ public class DeviceCommandUtilService {
 
     /**
      * 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 capMotorMove(int num) throws Exception {
@@ -102,4 +133,38 @@ public class DeviceCommandUtilService {
         CompletableFuture.allOf(responseFutures)
                 .get(120, TimeUnit.SECONDS);
     }
+
+    /////////////////////////////////////////////////获取位置
+
+    /**
+     * 获取指定加热区托盘夹爪点位
+     */
+    public Point3D getHeatAreaTrayClawPoint3D(HeatModuleId heatModuleId) {
+        DevicePosition devicePosition = switch (heatModuleId) {
+            case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint);
+            case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2TrayClawPoint);
+            case heat_module_03 -> devicePositionService.getPosition(DevicePositionCode.heatArea3TrayClawPoint);
+            case heat_module_04 -> devicePositionService.getPosition(DevicePositionCode.heatArea4TrayClawPoint);
+            case heat_module_05 -> devicePositionService.getPosition(DevicePositionCode.heatArea5TrayClawPoint);
+            case heat_module_06 -> devicePositionService.getPosition(DevicePositionCode.heatArea6TrayClawPoint);
+        };
+        return devicePosition.getPoint3D();
+    }
+
+
+    /**
+     * 获取指定加热区拍子夹爪点位
+     */
+    public Point3D getHeatAreaCapClawPointPoint3D(HeatModuleId heatModuleId) {
+        DevicePosition devicePosition = switch (heatModuleId) {
+            case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1CapClawPoint);
+            case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2CapClawPoint);
+            case heat_module_03 -> devicePositionService.getPosition(DevicePositionCode.heatArea3CapClawPoint);
+            case heat_module_04 -> devicePositionService.getPosition(DevicePositionCode.heatArea4CapClawPoint);
+            case heat_module_05 -> devicePositionService.getPosition(DevicePositionCode.heatArea5CapClawPoint);
+            case heat_module_06 -> devicePositionService.getPosition(DevicePositionCode.heatArea6CapClawPoint);
+        };
+        return devicePosition.getPoint3D();
+    }
+
 }

src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java

@@ -8,109 +8,158 @@ import lombok.Getter;
 @Getter
 public enum DevicePositionCode {
     /**
-     * 托盘夹取位置
+     * 试管间距距离
      */
-    trayPick(DevicePositionType.DISTANCE, "托盘夹取位置"),
+    testTubeSpacing(DevicePositionType.DISTANCE, "试管间距距离"),
 
     /**
-     * 托盘夹紧位置
+     * 夹爪托盘夹取距离
      */
-    trayGrip(DevicePositionType.DISTANCE, "托盘夹紧位置"),
+    clawTrayPick(DevicePositionType.DISTANCE, "夹爪托盘夹取距离"),
 
     /**
-     * 加液区原点
+     * 夹爪托盘夹紧距离
      */
-    liquidAreaOrigin(DevicePositionType.POINT_3D, "加液区原点"),
+    clawTrayGrip(DevicePositionType.DISTANCE, "夹爪托盘夹紧距离"),
 
     /**
-     * 加热区1原点
+     * 夹爪试管夹取距离
      */
-    heatArea1Origin(DevicePositionType.POINT_3D, "加热区1原点"),
+    clawTestTubePick(DevicePositionType.DISTANCE, "夹爪试管夹取距离"),
 
     /**
-     * 加热区2原点
+     * 夹爪试管夹紧距离
      */
-    heatArea2Origin(DevicePositionType.POINT_3D, "加热区2原点"),
+    clawTestTubeGrip(DevicePositionType.DISTANCE, "夹爪试管夹紧距离"),
+    /**
+     * 夹爪拍子夹取距离
+     */
+    clawCapPick(DevicePositionType.DISTANCE, "夹爪拍子夹取距离"),
+
+    /**
+     * 夹爪拍子夹紧距离
+     */
+    clawCapGrip(DevicePositionType.DISTANCE, "夹爪拍子夹紧距离"),
+
+    /**
+     * 开门距离
+     */
+    doorOpen(DevicePositionType.DISTANCE, "开门距离"),
+
+    /**
+     * 关门距离
+     */
+    doorClose(DevicePositionType.DISTANCE, "关门距离"),
+
+    /**
+     * 托盘抬升距离
+     */
+    trayLift(DevicePositionType.DISTANCE, "托盘抬升距离"),
+
+    /**
+     * 托盘下降距离
+     */
+    trayLower(DevicePositionType.DISTANCE, "托盘下降距离"),
+
+    /**
+     * 夹爪夹取下降距离
+     */
+    clawDescendDistance(DevicePositionType.DISTANCE, "夹爪夹取下降距离"),
 
