同步现场代码

src/main/java/com/iflytop/gd/app/command/control/FanStartCommand.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.device.DeviceStateService;
@@ -26,14 +25,11 @@ public class FanStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-                heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true);
-            }
+            heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true);
         });
     }
 }

src/main/java/com/iflytop/gd/app/command/control/FanStopCommand.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.device.DeviceStateService;
@@ -26,14 +25,11 @@ public class FanStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-                heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(false);
-            }
+            heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(false);
         });
     }
 }

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

@@ -37,6 +37,7 @@ public class FilledSolutionStartCommand extends BaseCommandHandler {
             throw new AppException(ResultCode.CMD_BUSY);
         }
         return runAsync(() -> {
+            solutionModuleService.dualRobotMovePoint(15);
             JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
             for (int i = 0; i < idJsonArray.size(); i++) {
                 String idStr = idJsonArray.getStr(i);

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

@@ -28,7 +28,6 @@ public class FilledSolutionStopCommand extends BaseCommandHandler {
     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(() -> {
@@ -40,6 +39,7 @@ public class FilledSolutionStopCommand extends BaseCommandHandler {
                     }
                 });
             }
+            solutionModuleService.dualRobotOrigin();
         });
     }
 }

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

@@ -1,12 +1,12 @@
 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.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,17 +26,18 @@ public class HeatStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        Integer time =  cmdDTO.getIntegerParam("time");
+        Integer minutes =  cmdDTO.getIntegerParam("minutes");
+        Integer seconds =  cmdDTO.getIntegerParam("seconds");
+        Double temperature = cmdDTO.getDoubleParam("temperature");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
-                //从系统状态中获取指定加热区设定的温度数值
-                double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).getTemperature();
-                //开启加热
-                heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setHeating(true);
-            }
+            heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(time);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatTemperature(temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTemperature(temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic);
         });
     }
 }

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

@@ -1,12 +1,12 @@
 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.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,15 +26,16 @@ public class HeatStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
-                //关闭加热
-                heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setHeating(false);
-            }
+            //关闭加热
+            heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(null);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setWarmUpTemperature(null);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatTemperature(null);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTemperature(null);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop);
         });
     }
 }

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

@@ -69,10 +69,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true);
-            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-            if (heatModuleTray) {
-                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
-            }
+//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+//            if (heatModuleTray) {
+//                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
+//            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
             throw e;
@@ -80,38 +80,37 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         return runAsync(() -> {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
-//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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
+//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-
-                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(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
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
 //                trayState.setHeatModuleId(heatModuleId);
 //                trayState.setInHeatModule(true);
-                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
+//                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
             } finally {
                 deviceStateService.getDeviceState().getGantryArm().setIdle(true);

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

@@ -47,6 +47,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
+        if (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
+            throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED);
+        }
         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
@@ -69,10 +72,10 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true);
-            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-            if (!heatModuleTray) {
-                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
-            }
+//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+//            if (!heatModuleTray) {
+//                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
+//            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
             throw e;
@@ -81,15 +84,15 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
                 solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待
-                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 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
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-                capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
+                capModuleService.capMotorMoveByNumNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1);//拍子存放模块下降1个拍子位置
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(2000);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
@@ -102,16 +105,16 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//抬升z轴
 //                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 临时避 恢复抬起状态
+//                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
 //                trayState.setInSolutionModule(true);//托盘是否在加液模块中
-                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘
+                deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方

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

@@ -9,14 +9,18 @@ import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 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.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
+import com.iflytop.gd.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -48,32 +52,39 @@ public class SolutionAddCommand extends BaseCommandHandler {
         deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(true);
         deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
         return runAsync(() -> {
-            JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList"));
-            for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置
-                JSONObject tubeSol = dataList.getJSONObject(i);
-                String tubeNum = tubeSol.getStr("tubeNum");//获取试管编号
-                int[] tubeNums = Arrays.stream(tubeNum.split(","))
-                        .mapToInt(s -> Integer.parseInt(s.trim()))
-                        .toArray();
-                JSONArray solutionList = tubeSol.getJSONArray("solutionList");
-                for (int num : tubeNums) {
-                    for (int k = 0; k < solutionList.size(); k++) {
-                        JSONObject addSolution = solutionList.getJSONObject(k);
-                        Long solId = addSolution.getLong("solutionId");
-                        Double volume = addSolution.getDouble("volume");
-                        AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
-                        if (acidPumpDevice == null) {
-                            throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
-                        }
+            try{
+                JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList"));
+                for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置
+                    JSONObject tubeSol = dataList.getJSONObject(i);
+                    String tubeNum = tubeSol.getStr("tubeNum");//获取试管编号
+                    int[] tubeNums = Arrays.stream(tubeNum.split(","))
+                            .mapToInt(s -> Integer.parseInt(s.trim()))
+                            .toArray();
+                    JSONArray solutionList = tubeSol.getJSONArray("solutionList");
+                    for (int num : tubeNums) {
                         solutionModuleService.dualRobotMovePoint(num);//移动加液机械臂到指定试管点位
-                        Thread.sleep(1000);
-                        solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
+                        List<CommandFuture> futuresList = new ArrayList<>();
+                        for (int k = 0; k < solutionList.size(); k++) {
+                            JSONObject addSolution = solutionList.getJSONObject(k);
+                            Long solId = addSolution.getLong("solutionId");
+                            Double volume = addSolution.getDouble("volume");
+                            AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵
+                            if (acidPumpDevice == null) {
+                                throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
+                            }
+                            CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
+                            futuresList.add(deviceCommandFuture);
+                        }
+                        CommandUtil.wait(futuresList.toArray(new CommandFuture[0]));
                     }
                 }
+                solutionModuleService.dualRobotOrigin();
+                deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
+                deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
+            }finally {
+                deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
             }
-            solutionModuleService.dualRobotOrigin();
-            deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
-            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
+
         });
     }
 }

src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.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.DevicePositionService;
@@ -8,6 +7,7 @@ import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 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;
@@ -16,6 +16,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
 
 /**
  * 降下托盘
@@ -35,22 +36,28 @@ public class TrayDownCommand extends BaseCommandHandler {
                 || deviceStateService.getCommandMutexState().get().isMoveToSolutionAreaCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         //从数据库获取加热位下降托盘位置
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance();
+        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-                CompletableFuture.runAsync(() -> {
-                    try {
-                        //下降加热位托盘
-                        heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);
-                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);
-                    } catch (Exception e) {
-                        log.error("降下托盘失败", e);
-                    }
-                });
+            try {
+                //下降加热位托盘
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);
+//                if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) {
+//                    schedulerManager.scheduleOnce(heatModuleCode,() -> {
+//                        try {
+//                            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
+//                            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);
+//                        } catch (Exception e) {
+//                            log.error("加热完毕抬起托盘错误{}", heatModuleCode, e);
+//                        }
+//                    }, deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTargetTime(), TimeUnit.SECONDS);
+//                }
+            } catch (Exception e) {
+                log.error("降下托盘失败", e);
             }
         });
     }

src/main/java/com/iflytop/gd/app/command/control/TrayUpCommand.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.DevicePositionService;
@@ -28,29 +27,24 @@ public class TrayUpCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
+
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         if (deviceStateService.getCommandMutexState().get().isMoveToHeatAreaCommandExecuting()
                 || deviceStateService.getCommandMutexState().get().isMoveToSolutionAreaCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         //获取加热位抬升托盘位置
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance();
         return runAsync(() -> {
-            for (int i = 0; i < heatIdJsonArray.size(); i++) {
-                String heatId = heatIdJsonArray.getStr(i);
-                HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
-
-                CompletableFuture.runAsync(() -> {
-                    try {
-                        //抬升加热位托盘
-                        heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
-                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);
-                    } catch (Exception e) {
-                        log.error("抬起托盘失败", e);
-                    }
-                });
+            try {
+                //抬升加热位托盘
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);
+            } catch (Exception e) {
+                log.error("抬起托盘失败", e);
             }
         });
     }

