现场代码同步

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

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.app.service.SelfTestService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
@@ -20,17 +21,22 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("dual_robot_joint_origin")//业务指令注解
+@CommandMapping("dual_robot_origin")//业务指令注解
 public class DualRobotJointOriginCommand extends BaseCommandHandler {
     private final LiquidDistributionArmDriver liquidDistributionArmDriver;
+    private final DeviceStateService deviceStateService;
+    private final SelfTestService selfTestService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            //加液臂电机使能 TODO将来干掉
-            liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
-            //将加液臂移动至0位
-            liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
+            if (!deviceStateService.getDeviceState().isVirtual()) {//虚拟模式不执行
+                //加液臂电机使能 TODO将来干掉
+                liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
+                //将加液臂移动至0位
+                liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
+            }
+            selfTestService.getSelfTestState().setDualRobotOrigin(true);//设置是否在原点状态
         });
     }
 }

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

@@ -15,6 +15,7 @@ import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -34,11 +35,13 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final GantryArmService gantryArmService;
     private final DeviceStateService deviceStateService;
+    private final MoveToSolutionAreaCommand moveToSolutionAreaCommand;
+    @Getter
     private final AtomicBoolean isExecuting = new AtomicBoolean(false);
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        if (isExecuting.get()) {
+        if (isExecuting.get() || moveToSolutionAreaCommand.getIsExecuting().get()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
         isExecuting.set(true);

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

@@ -14,6 +14,7 @@ import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
 import com.iflytop.gd.hardware.exception.HardwareException;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -33,11 +34,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final GantryArmService gantryArmService;
     private final DeviceStateService deviceStateService;
+    private final MoveToHeatAreaCommand moveToHeatAreaCommand;
+    @Getter
     private final AtomicBoolean isExecuting = new AtomicBoolean(false);
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        if (isExecuting.get()) {
+        if (isExecuting.get() || moveToHeatAreaCommand.getIsExecuting().get()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
         isExecuting.set(true);

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

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.cmd;
 
 import cn.hutool.json.JSONArray;
 import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.ContainerService;
@@ -35,7 +36,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         deviceStateService.setSolutionModuleStatePumping(true);
         return runAsync(() -> {
-            JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList");
+            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
@@ -50,7 +51,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                         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);//工艺未找到对应溶液容器
+                            throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器
                         }
                         deviceCommandUtilService.dualRobotMovePoint(num);//移动加液机械臂到指定试管点位
                         deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液

src/main/java/com/iflytop/gd/app/cmd/debug/DebugLiquidPumpStartCommand.java

@@ -8,6 +8,8 @@ import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
+import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -23,6 +25,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_liquid_pump_start")
 public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final StepMotorCtrlDriver stepMotorCtrlDriver;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -50,18 +53,53 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
             }
 
             switch (acidPumpDevice) {
-                case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1MoveBy(volume);
-                case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2MoveBy(volume);
-                case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3MoveBy(volume);
-                case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4MoveBy(volume);
-                case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5MoveBy(volume);
-                case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6MoveBy(volume);
-                case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7MoveBy(volume);
-                case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8MoveBy(volume);
+                case acid_pump_01 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump1MoveBy(volume);
+                }
+                case acid_pump_02 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_2_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump2MoveBy(volume);
+                }
+                case acid_pump_03 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_3_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump3MoveBy(volume);
+                }
+                case acid_pump_04 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_4_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump4MoveBy(volume);
+                }
+                case acid_pump_05 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_5_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump5MoveBy(volume);
+                }
+                case acid_pump_06 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_6_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump6MoveBy(volume);
+                }
+                case acid_pump_07 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_7_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump7MoveBy(volume);
+                }
+                case acid_pump_08 -> {
+                    stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_8_MOTOR_MID, 1);
+                    deviceCommand = DeviceCommandGenerator.acidPump8MoveBy(volume);
+                }
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
+            switch (acidPumpDevice) {
+                case acid_pump_01 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 0);
+                case acid_pump_02 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_2_MOTOR_MID, 0);
+                case acid_pump_03 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_3_MOTOR_MID, 0);
+                case acid_pump_04 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_4_MOTOR_MID, 0);
+                case acid_pump_05 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_5_MOTOR_MID, 0);
+                case acid_pump_06 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_6_MOTOR_MID, 0);
+                case acid_pump_07 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_7_MOTOR_MID, 0);
+                case acid_pump_08 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_8_MOTOR_MID, 0);
+                default -> throw new RuntimeException("index 未找到");
+            }
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugLiquidPumpStopCommand.java

