fix:调整指令

src/main/java/com/qyft/ms/app/front/cmd/business/NozzleHeatStart.java

@@ -3,6 +3,7 @@ package com.qyft.ms.app.front.cmd.business;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.constant.CommandStatus;
+import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
@@ -39,7 +40,8 @@ public class NozzleHeatStart extends BaseCommandHandler {
         }
         return runAsync(() -> {
             DeviceCommand nozzleHeatStartCmd = DeviceCommandGenerator.nozzleHeatStart(temperature); // 生成喷头加热
-            deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStartCmd);//发送指令
+            CommandFuture nozzleHeatStartCmdFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStartCmd);//发送指令
+            commandWait(nozzleHeatStartCmdFuture);
             deviceStatus.setNozzleHeating(true);//设置喷头加热状态
         });
     }

src/main/java/com/qyft/ms/app/front/cmd/business/NozzleHeatStop.java

@@ -2,6 +2,7 @@ package com.qyft.ms.app.front.cmd.business;
 
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.annotation.CommandMapping;
+import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
@@ -29,7 +30,8 @@ public class NozzleHeatStop extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
             DeviceCommand nozzleHeatStopCmd = DeviceCommandGenerator.nozzleHeatStop(); // 生成喷头加热关闭
-            deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStopCmd);//发送指令
+            CommandFuture nozzleHeatStopCmdFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStopCmd);//发送指令
+            commandWait(nozzleHeatStopCmdFuture);
             deviceStatus.setNozzleHeating(false);//设置喷头加热状态
         });
     }

src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java

@@ -72,11 +72,13 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
                 commandWait(motorZPositionSetCommandFuture);
             }
             Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-            //3.x轴移动到废液位置
+            //xy轴移动到废液位置
             DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
             CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-            commandWait(motorXPositionSetCommandFuture);
-            //4.下降z轴高度，防止飞溅
+            DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getY(), 20.0);
+            CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
+            commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture);
+            //下降z轴高度，防止飞溅
             DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
             CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
             commandWait(motorZPositionSetCommandFuture);
@@ -85,12 +87,13 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
             commandWait(nozzleValveOpenCommandFuture);
+            Thread.sleep(500);//开启喷嘴阀后需要延迟500毫秒
 
             //5.打开三通阀注射器管路
 //            DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
 //            CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
 //            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
-            Thread.sleep(500);
+
             //6.设置注射泵速度，推注射泵
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
             CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);

src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFillStop.java

@@ -41,6 +41,7 @@ public class NozzlePipelinePreFillStop extends BaseCommandHandler {
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
             Thread.sleep(500);
+
             //2.全部关闭三通阀
             DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
             CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);