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

@@ -0,0 +1,40 @@
+package com.iflytop.gd.app.command.control;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.device.DeviceStateService;
+import com.iflytop.gd.app.service.device.module.HeatModuleService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 开始预热
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("warm_up_start")//业务指令注解
+public class WarmUpStartCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+    private final DeviceStateService deviceStateService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatId = cmdDTO.getStringParam("heatId");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+        Double temperature = cmdDTO.getDoubleParam("temperature");
+        return runAsync(() -> {
+            heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setWarmUpTemperature(temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTemperature(temperature);
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.warm_up);
+        });
+    }
+}
+

src/main/java/com/iflytop/gd/app/command/selftest/MoveTestCommand.java

@@ -42,6 +42,8 @@ public class MoveTestCommand extends BaseCommandHandler {
         }
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
         Double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
+        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
 
         deviceStateService.getCommandMutexState().get().setMoveTest(true);
         return runAsync(() -> {
@@ -53,6 +55,9 @@ public class MoveTestCommand extends BaseCommandHandler {
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
                 //xyz回0点
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+                gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
+                gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
+                gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、z轴电机检测完毕", 30));
                 gantryModuleService.gantryMoveZero();
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、xy轴电机检测完毕", 45));
@@ -71,6 +76,7 @@ public class MoveTestCommand extends BaseCommandHandler {
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "6、摇匀电机检测完毕", 90));
                 //加液机械臂
                 solutionModuleService.dualRobotMovePoint(16);
+                Thread.sleep(2000);
                 solutionModuleService.dualRobotOrigin();
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "7、加液机械臂检测完毕", 100));
             }finally {

src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java

@@ -37,7 +37,6 @@ public class TrayOutCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //TODO 通过传感器获取一个有托盘的加热模块，顺序按照1-6
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
 

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

@@ -1,6 +1,9 @@
 package com.iflytop.gd.app.controller;
 
-import com.iflytop.gd.app.model.dto.*;
+import com.iflytop.gd.app.model.dto.PauseCraftsDto;
+import com.iflytop.gd.app.model.dto.ResumeCraftsDTO;
+import com.iflytop.gd.app.model.dto.StartCraftsDTO;
+import com.iflytop.gd.app.model.dto.StopCraftsDTO;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.vo.SetCraftsVO;
 import com.iflytop.gd.app.service.api.CraftsService;
@@ -82,10 +85,8 @@ public class CraftsController {
 
     @Operation(summary = "开始执行工艺")
     @PostMapping("/start")
-    public Result<String> startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) {
-        craftsService.setCraft(startCraftsDTO.getCraftId(), startCraftsDTO.getHeatId());
-        craftsService.startCrafts(startCraftsDTO.getHeatId());
-        return Result.success();
+    public Result<SetCraftsVO> startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) {
+        return Result.success(craftsService.startCrafts(startCraftsDTO.getCraftId(), startCraftsDTO.getHeatId()));
     }
 
     @Operation(summary = "暂停执行工艺")

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

@@ -1,5 +1,7 @@
 package com.iflytop.gd.app.controller;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.iflytop.gd.app.model.entity.DeviceParamConfig;
 import com.iflytop.gd.app.model.vo.DeviceParamGroupVO;
 import com.iflytop.gd.app.model.vo.ModuleIdVO;
@@ -86,12 +88,11 @@ public class DeviceParamController {
         if (!file.getOriginalFilename().endsWith(".csv")) {
             return Result.failed("<UNK>.csv<UNK>");
         }
-        try (BufferedReader reader = new BufferedReader(
-                new InputStreamReader(file.getInputStream(), StandardCharsets.UTF_8))) {
+        try (BufferedReader reader = new BufferedReader(new InputStreamReader(file.getInputStream(), StandardCharsets.UTF_8))) {
+            deviceParamConfigService.remove(new LambdaQueryWrapper<>());
             String line;
             //是否含有表头
             boolean isHeader = true;
-            List<DeviceParamConfig> deviceParamConfigList = new ArrayList<>();
             while ((line = reader.readLine()) != null) {
                 if (isHeader) {
                     isHeader = false;
@@ -105,10 +106,8 @@ public class DeviceParamController {
                     deviceParamConfig.setRegIndex(String.valueOf(data[2]));
                     deviceParamConfig.setRegVal(Integer.valueOf(data[3]));
                     deviceParamConfigService.save(deviceParamConfig);
-                    deviceParamConfigList.add(deviceParamConfig);
                 }
             }
-            deviceParamConfigService.saveOrUpdateBatch(deviceParamConfigList);
         } catch (IOException e) {
             log.error("csv文件导入数据库失败:{}", e.getMessage());
             throw new RuntimeException(e);

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

@@ -1,6 +1,6 @@
 package com.iflytop.gd.app.controller;
 
-import com.iflytop.gd.app.model.vo.SetTargetTemperatureVO;
+import com.iflytop.gd.app.model.dto.SetHeatDTO;
 import com.iflytop.gd.app.service.api.HeatService;
 import com.iflytop.gd.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
@@ -24,10 +24,10 @@ import org.springframework.web.bind.annotation.RestController;
 public class HeatController {
     private final HeatService heatModuleService;
 
-    @Operation(summary = "加热模块设定目标温度")
-    @PostMapping("/target-temperature")
-    public Result<String> setTargetTemperature(@Valid @RequestBody SetTargetTemperatureVO setTargetTemperatureVO) {
-        heatModuleService.setTargetTemperature(setTargetTemperatureVO);
+    @Operation(summary = "加热模块设定")
+    @PostMapping("/set")
+    public Result<String> setHeat(@Valid @RequestBody SetHeatDTO setHeatDTO) {
+        heatModuleService.setHeat(setHeatDTO);
         return Result.success();
     }
 }

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

@@ -41,8 +41,9 @@ public class SelfTestController {
 
     @Operation(summary = "自检完毕")
     @PostMapping("/finish")
-    public Result<?> selfTestFinish(){
+    public Result<?> selfTestFinish() throws Exception {
         deviceStateService.getDeviceState().setSelfTest(true);
+        capModuleService.capMotorMove(21);
         return Result.success();
     }
 

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

@@ -0,0 +1,87 @@
+package com.iflytop.gd.app.controller;
+
+import com.iflytop.gd.app.model.bo.status.CommandMutexState;
+import com.iflytop.gd.app.model.dto.AllSensorDTO;
+import com.iflytop.gd.app.service.api.TestService;
+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.SolutionModuleService;
+import com.iflytop.gd.common.result.Result;
+import com.iflytop.gd.hardware.exception.HardwareException;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.List;
+
+/**
+ * 测试用
+ */
+@Tag(name = "测试用")
+@RestController
+@RequestMapping("/api/test")
+@RequiredArgsConstructor
+@Slf4j
+public class TestController {
+    private final TestService testService;
+    private final CapModuleService capModuleService;
+    private final DeviceStateService deviceStateService;
+    private final SolutionModuleService solutionModuleService;
+    private final DeviceEmergencyStopService deviceEmergencyStopService;
+
+    @Operation(summary = "获取所有传感器读数")
+    @GetMapping("/all-sensor")
+    public Result<List<AllSensorDTO>> getAllSensor() throws HardwareException {
+        return Result.success(testService.getAllSensor());
+    }
+
+    @Operation(summary = "将拍子升降区抬升至可以获取的位置")
+    @PostMapping("/cap-up-balance")
+    public Result<?> capUpBalance() throws Exception {
+        capModuleService.capUpBalance();
+        return Result.success();
+    }
+
+
+    @Operation(summary = "调整拍子升降电机位置")
+    @PostMapping("/cap-motor-move-by-num")
+    public Result<?> capMotorMoveByNum(int num) throws Exception {
+        capModuleService.capMotorMoveByNum(num);
+        return Result.success();
+    }
+
+
+    @Operation(summary = "获取指令互斥状态")
+    @GetMapping("/mutex-state")
+    public Result<CommandMutexState> getCommandMutexState() throws HardwareException {
+        return Result.success(deviceStateService.getCommandMutexState().get());
+    }
+
+    @Operation(summary = "重置状态")
+    @PostMapping("/reset")
+    public Result<?> reset() throws Exception {
+        testService.reset();
+        return Result.success();
+    }
+
+
+    @Operation(summary = "触发急停")
+    @PostMapping("/press-emergency-stop")
+    public Result<?> pressEmergencyStop() throws Exception {
+        deviceEmergencyStopService.press();
+        return Result.success();
+    }
+
+    @Operation(summary = "解除急停")
+    @PostMapping("/release-emergency-stop")
+    public Result<?> releaseEmergencyStop() throws Exception {
+        deviceEmergencyStopService.release();
+        return Result.success();
+    }
+}

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

@@ -32,7 +32,7 @@ public class TrayController {
 
     @Operation(summary = "拿走托盘")
     @PostMapping("/out")
-    public Result<?> trayOut() {
+    public Result<?> trayOut() throws InterruptedException {
         trayService.trayOut();
         return Result.success();
     }

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

@@ -5,6 +5,7 @@ import org.springframework.beans.factory.annotation.Qualifier;
 import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import org.springframework.stereotype.Component;
 