@@ -8,6 +8,8 @@ import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
+import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -23,6 +25,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_liquid_pump_stop")
 public class DebugLiquidPumpStopCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final StepMotorCtrlDriver stepMotorCtrlDriver;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -43,6 +46,17 @@ public class DebugLiquidPumpStopCommand extends BaseCommandHandler {
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
+            switch (acidPumpDevice) {
+                case acid_pump_01 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 0);
+                case acid_pump_02 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_2_MOTOR_MID, 0);
+                case acid_pump_03 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_3_MOTOR_MID, 0);
+                case acid_pump_04 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_4_MOTOR_MID, 0);
+                case acid_pump_05 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_5_MOTOR_MID, 0);
+                case acid_pump_06 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_6_MOTOR_MID, 0);
+                case acid_pump_07 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_7_MOTOR_MID, 0);
+                case acid_pump_08 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_8_MOTOR_MID, 0);
+                default -> throw new RuntimeException("index 未找到");
+            }
         });
     }
 }

src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java

@@ -15,11 +15,8 @@ public class SelfTestState {
     @Schema(description = "龙门架机械臂z轴是否在原点")
     private boolean gantryZOrigin = false;
 
-    @Schema(description = "加液机械臂01是否在原点")
-    private boolean dualRobotJoint1Origin = false;
-
-    @Schema(description = "加液机械臂02是否在原点")
-    private boolean dualRobotJoint2Origin = false;
+    @Schema(description = "加液机械臂是否在原点")
+    private boolean dualRobotOrigin = false;
 
     @Schema(description = "拍子升降是否在原点")
     private boolean capLiftingOrigin = false;