src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java

@@ -1,96 +1,96 @@
-package com.qyft.ms.app.front.cmd.business;
-
-import cn.hutool.json.JSONObject;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.qyft.ms.app.device.status.DeviceStatus;
-import com.qyft.ms.app.model.entity.Position;
-import com.qyft.ms.app.model.entity.SysSettings;
-import com.qyft.ms.app.service.PositionService;
-import com.qyft.ms.app.service.SysSettingsService;
-import com.qyft.ms.system.common.annotation.CommandMapping;
-import com.qyft.ms.system.common.constant.CommandStatus;
-import com.qyft.ms.system.common.device.command.CommandFuture;
-import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
-import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
-import com.qyft.ms.system.core.handler.BaseCommandHandler;
-import com.qyft.ms.system.model.bo.DeviceCommand;
-import com.qyft.ms.system.model.form.FrontCmdControlForm;
-import com.qyft.ms.system.service.WebSocketService;
-import com.qyft.ms.system.service.device.DeviceCommandService;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 喷嘴管路_清洗喷嘴管路
- * 废弃
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("nozzle_pipeline_wash")//业务指令注解
-public class NozzlePipelineWash extends BaseCommandHandler {
-
-    private final DeviceCommandService deviceCommandService;
-    private final SysSettingsService sysSettingsService;
-    private final PositionService positionService;
-    private final DeviceStatus deviceStatus;
-    private final WebSocketService webSocketService;
-
-    @Override
-    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
-        if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
-            throw new RuntimeException("正在清洗喷嘴管路或注射器管路，无法开启清洗注射器管路");
-        }
-        try {
-            //1.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
-            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
-            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-            commandWait(motorXyzPositionGetCommandFuture);
-            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-            if (zAxisPosition == null) {
-                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
-                throw new RuntimeException("获得电机XYZ相对原点坐标失败");
-            }
-            zAxisPosition = Math.abs(zAxisPosition);
-            SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
-            double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
-            if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
-                CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
-                commandWait(motorZPositionSetCommandFuture);
-            }
-            Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-            //2.轴移动到废液位置
-            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
-            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-            commandWait(motorXPositionSetCommandFuture);
-            //3.下降z轴高度，防止飞溅
-            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
-            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
-            commandWait(motorZPositionSetCommandFuture);
-            //4.开启三通阀到喷嘴管路
-            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
-            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
-            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
-
-            //6.打开清洗阀
-            DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
-            CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
-            commandWait(washValveOpenCommandFuture);
-
-            deviceStatus.setCleaningNozzlePipeline(true);
-        } catch (Exception e) {
-            deviceStatus.setCleaningNozzlePipeline(false);
-            throw new RuntimeException(e);
-        }
-        return runAsync(() -> {
-
-
-        });
-
-    }
-}
+//package com.qyft.ms.app.front.cmd.business;
+//
+//import cn.hutool.json.JSONObject;
+//import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+//import com.qyft.ms.app.device.status.DeviceStatus;
+//import com.qyft.ms.app.model.entity.Position;
+//import com.qyft.ms.app.model.entity.SysSettings;
+//import com.qyft.ms.app.service.PositionService;
+//import com.qyft.ms.app.service.SysSettingsService;
+//import com.qyft.ms.system.common.annotation.CommandMapping;
+//import com.qyft.ms.system.common.constant.CommandStatus;
+//import com.qyft.ms.system.common.device.command.CommandFuture;
+//import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+//import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
+//import com.qyft.ms.system.core.handler.BaseCommandHandler;
+//import com.qyft.ms.system.model.bo.DeviceCommand;
+//import com.qyft.ms.system.model.form.FrontCmdControlForm;
+//import com.qyft.ms.system.service.WebSocketService;
+//import com.qyft.ms.system.service.device.DeviceCommandService;
+//import lombok.RequiredArgsConstructor;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//
+//import java.util.concurrent.CompletableFuture;
+//
+///**
+// * 喷嘴管路_清洗喷嘴管路
+// * 废弃
+// */
+//@Slf4j
+//@Component
+//@RequiredArgsConstructor
+//@CommandMapping("nozzle_pipeline_wash")//业务指令注解
+//public class NozzlePipelineWash extends BaseCommandHandler {
+//
+//    private final DeviceCommandService deviceCommandService;
+//    private final SysSettingsService sysSettingsService;
+//    private final PositionService positionService;
+//    private final DeviceStatus deviceStatus;
+//    private final WebSocketService webSocketService;
+//
+//    @Override
+//    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+//        if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
+//            throw new RuntimeException("正在清洗喷嘴管路或注射器管路，无法开启清洗注射器管路");
+//        }
+//        try {
+//            //1.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
+//            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
+//            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+//            commandWait(motorXyzPositionGetCommandFuture);
+//            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+//            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+//            if (zAxisPosition == null) {
+//                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
+//                throw new RuntimeException("获得电机XYZ相对原点坐标失败");
+//            }
+//            zAxisPosition = Math.abs(zAxisPosition);
+//            SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
+//            double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
+//            if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
+//                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
+//                CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
+//                commandWait(motorZPositionSetCommandFuture);
+//            }
+//            Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
+//            //2.轴移动到废液位置
+//            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
+//            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
+//            commandWait(motorXPositionSetCommandFuture);
+//            //3.下降z轴高度，防止飞溅
+//            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
+//            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
+//            commandWait(motorZPositionSetCommandFuture);
+//            //4.开启三通阀到喷嘴管路
+//            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
+//            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
+//            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
+//
+//            //6.打开清洗阀
+//            DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
+//            CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
+//            commandWait(washValveOpenCommandFuture);
+//
+//            deviceStatus.setCleaningNozzlePipeline(true);
+//        } catch (Exception e) {
+//            deviceStatus.setCleaningNozzlePipeline(false);
+//            throw new RuntimeException(e);
+//        }
+//        return runAsync(() -> {
+//
+//
+//        });
+//
+//    }
+//}