+import java.lang.reflect.Field;
 import java.util.concurrent.ThreadPoolExecutor;
 
 @Slf4j
@@ -28,4 +29,22 @@ public class CommandPoolManager {
         }
     }
 
+    /**
+     * 重启命令线程池
+     */
+    public void restartExecutor() {
+        try {
+            Field field = ThreadPoolTaskExecutor.class.getDeclaredField("threadPoolExecutor");
+            field.setAccessible(true);
+            field.set(executor, null);
+            executor.initialize();
+            log.info("命令线程池已重建并启动：corePoolSize={}, maxPoolSize={}, queueCapacity={}",
+                    executor.getCorePoolSize(),
+                    executor.getMaxPoolSize(),
+                    executor.getQueueCapacity());
+        } catch (NoSuchFieldException | IllegalAccessException e) {
+            log.error("通过反射重置 threadPoolExecutor 字段失败，无法重启命令线程池", e);
+        }
+    }
+
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.service.crafts.CraftsStepService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.constant.WebSocketMessageType;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.automaton.CraftEvents;
 import com.iflytop.gd.common.enums.automaton.CraftStates;
 import lombok.Getter;
@@ -26,7 +27,7 @@ import java.util.Map;
 @Slf4j
 @Getter
 public class CraftsContext implements Runnable {
-    private final String heatId;
+    private final HeatModuleCode heatModuleCode;
     private final Ores ores;
     private final Crafts craft;
     private final List<CraftsStep> craftsStepList;
@@ -38,24 +39,24 @@ public class CraftsContext implements Runnable {
     /**
      * 构造方法，初始化上下文并启动状态机至 READY
      */
-    public CraftsContext(String heatId, Ores ores,
+    public CraftsContext(HeatModuleCode heatModuleCode, Ores ores,
                          Crafts craft,
                          StateMachineFactory<CraftStates, CraftEvents> factory,
                          WebSocketSender webSocketService,
                          CraftsStepService craftsStepService) {
-        this.heatId = heatId;
+        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.sm = factory.getStateMachine(heatId);
+        this.sm = factory.getStateMachine(heatModuleCode.toString());
         sm.addStateListener(new StateMachineListenerAdapter<>() {
             @Override
             public void stateEntered(State<CraftStates, CraftEvents> state) {
                 Map<String, Object> dataMap = new HashMap<>();
-                dataMap.put("heatId", heatId);
+                dataMap.put("heatId", heatModuleCode);
                 dataMap.put("state", state.getId());
                 dataMap.put("index", currentIndex);
                 webSocketService.push(WebSocketMessageType.CRAFTS_STATE, dataMap);
@@ -93,12 +94,13 @@ public class CraftsContext implements Runnable {
                 }
             }
             if (sm.getState().getId() == CraftStates.RUNNING) {
+                craftsStepService.finish(heatModuleCode);
                 Message<CraftEvents> finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build();
                 Mono.from(sm.sendEvent(Mono.just(finishMsg))).block();
             }
         } catch (Exception e) {
             log.error("工艺执行失败", e);
-            webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "工艺执行失败", e.getMessage()));
+            webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "工艺执行失败", e.getMessage()));
             Message<CraftEvents> stopMsg = MessageBuilder.withPayload(CraftEvents.ERROR_OCCUR).build();
             Mono.from(sm.sendEvent(Mono.just(stopMsg))).block();
         }
@@ -113,10 +115,10 @@ public class CraftsContext implements Runnable {
      */
     private boolean executeStep(CraftsStep step) throws Exception {
         Map<String, Object> startData = new HashMap<>();
-        startData.put("heatId", heatId);
+        startData.put("heatId", heatModuleCode);
         startData.put("currentStep", step.getMethod());
         webSocketService.push(WebSocketMessageType.CRAFTS_STEP, startData);
-        return craftsStepService.executeStep(heatId, step);
+        return craftsStepService.executeStep(heatModuleCode, step);
     }
 
     /**

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

@@ -36,4 +36,34 @@ public class CommandMutexState {
     private boolean moveTest = false;
     private boolean trayOut = false;
 
+    public void reset() {
+        this.capFreeCommandExecuting = false;
+        this.capLiftingOriginCommandExecuting = false;
+        this.capUsedCommandExecuting = false;
+        this.doorCloseCommandExecuting = false;
+        this.doorOpenCommandExecuting = false;
+        this.doorOriginCommandExecuting = false;
+        this.dualRobotJointOriginCommandExecuting = false;
+        this.fanStartCommandExecuting = false;
+        this.fanStopCommandExecuting = false;
+        this.filledSolutionStartCommandExecuting = false;
+        this.filledSolutionStopCommandExecuting = false;
+        this.gantryXOriginCommandExecuting = false;
+        this.gantryYOriginCommandExecuting = false;
+        this.gantryZOriginCommandExecuting = false;
+        this.heatStartCommandExecuting = false;
+        this.heatStopCommandExecuting = false;
+        this.moveToHeatAreaCommandExecuting = false;
+        this.moveToSolutionAreaCommandExecuting = false;
+        this.shakeStartCommandExecuting = false;
+        this.shakeStopCommandExecuting = false;
+        this.solutionAddCommandExecuting = false;
+        this.takePhotoCommandExecuting = false;
+        this.trayDownCommandExecuting = false;
+        this.trayLiftingOriginCommandExecuting = false;
+        this.trayUpCommandExecuting = false;
+        this.moveTest = false;
+        this.trayOut = false;
+    }
+
 }

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

@@ -4,6 +4,7 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.gd.app.model.entity.Tasks;
 import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -43,6 +44,23 @@ public class DeviceState {
     @Schema(description = "当前实验")
     private Tasks currentTasks;
 
+    public synchronized void reset(){
+        door.setOpen(false);
+        gantryArm.setIdle(true);
+        solutionModule.setIdle(true);
+        solutionModule.setShaking(false);
+        solutionModule.setTrayStatus(0);
+        solutionModule.setPumping(false);
+        for(HeatModuleState heatModuleState : heatModule){
+            heatModuleState.setHeatingType(HeatingType.stop);
+            heatModuleState.setCapExist(false);
+            heatModuleState.setTrayStatus(0);
+            heatModuleState.setFanOpen(false);
+            heatModuleState.setTrayUp(0);
+        }
+        tray.clear();
+    }
+
     /**
      * 获取指定加热模块状态
      */

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

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.model.bo.status.device;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.HeatingType;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -24,8 +25,8 @@ public class HeatModuleState {
     @Schema(description = "托盘状态，0为无托盘，1为有托盘")
     private int trayStatus = 0;
 
-    @Schema(description = "是否正在加热，true为正在加热，false为未加热")
-    private boolean heating = false;
+    @Schema(description = "当前加热类型")
+    private HeatingType heatingType =  HeatingType.stop;
 
     @Schema(description = "是否启动散热，true为正在散热，false为未在散热")
     private boolean fanOpen = false;
@@ -33,9 +34,18 @@ public class HeatModuleState {
     @Schema(description = "是否存在拍子，true为存在拍子，false无拍子")
     private boolean capExist = false;
 
+    @Schema(description = "加热器加热温度")
+    private Double heatTemperature = null;
+
+    @Schema(description = "加热器预热温度")
+    private Double warmUpTemperature = null;
+
     @Schema(description = "加热器目标温度")
     private Double targetTemperature = null;
 
+    @Schema(description = "加热器目标加热时间，单位秒")
+    private Integer targetTime = null;
+
     @Schema(description = "加热器当前温度")
     private Double temperature = null;
 

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

@@ -0,0 +1,16 @@
+package com.iflytop.gd.app.model.dto;
+
+import com.iflytop.gd.hardware.type.IO.InputIOMId;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class AllSensorDTO {
+    private InputIOMId inputIOMId;
+    private Boolean state;
+
+    public AllSensorDTO(InputIOMId inputIOMId, Boolean state) {
+        this.inputIOMId = inputIOMId;
+        this.state = state;
+    }
+}

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

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotNull;
 import lombok.Data;
@@ -9,5 +10,5 @@ import lombok.Data;
 public class PauseCraftsDto {
     @NotNull
     @Schema(description = "加热区id")
-    private String heatId;
+    private HeatModuleCode heatId;
 }

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

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotNull;
 import lombok.Data;
@@ -9,5 +10,5 @@ import lombok.Data;
 public class ResumeCraftsDTO {
     @NotNull
     @Schema(description = "加热区id")
-    private String heatId;
+    private HeatModuleCode heatId;
 }

src/main/java/com/iflytop/gd/app/model/vo/SetTargetTemperatureVO.java → src/main/java/com/iflytop/gd/app/model/dto/SetHeatDTO.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.app.model.vo;
+package com.iflytop.gd.app.model.dto;
 