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

@@ -10,11 +10,13 @@ import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
 import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
 import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
@@ -29,7 +31,7 @@ public class DeviceCommandUtilService {
     private final DevicePositionService devicePositionService;
     private final LiquidDistributionArmDriver liquidDistributionArmDriver;
     private final GDDeviceStatusService gdDeviceStatusService;
-
+    private final StepMotorCtrlDriver stepMotorCtrlDriver;
     /**
      * 门电机回原点
      */
@@ -74,6 +76,28 @@ public class DeviceCommandUtilService {
      */
     public void gantryMove(String cmdId, String cmdCode, Point3D point) throws Exception {
         DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
+        CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryXMoveDeviceCommand);
+
+        DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY());
+        CommandFuture gantryYMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryYMoveDeviceCommand);
+
+        DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
+        CommandFuture gantryZMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryZMoveDeviceCommand);
+        commandWait(gantryXMoveDeviceCommandFuture, gantryYMoveDeviceCommandFuture, gantryZMoveDeviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂移动到指定点
+     */
+    public void gantryMoveQueue(Point3D point) throws Exception {
+        gantryMoveQueue(null, null, point);
+    }
+
+    /**
+     * 龙门架机械臂移动到指定点
+     */
+    public void gantryMoveQueue(String cmdId, String cmdCode, Point3D point) throws Exception {
+        DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
         DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY());
         DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand);
@@ -93,10 +117,27 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂X轴回原点
+     */
+    public void gantryXMoveOriginQueue() throws Exception {
+        gantryXMoveOriginQueue(null, null);
+    }
+
+    /**
+     * 龙门架机械臂X轴回原点
+     */
+    public void gantryXMoveOriginQueue(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
+
     /**
      * 龙门架机械臂Y轴回原点
      */
@@ -109,10 +150,28 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+
+    /**
+     * 龙门架机械臂Y轴回原点
+     */
+    public void gantryYMoveOriginQueue() throws Exception {
+        gantryYMoveOriginQueue(null, null);
+    }
+
+    /**
+     * 龙门架机械臂Y轴回原点
+     */
+    public void gantryYMoveOriginQueue(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYOrigin();
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
+
     /**
      * 龙门架机械臂Z轴回原点
      */
@@ -125,6 +184,23 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+
+    /**
+     * 龙门架机械臂Z轴回原点
+     */
+    public void gantryZMoveOriginQueue() throws Exception {
+        gantryZMoveOriginQueue(null, null);
+    }
+
+    /**
+     * 龙门架机械臂Z轴回原点
+     */
+    public void gantryZMoveOriginQueue(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -141,6 +217,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂X轴移动到指定点
+     */
+    public void gantryXMoveQueue(double position) throws Exception {
+        gantryXMoveQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂X轴移动到指定点
+     */
+    public void gantryXMoveQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -157,6 +249,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Y轴移动到指定点
+     */
+    public void gantryYMoveQueue(double position) throws Exception {
+        gantryYMoveQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Y轴移动到指定点
+     */
+    public void gantryYMoveQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -173,6 +281,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Z轴移动到指定点
+     */
+    public void gantryZMoveQueue(double position) throws Exception {
+        gantryZMoveQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Z轴移动到指定点
+     */
+    public void gantryZMoveQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -189,6 +313,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂X轴相对移动到指定点
+     */
+    public void gantryXMoveByQueue(double position) throws Exception {
+        gantryXMoveByQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂X轴相对移动到指定点
+     */
+    public void gantryXMoveByQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -205,6 +345,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Y轴相对移动到指定点
+     */
+    public void gantryYMoveByQueue(double position) throws Exception {
+        gantryYMoveByQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Y轴相对移动到指定点
+     */
+    public void gantryYMoveByQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -221,6 +377,22 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
+     * 龙门架机械臂Z轴相对移动到指定点
+     */
+    public void gantryZMoveByQueue(double position) throws Exception {
+        gantryZMoveByQueue(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Z轴相对移动到指定点
+     */
+    public void gantryZMoveByQueue(String cmdId, String cmdCode, double position) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position);
         CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
@@ -401,18 +573,55 @@ public class DeviceCommandUtilService {
      * 添加溶液
      */
     public void acidPumpMoveBy(String cmdId, String cmdCode, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = switch (acidPumpDevice) {
-            case acid_pump_01 -> DeviceCommandGenerator.acidPump1MoveBy(position);
-            case acid_pump_02 -> DeviceCommandGenerator.acidPump2MoveBy(position);
-            case acid_pump_03 -> DeviceCommandGenerator.acidPump3MoveBy(position);
-            case acid_pump_04 -> DeviceCommandGenerator.acidPump4MoveBy(position);
-            case acid_pump_05 -> DeviceCommandGenerator.acidPump5MoveBy(position);
-            case acid_pump_06 -> DeviceCommandGenerator.acidPump6MoveBy(position);
-            case acid_pump_07 -> DeviceCommandGenerator.acidPump7MoveBy(position);
-            case acid_pump_08 -> DeviceCommandGenerator.acidPump8MoveBy(position);
-        };
+        DeviceCommandBundle deviceCommand;
+        switch (acidPumpDevice) {
+            case acid_pump_01 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump1MoveBy(position);
+            }
+            case acid_pump_02 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_2_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump2MoveBy(position);
+            }
+            case acid_pump_03 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_3_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump3MoveBy(position);
+            }
+            case acid_pump_04 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_4_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump4MoveBy(position);
+            }
+            case acid_pump_05 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_5_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump5MoveBy(position);
+            }
+            case acid_pump_06 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_6_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump6MoveBy(position);
+            }
+            case acid_pump_07 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_7_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump7MoveBy(position);
+            }
+            case acid_pump_08 -> {
+                stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_8_MOTOR_MID, 1);
+                deviceCommand = DeviceCommandGenerator.acidPump8MoveBy(position);
+            }
+            default -> throw new RuntimeException("index 未找到");
+        }
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFuture);
+        switch (acidPumpDevice) {
+            case acid_pump_01 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_1_MOTOR_MID, 0);
+            case acid_pump_02 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_2_MOTOR_MID, 0);
+            case acid_pump_03 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_3_MOTOR_MID, 0);
+            case acid_pump_04 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_4_MOTOR_MID, 0);
+            case acid_pump_05 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_5_MOTOR_MID, 0);
+            case acid_pump_06 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_6_MOTOR_MID, 0);
+            case acid_pump_07 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_7_MOTOR_MID, 0);
+            case acid_pump_08 -> stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ACID_PUMP_8_MOTOR_MID, 0);
+            default -> throw new RuntimeException("index 未找到");
+        }
     }
 
     /**