src/main/java/com/qyft/ms/app/front/cmd/business/SlidePlatHeatStart.java

@@ -3,6 +3,7 @@ package com.qyft.ms.app.front.cmd.business;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.constant.CommandStatus;
+import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
@@ -37,9 +38,9 @@ public class SlidePlatHeatStart extends BaseCommandHandler {
             throw new RuntimeException("参数 temperature 必填");
         }
         return runAsync(() -> {
-
             DeviceCommand nozzleHeatStartCmd = DeviceCommandGenerator.slidePlatHeatStart(temperature); // 生成载玻台加热指令
-            deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStartCmd);//发送指令
+            CommandFuture nozzleHeatStartCmdFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStartCmd);//发送指令
+            commandWait(nozzleHeatStartCmdFuture);
             deviceStatus.setSlidePlatHeating(true);//设置载玻台加热状态
         });
     }

src/main/java/com/qyft/ms/app/front/cmd/business/SlidePlatHeatStop.java

@@ -2,6 +2,7 @@ package com.qyft.ms.app.front.cmd.business;
 
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.annotation.CommandMapping;
+import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
@@ -28,11 +29,10 @@ public class SlidePlatHeatStop extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
-
             DeviceCommand nozzleHeatStopCmd = DeviceCommandGenerator.slidePlatHeatStop(); // 生成载板加热关闭指令
-            deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStopCmd);//发送指令
+            CommandFuture nozzleHeatStopCmdFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleHeatStopCmd);//发送指令
+            commandWait(nozzleHeatStopCmdFuture);
             deviceStatus.setSlidePlatHeating(false);//设置载玻台加热状态
-
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/business/SlideTrayIn.java

@@ -1,36 +1,36 @@
-package com.qyft.ms.app.front.cmd.business;
-
-import com.qyft.ms.system.common.annotation.CommandMapping;
-import com.qyft.ms.system.common.device.command.CommandFuture;
-import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
-import com.qyft.ms.system.core.handler.BaseCommandHandler;
-import com.qyft.ms.system.model.bo.DeviceCommand;
-import com.qyft.ms.system.model.form.FrontCmdControlForm;
-import com.qyft.ms.system.service.device.DeviceCommandService;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 玻片托盘_推入托盘
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("slide_tray_in")//业务指令注解
-public class SlideTrayIn extends BaseCommandHandler {
-
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
-        return runAsync(() -> {
-            DeviceCommand slideTrayInCommand = DeviceCommandGenerator.slideTrayIn(0.0, 20.0);//推入玻片托盘
-            CommandFuture slideTrayInCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), slideTrayInCommand);
-            commandWait(slideTrayInCommandFuture);
-        });
-
-    }
-}
+//package com.qyft.ms.app.front.cmd.business;
+//
+//import com.qyft.ms.system.common.annotation.CommandMapping;
+//import com.qyft.ms.system.common.device.command.CommandFuture;
+//import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+//import com.qyft.ms.system.core.handler.BaseCommandHandler;
+//import com.qyft.ms.system.model.bo.DeviceCommand;
+//import com.qyft.ms.system.model.form.FrontCmdControlForm;
+//import com.qyft.ms.system.service.device.DeviceCommandService;
+//import lombok.RequiredArgsConstructor;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//
+//import java.util.concurrent.CompletableFuture;
+//
+///**
+// * 玻片托盘_推入托盘
+// */
+//@Slf4j
+//@Component
+//@RequiredArgsConstructor
+//@CommandMapping("slide_tray_in")//业务指令注解
+//public class SlideTrayIn extends BaseCommandHandler {
+//
+//    private final DeviceCommandService deviceCommandService;
+//
+//    @Override
+//    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+//        return runAsync(() -> {
+//            DeviceCommand slideTrayInCommand = DeviceCommandGenerator.slideTrayIn(0.0, 20.0);//推入玻片托盘
+//            CommandFuture slideTrayInCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), slideTrayInCommand);
+//            commandWait(slideTrayInCommandFuture);
+//        });
+//
+//    }
+//}