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
@@ -9,12 +9,22 @@ import lombok.EqualsAndHashCode;
 
 @EqualsAndHashCode(callSuper = false)
 @Data
-public class SetTargetTemperatureVO {
+public class SetHeatDTO {
     @Schema(description = "加热模块code")
     private HeatModuleCode moduleCode;
 
     @Max(value = 200, message = "温度不能超过200度")
     @Min(value = 0, message = "温度不能低于0度")
-    @Schema(description = "目标温度")
+    @Schema(description = "预热温度")
+    private Double preheating;
+
+    @Max(value = 200, message = "温度不能超过200度")
+    @Min(value = 0, message = "温度不能低于0度")
+    @Schema(description = "加热温度")
     private Double temperature;
+
+    @Min(value = 0, message = "时间不能少于0")
+    @Schema(description = "加热时间 单位秒")
+    private Double time;
+
 }

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

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotNull;
 import jakarta.validation.constraints.Positive;
@@ -13,6 +14,6 @@ public class StartCraftsDTO {
     @Schema(description = "工艺id")
     private Long craftId;
 
-    @Schema(description = "加热区id，如果不传递则自动分配加热区")
-    private String heatId;
+    @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;
 }

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

@@ -1,5 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotNull;
 import lombok.Data;
@@ -9,5 +10,5 @@ import lombok.Data;
 public class StopCraftsDTO {
     @NotNull
     @Schema(description = "加热区id")
-    private String heatId;
+    private HeatModuleCode heatId;
 }

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.model.vo;
 
 import com.iflytop.gd.app.model.bo.CraftsStep;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.automaton.CraftStates;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
@@ -14,7 +15,7 @@ import java.util.List;
 public class CraftStatusVO {
 
     @Schema(description = "加热区 ID")
-    private String heatId;
+    private HeatModuleCode heatId;
 
     @Schema(description = "矿石 ID")
     private Long oresId;

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

@@ -1,12 +1,13 @@
 package com.iflytop.gd.app.model.vo;
 
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
 @Data
 public class SetCraftsVO {
     @Schema(description = "加热区id")
-    private String heatId;
+    private HeatModuleCode heatId;
 
     @Schema(description = "工艺名称")
     private String craftsName;

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

@@ -4,23 +4,28 @@ 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.HeatModuleState;
 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.module.HeatModuleService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.automaton.CraftEvents;
 import com.iflytop.gd.common.enums.automaton.CraftStates;
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 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;
@@ -30,48 +35,112 @@ import java.util.stream.Collectors;
 /**
  * 工艺接口服务
  */
+@Slf4j
 @Service
 @RequiredArgsConstructor
 public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
+    private final HeatModuleService heatModuleService;
     private final StateMachineFactory<CraftStates, CraftEvents> stateMachineFactory;
     private final WebSocketSender webSocketService;
     private final CraftsStepService craftsStepService;
     private final OresService oresService;
-    private final ConcurrentHashMap<String, CraftsContext> contextMap = new ConcurrentHashMap<>();
-    private final ConcurrentHashMap<String, Future<?>> futureMap = new ConcurrentHashMap<>();
+    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();
     }
+//
+//    /**
+//     * 配置工艺
+//     */
+//    public synchronized SetCraftsVO setCraft(Long craftId, String heatId) {
+//        // 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(heatId);
+//        if (existing != null) {
+//            CraftStates state = existing.getSm().getState().getId();
+//            if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) {
+//                throw new AppException(ResultCode.CRAFT_RUNNING);
+//            }
+//            clearCraftContext(heatId);
+//        }
+//        Crafts craft = this.getById(craftId);
+//        Ores ores = oresService.getById(craft.getOresId());
+//        CraftsContext ctx = new CraftsContext(
+//                heatId,
+//                ores,
+//                craft,
+//                stateMachineFactory,
+//                webSocketService,
+//                craftsStepService
+//        );
+//        contextMap.put(heatId, ctx);
+//        SetCraftsVO setCraftsVO = new SetCraftsVO();
+//        setCraftsVO.setHeatId(heatId);
+//        setCraftsVO.setCraftsName(craft.getName());
+//        setCraftsVO.setCraftsId(craft.getId());
+//        setCraftsVO.setOresName(ores.getName());
+//        setCraftsVO.setOresId(ores.getId());
+//        return setCraftsVO;
+//    }
 
     /**
-     * 配置工艺
+     * 启动执行工艺
      */
-    public synchronized SetCraftsVO setCraft(Long craftId, String heatId) {
+    public synchronized SetCraftsVO startCrafts(Long craftId, HeatModuleCode heatModuleCode) {
+        Crafts craft = this.getById(craftId);
+        if (craft == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);
+        }
+        Ores ores = oresService.getById(craft.getOresId());
+        if (ores == null) {
+            throw new AppException(ResultCode.INVALID_PARAMETER);
+        }
+        //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
+            HeatModuleState heatModuleState = heatModuleService.getIdleHeatModule();
+            if (heatModuleState == null) {
+                log.error("自动分配工艺失败，无空闲加热模块。");
+                throw new AppException(ResultCode.HEAT_MODULE_NO_IDLE);
+            } else {
+                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);
+            }
+        }
+        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(heatId);
+        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(heatId);
+            clearCraftContext(heatModuleCode);
         }
-        Crafts craft = this.getById(craftId);
-        Ores ores = oresService.getById(craft.getOresId());
+
         CraftsContext ctx = new CraftsContext(
-                heatId,
+                heatModuleCode,
                 ores,
                 craft,
                 stateMachineFactory,
                 webSocketService,
                 craftsStepService
         );
-        contextMap.put(heatId, ctx);
+        contextMap.put(heatModuleCode, ctx);
+        Future<?> future = executor.submit(ctx);
+        futureMap.put(heatModuleCode, future);
+
         SetCraftsVO setCraftsVO = new SetCraftsVO();
-        setCraftsVO.setHeatId(heatId);
+        setCraftsVO.setHeatId(heatModuleCode);
         setCraftsVO.setCraftsName(craft.getName());
         setCraftsVO.setCraftsId(craft.getId());
         setCraftsVO.setOresName(ores.getName());
@@ -80,25 +149,10 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     }
 
     /**
-     * 启动执行工艺（需先调用 setCraft）
-     */
-    public synchronized void startCrafts(String heatId) {
-        CraftsContext ctx = contextMap.get(heatId);
-        if (ctx == null) {
-            throw new AppException(ResultCode.CRAFT_CONTEXT_NULL);
-        }
-        if (futureMap.containsKey(heatId)) {
-            throw new AppException(ResultCode.CRAFT_RUNNING);
-        }
-        Future<?> future = executor.submit(ctx);
-        futureMap.put(heatId, future);
-    }
-
-    /**
      * 暂停执行工艺
      */
-    public synchronized void pauseCrafts(String heatId) {
-        CraftsContext ctx = contextMap.get(heatId);
+    public synchronized void pauseCrafts(HeatModuleCode heatModuleCode) {
+        CraftsContext ctx = contextMap.get(heatModuleCode);
         if (ctx == null) {
             throw new AppException(ResultCode.CRAFT_CONTEXT_NULL);
         }
@@ -108,8 +162,8 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     /**
      * 恢复执行工艺
      */
-    public synchronized void resumeCrafts(String heatId) {
-        CraftsContext ctx = contextMap.get(heatId);
+    public synchronized void resumeCrafts(HeatModuleCode heatModuleCode) {
+        CraftsContext ctx = contextMap.get(heatModuleCode);
         if (ctx == null) {
             throw new AppException(ResultCode.CRAFT_CONTEXT_NULL);
         }
@@ -119,9 +173,9 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     /**
      * 停止执行工艺，不清除上下文
      */
-    public synchronized void stopCrafts(String heatId) {
-        CraftsContext ctx = contextMap.get(heatId);
-        Future<?> future = futureMap.remove(heatId);
+    public synchronized void stopCrafts(HeatModuleCode heatModuleCode) {
+        CraftsContext ctx = contextMap.get(heatModuleCode);
+        Future<?> future = futureMap.remove(heatModuleCode);
         if (ctx == null || future == null) {
             throw new AppException(ResultCode.CRAFT_CONTEXT_NULL);
         }
@@ -130,24 +184,37 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     }
 