     /**
-     * 加热区3原点
+     * 移动拍子安全高度
      */
-    heatArea3Origin(DevicePositionType.POINT_3D, "加热区3原点"),
+    capSafetyHeight(DevicePositionType.DISTANCE, "移动拍子安全高度"),
+
 
     /**
-     * 加热区4原点
+     * 移动托盘安全高度
      */
-    heatArea4Origin(DevicePositionType.POINT_3D, "加热区4原点"),
+    traySafetyHeight(DevicePositionType.DISTANCE, "移动托盘安全高度"),
+
 
     /**
-     * 加热区5原点
+     * 移动试管安全高度
      */
-    heatArea5Origin(DevicePositionType.POINT_3D, "加热区5原点"),
+    testTubeSafetyHeight(DevicePositionType.DISTANCE, "移动试管安全高度"),
+
+    ////////////////////////点
 
     /**
-     * 加热区6原点
+     * 拍子存放区拍子夹爪点
      */
-    heatArea6Origin(DevicePositionType.POINT_3D, "加热区6原点"),
+    capStorageCapClawPoint(DevicePositionType.POINT_3D, "拍子存放区拍子夹爪点"),
 
     /**
-     * 试管间距
+     * 加液区托盘夹爪点
      */
-    testTubeSpacing(DevicePositionType.DISTANCE, "试管间距"),
+    liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液区托盘夹爪点"),
 
     /**
-     * 试管夹取位置
+     * 加热区1托盘夹爪点
      */
-    testTubePick(DevicePositionType.DISTANCE, "试管夹取位置"),
+    heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪点"),
 
     /**
-     * 试管夹紧位置
+     * 加热区2托盘夹爪点
      */
-    testTubeGrip(DevicePositionType.DISTANCE, "试管夹紧位置"),
+    heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪点"),
 
     /**
-     * 拍子相对原点位置
+     * 加热区3托盘夹爪点
      */
-    capRelativeToOrigin(DevicePositionType.POINT_3D, "拍子相对原点位置"),
+    heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪点"),
 
     /**
-     * 拍子夹取位置
+     * 加热区4托盘夹爪点
      */
-    capPick(DevicePositionType.DISTANCE, "拍子夹取位置"),
+    heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪点"),
 
     /**
-     * 拍子夹紧位置
+     * 加热区5托盘夹爪点
      */
-    capGrip(DevicePositionType.DISTANCE, "拍子夹紧位置"),
+    heatArea5TrayClawPoint(DevicePositionType.POINT_3D, "加热区5托盘夹爪点"),
 
     /**
-     * 拍子存放区位置
+     * 加热区6托盘夹爪点
      */
-    capStorage(DevicePositionType.POINT_3D, "拍子存放区位置"),
+    heatArea6TrayClawPoint(DevicePositionType.POINT_3D, "加热区6托盘夹爪点"),
 
     /**
-     * 拍子相对原点位置
+     * 加热区1拍子夹爪点
      */
-    capRelativePosition(DevicePositionType.POINT_3D, "拍子相对原点位置"),
+    heatArea1CapClawPoint(DevicePositionType.POINT_3D, "加热区1拍子夹爪点"),
 
     /**
-     * 托盘相对原点位置
+     * 加热区2拍子夹爪点
      */
-    trayRelativeToOrigin(DevicePositionType.POINT_3D, "托盘相对原点位置"),
+    heatArea2CapClawPoint(DevicePositionType.POINT_3D, "加热区2拍子夹爪点"),
 
     /**
-     * 试管相对原点位置
+     * 加热区3拍子夹爪点
      */
-    testTubeRelativeToOrigin(DevicePositionType.POINT_3D, "试管相对原点位置"),
+    heatArea3CapClawPoint(DevicePositionType.POINT_3D, "加热区3拍子夹爪点"),
 
     /**
-     * 开门位置
+     * 加热区4拍子夹爪点
      */
-    doorOpen(DevicePositionType.DISTANCE, "开门位置"),
+    heatArea4CapClawPoint(DevicePositionType.POINT_3D, "加热区4拍子夹爪点"),
 
     /**
-     * 关门位置
+     * 加热区5拍子夹爪点
      */
-    doorClose(DevicePositionType.DISTANCE, "关门位置");
+    heatArea5CapClawPoint(DevicePositionType.POINT_3D, "加热区5拍子夹爪点"),
+
+    /**
+     * 加热区6拍子夹爪点
+     */
+    heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点"),
+
+    /**
+     * 拍子存放区夹爪点
+     */
+    capStorageClawPoint(DevicePositionType.POINT_3D, "拍子存放区夹爪点");
+
 
     private final DevicePositionType type;
     private final String name;