src/main/java/com/qyft/ms/app/front/cmd/business/SlideTrayOut.java

@@ -1,36 +1,36 @@
-package com.qyft.ms.app.front.cmd.business;
-
-import com.qyft.ms.system.common.annotation.CommandMapping;
-import com.qyft.ms.system.common.device.command.CommandFuture;
-import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
-import com.qyft.ms.system.core.handler.BaseCommandHandler;
-import com.qyft.ms.system.model.bo.DeviceCommand;
-import com.qyft.ms.system.model.form.FrontCmdControlForm;
-import com.qyft.ms.system.service.device.DeviceCommandService;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.concurrent.CompletableFuture;
-
-/**
- * 玻片托盘_推出托盘
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("slide_tray_out")//业务指令注解
-public class SlideTrayOut extends BaseCommandHandler {
-
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
-        return runAsync(() -> {
-            DeviceCommand slideTrayOutCommand = DeviceCommandGenerator.slideTrayOut(150.0, 20.0);//推出玻片托盘
-            CommandFuture slideTrayOutCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), slideTrayOutCommand);
-            commandWait(slideTrayOutCommandFuture);
-        });
-
-    }
-}
+//package com.qyft.ms.app.front.cmd.business;
+//
+//import com.qyft.ms.system.common.annotation.CommandMapping;
+//import com.qyft.ms.system.common.device.command.CommandFuture;
+//import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+//import com.qyft.ms.system.core.handler.BaseCommandHandler;
+//import com.qyft.ms.system.model.bo.DeviceCommand;
+//import com.qyft.ms.system.model.form.FrontCmdControlForm;
+//import com.qyft.ms.system.service.device.DeviceCommandService;
+//import lombok.RequiredArgsConstructor;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//
+//import java.util.concurrent.CompletableFuture;
+//
+///**
+// * 玻片托盘_推出托盘
+// */
+//@Slf4j
+//@Component
+//@RequiredArgsConstructor
+//@CommandMapping("slide_tray_out")//业务指令注解
+//public class SlideTrayOut extends BaseCommandHandler {
+//
+//    private final DeviceCommandService deviceCommandService;
+//
+//    @Override
+//    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+//        return runAsync(() -> {
+//            DeviceCommand slideTrayOutCommand = DeviceCommandGenerator.slideTrayOut(150.0, 20.0);//推出玻片托盘
+//            CommandFuture slideTrayOutCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), slideTrayOutCommand);
+//            commandWait(slideTrayOutCommandFuture);
+//        });
+//
+//    }
+//}

src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java

@@ -73,11 +73,13 @@ public class SyringePipelineWash extends BaseCommandHandler {
                 commandWait(motorZPositionSetCommandFuture);
             }
             Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-            //3.x轴移动到废液位置
+            //xy轴移动到废液位置
             DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
             CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-            commandWait(motorXPositionSetCommandFuture);
-            //4.下降z轴高度，防止飞溅
+            DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getY(), 20.0);
+            CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
+            commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture);
+            //下降z轴高度，防止飞溅
             DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
             CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
             commandWait(motorZPositionSetCommandFuture);
@@ -86,7 +88,7 @@ public class SyringePipelineWash extends BaseCommandHandler {
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
             commandWait(nozzleValveOpenCommandFuture);
-            Thread.sleep(500);
+            Thread.sleep(500);//开启喷嘴阀后需要延迟500毫秒
 
             //6.设置注射泵速度，推注射泵
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
@@ -105,7 +107,6 @@ public class SyringePipelineWash extends BaseCommandHandler {
 //            commandWait(washValveOpenCommandFuture);
 
 
-
             deviceStatus.setCleaningSyringePipeline(true);
         } catch (Exception e) {
             deviceStatus.setCleaningSyringePipeline(false);

src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWashStop.java

@@ -40,6 +40,7 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
             //1.停止推动注射泵
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
+
             //2.全部关闭三通阀
             DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
             CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);