     /**
+     * 停止执行所有工艺，不清除上下文
+     */
+    public synchronized void stopAllCrafts() {
+        contextMap.forEach((key, ctx) -> {
+            Future<?> future = futureMap.remove(key);
+            if (ctx != null && future != null) {
+                ctx.stop();
+                future.cancel(true);
+            }
+        });
+    }
+
+    /**
      * 清理指定 heatId 的执行上下文和 Future
      */
-    public synchronized void clearCraftContext(String heatId) {
-        contextMap.remove(heatId);
-        Future<?> future = futureMap.remove(heatId);
+    public synchronized void clearCraftContext(HeatModuleCode heatModuleCode) {
+        contextMap.remove(heatModuleCode);
+        Future<?> future = futureMap.remove(heatModuleCode);
         if (future != null) future.cancel(true);
     }
 
     /**
      * 查询指定 heatId 的执行状态
      */
-    public CraftStatusVO getStatus(String heatId) {
-        CraftsContext ctx = contextMap.get(heatId);
+    public CraftStatusVO getStatus(HeatModuleCode heatModuleCode) {
+        CraftsContext ctx = contextMap.get(heatModuleCode);
         if (ctx == null) {
             return null;
         }
         CraftStatusVO vo = new CraftStatusVO();
-        vo.setHeatId(heatId);
+        vo.setHeatId(heatModuleCode);
         vo.setOresId(ctx.getOres().getId());
         vo.setOresName(ctx.getOres().getName());
         vo.setCraftsId(ctx.getCraft().getId());
@@ -163,10 +230,10 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
      */
     public List<CraftStatusVO> getAllStatuses() {
         return contextMap.entrySet().stream().map(entry -> {
-            String heatIdKey = entry.getKey();
+            HeatModuleCode heatModuleCode = entry.getKey();
             CraftsContext ctx = entry.getValue();
             CraftStatusVO vo = new CraftStatusVO();
-            vo.setHeatId(heatIdKey);
+            vo.setHeatId(heatModuleCode);
             vo.setOresId(ctx.getOres().getId());
             vo.setOresName(ctx.getOres().getName());
             vo.setCraftsId(ctx.getCraft().getId());

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

@@ -1,6 +1,6 @@
 package com.iflytop.gd.app.service.api;
 
-import com.iflytop.gd.app.model.vo.SetTargetTemperatureVO;
+import com.iflytop.gd.app.model.dto.SetHeatDTO;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
@@ -13,7 +13,7 @@ import org.springframework.stereotype.Service;
 public class HeatService {
     private final DeviceStateService deviceStateService;
 
-    public void setTargetTemperature(SetTargetTemperatureVO setTargetTemperatureVO) {
-        deviceStateService.getDeviceState().getHeatModuleByCode(setTargetTemperatureVO.getModuleCode()).setTargetTemperature(setTargetTemperatureVO.getTemperature());
+    public void setHeat(SetHeatDTO setHeatDTO) {
+        deviceStateService.getDeviceState().getHeatModuleByCode(setHeatDTO.getModuleCode()).setTargetTemperature(setHeatDTO.getTemperature());
     }
 }

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

@@ -0,0 +1,48 @@
+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.hardware.exception.HardwareException;
+import com.iflytop.gd.hardware.service.GDDeviceStatusService;
+import com.iflytop.gd.hardware.type.IO.InputIOMId;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 测试用
+ */
+@Service
+@RequiredArgsConstructor
+public class TestService {
+    private final GDDeviceStatusService gdDeviceStatusService;
+    private final DeviceStateService deviceStateService;
+
+    public List<AllSensorDTO> getAllSensor() throws HardwareException {
+        List<AllSensorDTO> allSensorDTOList = new ArrayList<>();
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE01_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE01_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE02_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE02_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE03_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE03_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE04_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE04_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE05_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE05_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE06_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE06_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.HEAT_MODULE06_EXIST, gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE06_EXIST)));
+
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP01_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP02_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP03_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP04_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP05_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST)));
+        allSensorDTOList.add(new AllSensorDTO(InputIOMId.CAP06_EXIST, gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST)));
+
+        return allSensorDTOList;
+    }
+
+    public void reset(){
+        deviceStateService.getCommandMutexState().get().reset();
+        deviceStateService.getDeviceState().reset();
+    }
+
+}

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

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.service.api;
 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.stereotype.Service;
 
@@ -15,6 +16,7 @@ import java.util.List;
 @RequiredArgsConstructor
 public class TrayService {
     private final DeviceStateService deviceStateService;
+    private final SolutionModuleService solutionModuleService;
 
     /**
      * 放入了新托盘
@@ -24,16 +26,18 @@ public class TrayService {
         trayState.setInSolutionModule(true);
         deviceStateService.getDeviceState().getTray().add(trayState);
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);
+        deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
         return trayState;
     }
 
     /**
      * 拿走了托盘
      */
-    public synchronized void trayOut() {
+    public synchronized void trayOut() throws InterruptedException {
         List<TrayState> trayList = deviceStateService.getDeviceState().getTray();
         trayList.removeIf(TrayState::isInSolutionModule);
         deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);
+        solutionModuleService.releaseSolutionModule();
     }
 
     /**

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

@@ -44,18 +44,18 @@ public class CraftsStepService {
     /**
      * 执行单个工艺步骤
      *
-     * @param heatId 加热区 ID
-     * @param step   工艺步骤，包括 method 和 params
+     * @param heatModuleCode 加热区 ID
+     * @param step           工艺步骤，包括 method 和 params
      * @return true 表示执行成功，false 表示失败
      */
-    public boolean executeStep(String heatId, CraftsStep step) throws Exception {
+    public boolean executeStep(HeatModuleCode heatModuleCode, CraftsStep step) throws Exception {
         String method = step.getMethod();
         JSONObject params = step.getParams();
         return switch (method) {
-            case "addLiquid" -> addLiquid(heatId, params);
-            case "shaking" -> shaking(heatId, params);
-            case "startHeating" -> heating(heatId, params);
-            case "takePhoto" -> takePhoto(heatId);
+            case "addLiquid" -> addLiquid(heatModuleCode, params);
+            case "shaking" -> shaking(heatModuleCode, params);
+            case "startHeating" -> heating(heatModuleCode, params);
+            case "takePhoto" -> takePhoto(heatModuleCode);
             default -> true;
         };
     }
@@ -63,10 +63,16 @@ public class CraftsStepService {
     /**
      * 将托盘从加热区移动至加液区并且添加溶液
      */
-    private boolean addLiquid(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+    private boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception {
         //TODO 判断加液区是否有托盘，如果没有托盘的话，判断加热区是否有托盘，然后将其移动至加液区
-        moveToSolutionModule(heatModuleCode);
+        if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 )
+                && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 0) {
+            throw new AppException(ResultCode.CRAFT_NO_TRAY);
+        }
+        if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 )
+                && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) {
+            moveToSolutionModule(heatModuleCode);
+        }
         JSONArray tubeSolList = params.getJSONArray("tubeSolList");
         for (int i = 0; i < tubeSolList.size(); i++) {
             JSONObject tubeSol = tubeSolList.getJSONObject(i);
@@ -80,9 +86,9 @@ public class CraftsStepService {
                 if (acidPumpDevice == null) {
                     throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
                 }
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "移动加液机械臂到指定试管", tubeNum));
+                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", tubeNum));
                 solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管
-                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "添加溶液", addLiquid));
+                webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquid));
                 solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
             }
         }
@@ -93,16 +99,15 @@ public class CraftsStepService {
     /**
      * 摇匀操作
      */
-    private boolean shaking(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+    private boolean shaking(HeatModuleCode heatModuleCode, JSONObject params) throws Exception {
         if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {//TODO 实际应该从传感器获取托盘状态
             moveToSolutionModule(heatModuleCode);
         }
         Integer second = params.getInt("second");
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开始摇匀", params));
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始摇匀", params));
         solutionModuleService.shakeStart();//开始摇匀
         delay(second);
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "停止摇匀", null));
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "停止摇匀", null));
         solutionModuleService.shakeStop();//停止摇匀
         return true;
     }
@@ -110,8 +115,7 @@ public class CraftsStepService {
     /**
      * 将托盘从加液区移动至加热区并开启加热
      */
-    private boolean heating(String heatId, JSONObject params) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+    private boolean heating(HeatModuleCode heatModuleCode, JSONObject params) throws Exception {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
         moveToHeatModule(heatModuleCode);
         Double temperature = params.getDouble("temperature");
@@ -126,16 +130,15 @@ public class CraftsStepService {
     /**
      * 拍照操作·
      */
-    private boolean takePhoto(String heatId) throws Exception {
-        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
+    private boolean takePhoto(HeatModuleCode heatModuleCode) throws Exception {
         if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {
             moveToSolutionModule(heatModuleCode);
         }
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开启补光灯", 100.0));
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开启补光灯", 100.0));
         solutionModuleService.fillLightOpen(100.0);//TODO 开启补光灯 亮度从数据库获取
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "拍照", null));
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "拍照", null));
         solutionModuleService.takePhoto();//拍照
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "关闭补光灯", null));
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "关闭补光灯", null));
         solutionModuleService.fillLightClose();//关闭补光灯
         return true;
     }
@@ -153,6 +156,13 @@ public class CraftsStepService {
     }
 
     /**
+     * 工艺执行完毕
+     */
+    public void finish(HeatModuleCode heatModuleCode) throws Exception {
+        moveToSolutionModule(heatModuleCode);
+    }
+
+    /**
      * 将托盘移至加热
      */
     private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception {
@@ -263,10 +273,10 @@ public class CraftsStepService {
         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.moveTrayHeatModuleAvoidDown(null);//TODO 临时避 恢复抬起状态
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态
         gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
 //                trayState.setInSolutionModule(true);//托盘是否在加液模块中
-        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘
+        deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘
         gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘
         gantryModuleService.gantryZMove(0);//抬升z轴
         gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方

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

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.service.device;
 
 import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.service.api.DevicePositionService;
+import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.command.DeviceCommandBundle;
 import com.iflytop.gd.common.command.DeviceCommandGenerator;
@@ -13,8 +14,10 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.Collections;
 import java.util.List;
+import java.util.concurrent.CompletableFuture;
 
 /**
  * 临时方法 以后应该会废弃
@@ -24,8 +27,8 @@ import java.util.List;
 @RequiredArgsConstructor
 public class DeviceCommandTempUtilService {
     private final DeviceCommandService deviceCommandService;
+    private final HeatModuleService heatModuleService;
     private final DevicePositionService devicePositionService;
-
     private final DeviceStateService deviceStateService;
 
     private final List<HeatModuleCode> moveTrayHeatModuleAvoidUpStateList = Collections.synchronizedList(new ArrayList<>());
@@ -35,8 +38,29 @@ 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 moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode) throws Exception {
-        moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode);
+    public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidUp(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 moveTrayHeatModuleAvoidUpNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
+                deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            }
+        }
+        if (targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
+            deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        }
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态
+        }
     }
 
     /**
@@ -44,13 +68,15 @@ 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 moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
+    public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
         List<CommandFuture> futuresList = new ArrayList<>();
         for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
-            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
-            futuresList.add(deviceCommandFuture);
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
         }
         if (targetHeatModuleCode != null) {
             DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
@@ -68,8 +94,8 @@ 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 moveTrayHeatModuleAvoidDown(HeatModuleCode targetHeatModuleCode) throws Exception {
-        moveTrayHeatModuleAvoidDown(null, null, targetHeatModuleCode);
+    public void moveTrayHeatModuleAvoidDown(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidDown(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
     }
 
     /**
@@ -77,18 +103,48 @@ 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 moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
+    public void moveTrayHeatModuleAvoidDownNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidUpStateList.clear();
+        List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
+        for (HeatModuleState heatModuleState : heatModuleStateList) {
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) {
+                if (heatModuleState.getTrayUp() == 1) {
+                    HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
+                    DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
+                    deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                    moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
+                }
+            }
+        }
+        if (targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower);
+            deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        }
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
+        }
+    }
+
+    /**
+     * 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(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUpStateList.clear();
         List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
         List<CommandFuture> futuresList = new ArrayList<>();
         for (HeatModuleState heatModuleState : heatModuleStateList) {
-            if (heatModuleState.getTrayUp() == 1) {
-                HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
-                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
-                moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
-                futuresList.add(deviceCommandFuture);
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) {
+                if (heatModuleState.getTrayUp() == 1) {
+                    HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
+                    DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                    moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
+                    futuresList.add(deviceCommandFuture);
+                }
             }
         }
         if (targetHeatModuleCode != null) {

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

@@ -0,0 +1,38 @@
+package com.iflytop.gd.app.service.device;
+
+import com.iflytop.gd.app.core.CommandPoolManager;
+import com.iflytop.gd.app.service.api.CraftsService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * 设备急停
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceEmergencyStopService {
+    private final DeviceStepCommandService stepCommandService;
+    private final DeviceStateService deviceStateService;
+    private final CommandPoolManager commandPoolManager;
+    private final CraftsService craftsService;
+
+    /**
+     * 处理按下急停
+     */
+    public void press() throws Exception {
+        commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令
+        craftsService.stopAllCrafts();//停止所有工艺
+        stepCommandService.stopAll();
+        deviceStateService.getDeviceState().setEmergencyStop(true);
+    }
+
+    /**
+     * 处理接触急停
+     */
+    public void release(){
+        commandPoolManager.restartExecutor();
+        deviceStateService.getDeviceState().setEmergencyStop(false);
+    }
+}

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

@@ -1,9 +1,10 @@
 package com.iflytop.gd.app.service.device;
 
+import cn.hutool.json.JSONUtil;
+import com.iflytop.gd.app.model.bo.DeviceInitializationData;
 import com.iflytop.gd.app.model.bo.status.device.DeviceState;
 import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.model.bo.status.device.SolutionContainerState;
-import com.iflytop.gd.app.model.bo.DeviceInitializationData;
 import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.app.model.entity.DeviceParamConfig;
 import com.iflytop.gd.app.service.api.ContainerService;
@@ -15,12 +16,12 @@ import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
 import com.iflytop.gd.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
 import com.iflytop.gd.hardware.drivers.LeisaiServoDriver;
+import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoDriver;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
 import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.CmdId;
-import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
 import com.iflytop.gd.hardware.type.IO.OutputIOMId;
 import com.iflytop.gd.hardware.type.MId;
 import com.iflytop.gd.hardware.type.RegIndex;
@@ -59,6 +60,7 @@ public class DeviceInitService {
     public void init() {
         new Thread(() -> {
             try {
+                log.info("初始化开始");
                 CompletableFuture.runAsync(() -> {
                     try {
                         tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE);
@@ -76,6 +78,7 @@ public class DeviceInitService {
                     log.error("设备初始化灯光失败，Color.GREEN");
                 }
                 deviceStateService.getDeviceState().setInitComplete(true);
+                log.info("初始化完毕");
             } catch (Exception e) {
                 try {
                     tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED);
@@ -90,6 +93,7 @@ public class DeviceInitService {
      * 设置各动作超时时间
      */
     public void initOvertime() {
+        log.info("初始化 initOvertime");
         actionOvertimeConstant.pushNewConfig(StepMotorMId.DOOR_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 90 * 1000);
         actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainXSV, CmdId.step_motor_easy_move_to_zero, 300 * 1000);
         actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainYSV, CmdId.step_motor_easy_move_to_zero, 120 * 1000);
@@ -102,12 +106,14 @@ public class DeviceInitService {
         actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_6_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
         actionOvertimeConstant.pushNewConfig(StepMotorMId.TRAY_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 300 * 1000);
         actionOvertimeConstant.pushNewConfig(LiquidArmMId.LiquidDistributionArm, CmdId.liquid_distribution_arm_move_to, 6 * 1000);
+        log.info("初始化 initOvertime完毕");
     }
 
     /**
      * 初始化所有设备使能
      */
     public void initEnable() throws Exception {
+        log.info("初始化 initEnable");
         stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1);
         stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 1);
         stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 1);
@@ -126,29 +132,32 @@ public class DeviceInitService {
 
         outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
         outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
+        log.info("初始化 initEnable完毕");
     }
 
     public void initDeviceSetData() throws Exception {
         if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
             return;
         }
+        log.info("初始化 initDeviceSetData");
         //从数据库中读取数据通过串口进行数据初始化
         List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
-        for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
-            DeviceInitializationData data = new DeviceInitializationData();
-            data.setId(Math.toIntExact(deviceParamConfig.getId()));
-            data.setMid(deviceParamConfig.getMid());
-            data.setRegIndex(deviceParamConfig.getRegIndex());
-            data.setRegInitVal(deviceParamConfig.getRegVal());
-            try {
+        try {
+            for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
+                DeviceInitializationData data = new DeviceInitializationData();
+                data.setId(Math.toIntExact(deviceParamConfig.getId()));
+                data.setMid(deviceParamConfig.getMid());
+                data.setRegIndex(deviceParamConfig.getRegIndex());
+                data.setRegInitVal(deviceParamConfig.getRegVal());
+                log.info("初始化 initDeviceSetData: {}", JSONUtil.toJsonStr(data));
                 sendToDevice(data);
-            } catch (Exception e) {
-                log.error("设备初始化写入参数失败，2秒后重试", e);
-                Thread.sleep(2000);
-                initDeviceSetData();
             }
+        } catch (Exception e) {
+            log.error("设备初始化写入参数失败，2秒后重试", e);
+            Thread.sleep(2000);
+            initDeviceSetData();
         }
-
+        log.info("初始化 initDeviceSetData完毕");
     }
 
     public void sendToDevice(DeviceInitializationData data) throws Exception {
@@ -156,6 +165,7 @@ public class DeviceInitService {
     }
 
     public void initDeviceState() {
+        log.info("初始化 initDeviceState");
         DeviceState deviceState = deviceStateService.getDeviceState();
         List<HeatModuleState> heatArea = deviceState.getHeatModule();
         for (HeatModuleCode code : HeatModuleCode.values()) {
@@ -171,5 +181,6 @@ public class DeviceInitService {
                 solutionBucket.add(solutionContainerStateProvider.getObject(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization));
             }
         }
+        log.info("初始化 initDeviceState完毕");
     }
 }

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

@@ -2,7 +2,7 @@ package com.iflytop.gd.app.service.device;
 
 import com.iflytop.gd.app.model.bo.status.CommandMutexState;
 import com.iflytop.gd.app.model.bo.status.device.DeviceState;
-import lombok.Getter;
+import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -11,13 +11,12 @@ import java.util.concurrent.atomic.AtomicReference;
 /**
  * 设备状态服务
  */
+@Data
 @Service
 @RequiredArgsConstructor
 public class DeviceStateService {
-    @Getter
     private final DeviceState deviceState;
 
-    @Getter
     private final AtomicReference<CommandMutexState> commandMutexState = new AtomicReference<>(new CommandMutexState());
 
 }

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

@@ -1,7 +1,7 @@
 package com.iflytop.gd.app.service.device.module;
 
-import com.iflytop.gd.app.service.device.DeviceCommandService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
+import com.iflytop.gd.app.service.device.DeviceCommandService;
 import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.command.DeviceCommandBundle;
 import com.iflytop.gd.common.command.DeviceCommandGenerator;
@@ -35,49 +35,133 @@ public class CapModuleService {
     }
 
     /**
-     * 将拍子升降区抬升至可以获取的位置
+     * 将拍子升降区抬升至可以获取的位置 不等待
      */
-    public void capUpBalance(String commandId, String command) throws Exception {
-        Integer capNum = null;
+    public void capUpBalanceNoWait(String commandId, String command) throws Exception {
         Boolean capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
-        if (capExist01 != null && capExist01) {
-            capNum = 0;
-        } else {
-            Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
-            if (capExist02 != null && capExist02) {
-                capNum = 1;
-            } else {
-                Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST);
-                if (capExist03 != null && capExist03) {
-                    capNum = 2;
-                } else {
-                    Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST);
-                    if (capExist04 != null && capExist04) {
-                        capNum = 3;
-                    } else {
-                        Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST);
-                        if (capExist05 != null && capExist05) {
-                            capNum = 4;
-                        } else {
-                            Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST);
-                            if (capExist06 != null && capExist06) {
-                                capNum = 5;
-                            }
-                        }
-                    }
-                }
+        Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
+        Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST);
+        Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST);
+        Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST);
+        Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST);
+        //如果传感器读数存在null，则视为异常
+        if (capExist01 == null || capExist02 == null || capExist03 == null || capExist04 == null || capExist05 == null || capExist06 == null) {
+            log.error("拍子存放区获取传感器状态异常");
+            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+        }
+        //先统计拍子个数
+        int capNum = 0;
+        if (capExist01) {
+            return;
+        }
+        if (capExist02) {
+            capNum++;
+        }
+        if (capExist03) {
+            capNum++;
+        }
+        if (capExist04) {
+            capNum++;
+            if (capExist02 && !capExist03) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capExist05) {
+            capNum++;
+            if (capExist03 && !capExist04) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
             }
         }
-        if (capNum == null) {
+        if (capExist06) {
+            capNum++;
+            if (capExist04 && !capExist05) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capNum == 0) {
+            throw new AppException(ResultCode.CAP_MODULE_NO_CAP);
+        }
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度
+        double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21;
+        //先留一个空位置，不要完全抬升，防止有传感器坏了的情况，使用第二个传感器做校验
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum);
+        deviceCommandService.sendCommand(commandId, command, deviceCommand);
+    }
+
+    /**
+     * 将拍子升降区抬升至可以获取的位置
+     */
+    public void capUpBalance(String commandId, String command) throws Exception {
+        Boolean capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
+        Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
+        Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST);
+        Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST);
+        Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST);
+        Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST);
+        //如果传感器读数存在null，则视为异常
+        if (capExist01 == null || capExist02 == null || capExist03 == null || capExist04 == null || capExist05 == null || capExist06 == null) {
             log.error("拍子存放区获取传感器状态异常");
             throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
         }
-
-        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
-        double capLiftingHeightSum = capNum * capLiftingHeight + 20;
+        //先统计拍子个数
+        int capNum = 0;
+        if (capExist01) {
+            return;
+        }
+        if (capExist02) {
+            capNum++;
+        }
+        if (capExist03) {
+            capNum++;
+        }
+        if (capExist04) {
+            capNum++;
+            if (capExist02 && !capExist03) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capExist05) {
+            capNum++;
+            if (capExist03 && !capExist04) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capExist06) {
+            capNum++;
+            if (capExist04 && !capExist05) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capNum == 0) {
+            throw new AppException(ResultCode.CAP_MODULE_NO_CAP);
+        }
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度
+        double capLiftingHeightSum = (5 - capNum) * capLiftingHeight + 21;
+        //先留一个空位置，不要完全抬升，防止有传感器坏了的情况，使用第二个传感器做校验
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
+        capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
+        capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
+        if(capExist01 == null || capExist02 == null){
+            log.error("拍子存放区获取传感器状态异常");
+            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+        }
+        if (!capExist02 || capExist01) {//此时第二个传感器应该是true，第一个应该是false，如果不正确代表传感器损坏或读数错误
+            log.error("拍子存放区获取传感器状态异常");
+            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+        }
+        //传感器校验正确，继续提升
+        capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21;
+        DeviceCommandBundle continueDeviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum);
+        CommandFuture continueDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, continueDeviceCommand);
+        CommandUtil.wait(continueDeviceCommandFuture);
+        //提升完毕再次校验第一个传感器，此时应该有读数
+        capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
+        if (capExist01 == null || !capExist01) {
+            log.error("拍子存放区获取传感器状态异常");
+            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+        }
     }
 
     /**
@@ -94,6 +178,22 @@ public class CapModuleService {
      *
      * @param num 1为上升1格，-1为下降1格
      */
+    public void capMotorMoveByNumNoWait(String commandId, String command, int num) throws Exception {
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
+        Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);
+        double toCapPosition = capPosition + (num * capLiftingHeight);
+        if (toCapPosition < 0) {
+            throw new AppException(ResultCode.CAP_LIFT_ERROR);
+        }
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(toCapPosition);
+        deviceCommandService.sendCommand(commandId, command, deviceCommand);
+    }
+
+    /**
+     * 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(String commandId, String command, int num) throws Exception {
         double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
         Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);

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

@@ -1,9 +1,11 @@
 package com.iflytop.gd.app.service.device.module;
 
 import com.iflytop.gd.app.model.bo.Point3D;
+import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.model.entity.DevicePosition;
-import com.iflytop.gd.app.service.device.DeviceCommandService;
 import com.iflytop.gd.app.service.api.DevicePositionService;
+import com.iflytop.gd.app.service.device.DeviceCommandService;
+import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.command.DeviceCommandBundle;
 import com.iflytop.gd.common.command.DeviceCommandGenerator;
@@ -27,6 +29,7 @@ public class HeatModuleService {
     private final DeviceCommandService deviceCommandService;
     private final DevicePositionService devicePositionService;
     private final GDDeviceStatusService gdDeviceStatusService;
+    private final DeviceStateService deviceStateService;
 
     /**
      * 加热模块升降电机移动到指定位置
@@ -164,12 +167,12 @@ public class HeatModuleService {
      */
     public Boolean heatModuleSensorState(HeatModuleCode heatModuleCode) throws HardwareException {
         return switch (heatModuleCode) {
-            case heat_module_01 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE01_EXIST);
-            case heat_module_02 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE02_EXIST);
-            case heat_module_03 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE03_EXIST);
-            case heat_module_04 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE04_EXIST);
-            case heat_module_05 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE05_EXIST);
-            case heat_module_06 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE06_EXIST);
+            case heat_module_01 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE04_EXIST);
+            case heat_module_02 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE05_EXIST);
+            case heat_module_03 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE06_EXIST);
+            case heat_module_04 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE01_EXIST);
+            case heat_module_05 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE02_EXIST);
+            case heat_module_06 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE03_EXIST);
         };
 
     }
@@ -205,4 +208,16 @@ public class HeatModuleService {
         return devicePosition.getPoint3D();
     }
 
+    /**
+     * 获取一个空闲加热区
+     */
+    public HeatModuleState getIdleHeatModule() {
+        for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) {
+            if(heatModuleState.getTrayStatus() == 0 && !heatModuleState.isCapExist()){
+                return heatModuleState;
+            }
+        }
+        return null;
+    }
+
 }

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

@@ -20,8 +20,6 @@ import org.springframework.stereotype.Service;
 
 import java.util.concurrent.ArrayBlockingQueue;
 import java.util.concurrent.BlockingQueue;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
 
 /**
  * 加液模块
@@ -35,7 +33,6 @@ public class SolutionModuleService {
     private final LiquidDistributionArmDriver liquidDistributionArmDriver;
     private final WebSocketSender webSocketService;
 
-    private final Lock moduleLock = new ReentrantLock();
     private final BlockingQueue<Thread> waitingQueue = new ArrayBlockingQueue<>(1);
 
     /**
@@ -48,8 +45,9 @@ public class SolutionModuleService {
     /**
      * 申请使用加液模块
      */
-    public void requestSolutionModule(String commandId, String command) {
+    public synchronized void requestSolutionModule(String commandId, String command) {
         try {
+            log.info("申请使用加液模块");
             // 如果加液模块繁忙，加入队列等待
             while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
                 if (commandId != null && command != null) {
@@ -59,7 +57,8 @@ public class SolutionModuleService {
                 // 把当前线程放到队列中等待
                 waitingQueue.put(Thread.currentThread()); // 阻塞当前线程直到被唤醒
             }
-            occupySolutionModule();
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
+            log.info("加液模块申请成功");
         } catch (InterruptedException e) {
             Thread.currentThread().interrupt();
             throw new RuntimeException("等待加液区空闲错误", e);
@@ -67,43 +66,32 @@ public class SolutionModuleService {
     }
 
     /**
-     * 占用加液模块
-     */
-    private void occupySolutionModule() {
-        moduleLock.lock();
-        deviceStateService.getDeviceState().getSolutionModule().setIdle(false);
-    }
-
-    /**
      * 释放加液区
      */
-    public void releaseSolutionModule() throws InterruptedException {
-        try {
-            deviceStateService.getDeviceState().getSolutionModule().setIdle(true);
-            // 唤醒队列中的第一个线程
-            if (!waitingQueue.isEmpty()) {
-                Thread waitingThread = waitingQueue.take();
-                synchronized (waitingThread) {
-                    waitingThread.notify();  // 唤醒队列中的第一个等待线程
-                }
+    public synchronized void releaseSolutionModule() throws InterruptedException {
+        deviceStateService.getDeviceState().getSolutionModule().setIdle(true);
+        // 唤醒队列中的第一个线程
+        if (!waitingQueue.isEmpty()) {
+            Thread waitingThread = waitingQueue.take();
+            synchronized (waitingThread) {
+                waitingThread.notify();  // 唤醒队列中的第一个等待线程
             }
-        } finally {
-            moduleLock.unlock();
         }
     }
 
+
     /**
      * 双轴械臂 移动至指定试管
      */
     public void dualRobotMovePoint(int index) throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, index);
+        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index);
     }
 
     /**
      * 加液机械臂回原点
      */
     public void dualRobotOrigin() throws Exception {
-        liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
+        liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
     }
 
     /**
@@ -204,7 +192,7 @@ public class SolutionModuleService {
     /**
      * 添加溶液
      */
-    public void acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
+    public CommandFuture acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
         DeviceCommandBundle deviceCommand;
         switch (acidPumpDevice) {
             case acid_pump_01 -> {
@@ -233,8 +221,7 @@ public class SolutionModuleService {
             }
             default -> throw new RuntimeException("index 未找到");
         }
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand);
-        CommandUtil.wait(deviceCommandFuture);
+        return deviceCommandService.sendCommand(commandId, command, deviceCommand);
     }
 
     /**

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

@@ -42,12 +42,12 @@ 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()) {
+//                        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleState.getModuleCode()).setTemperature(123.0);
+//                    }
+//                }
             }
         } catch (Exception e) {
             log.error("定时采集加热棒温度错误", e);

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

@@ -1,6 +1,8 @@
 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;
@@ -15,9 +17,8 @@ import java.net.URI;
 @Configuration
 @RequiredArgsConstructor
 public class DeviceEmergencyStopConfig {
-    private final DeviceStepCommandService stepCommandService;
-    private final DeviceStateService deviceStateService;
-    private final CommandPoolManager commandPoolManager;
+    private final DeviceEmergencyStopService deviceEmergencyStopService;
+
 
     @Value("${iflytophald.ip}")
     String ip;
@@ -32,15 +33,13 @@ public class DeviceEmergencyStopConfig {
             if (s.get("event").equals("press")) {
                 log.info("触发急停{}", s);
                 try {
-                    commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令
-                    stepCommandService.stopAll();
-                    deviceStateService.getDeviceState().setEmergencyStop(true);
+                    deviceEmergencyStopService.press();
                 } catch (Exception e) {
                     log.error("设备急停失败:{}", e.getMessage());
                     throw new RuntimeException(e);
                 }
             } else if (s.get("event").equals("release")) {
-                deviceStateService.getDeviceState().setEmergencyStop(false);
+                deviceEmergencyStopService.release();
                 log.info("解除急停{}", s);
             }
         });

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

@@ -0,0 +1,13 @@
+package com.iflytop.gd.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 加热状态类型
+ */
+@Getter
+public enum HeatingType {
+    stop,
+    warm_up,
+    thermostatic,
+}

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

@@ -40,6 +40,7 @@ public enum ResultCode implements IResultCode, Serializable {
     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"),
     SERVICE_UNAVAILABLE("5001", "服务暂不可用"),
@@ -47,7 +48,7 @@ public enum ResultCode implements IResultCode, Serializable {
     COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"),
     HARDWARE_ERROR("5004", "硬件错误"),
     EMERGENCY_STOP("5555", "设备急停中"),
-    //============================ 6xxx：指令相关 ============================
+    //============================ 6xxx：设备、指令相关 ============================
     COMMAND_NOT_FOUND("6000", "指令未找到"),
     COMMAND_ALREADY_EXECUTING("6001", "指令正在执行，无法重复执行"),
     SENSOR_STATUS_FAILED("6010", "获取传感器状态失败"),
@@ -56,6 +57,9 @@ public enum ResultCode implements IResultCode, Serializable {
     SOLUTION_MODULE_NO_TRAY("6023", "加液模块无托盘"),
     CAP_LIFT_ERROR("6024", "拍子升降错误"),
     CMD_BUSY("6025", "设备忙，请稍后"),
+    HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"),
+    CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"),
+    SOLUTION_MODULE_OCCUPIED("6028", "加液模块被占用"),
     ;
     /** 状态码 */
     private final String code;

src/main/java/com/iflytop/gd/monitor/controller/CraftsMonitorController.java

@@ -2,6 +2,7 @@ package com.iflytop.gd.monitor.controller;
 
 import com.iflytop.gd.app.model.vo.CraftStatusVO;
 import com.iflytop.gd.app.service.api.CraftsService;
+import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.result.ResultCode;
 import io.swagger.v3.oas.annotations.Operation;
@@ -27,10 +28,9 @@ public class CraftsMonitorController {
     private final CraftsService craftsService;
 
     @Operation(summary = "获取某个加热区工艺状态")
-    @GetMapping("/status/{heatId}")
-    public Result<CraftStatusVO> getStatus(
-            @NotNull @PathVariable String heatId) {
-        CraftStatusVO vo = craftsService.getStatus(heatId);
+    @GetMapping("/status/{heatModuleCode}")
+    public Result<CraftStatusVO> getStatus(@NotNull @PathVariable HeatModuleCode heatModuleCode) {
+        CraftStatusVO vo = craftsService.getStatus(heatModuleCode);
         if (vo == null) {
             return Result.failed(ResultCode.NOT_FOUND, "未找到执行任务");
         }