fix:修改抽液指令

src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java

@@ -1,6 +1,7 @@
 package com.iflytop.sgs.app.cmd.control;
 
 import cn.hutool.core.lang.Assert;
+import cn.hutool.json.JSONArray;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.bo.status.device.TrayState;
@@ -43,11 +44,12 @@ public class LiquidReduceCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+
+        JSONArray jsonArray = cmdDTO.getJSONArrayParam("columns");//获取参数
+        Assert.isTrue(jsonArray.isEmpty(),()->new AppException(ResultCode.INVALID_PARAMETER));//参数校验
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
         Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
         Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
-        List<TrayState> trayStates = deviceStateService.getDeviceState().getTrays();//所有的托盘
-        TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘
         double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液volume配置
         return runAsync(() -> {
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//将X轴移动至加液时托盘位置点
@@ -57,12 +59,14 @@ public class LiquidReduceCommand extends BaseCommandHandler {
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
-            for (TubeState tubeState : trayState.getTubes()) {
-                if (tubeState.isAddSolution() && tubeState.isExists()) {
+            for (int i = 0; i < jsonArray.size(); i++) {
+                int column = jsonArray.getInt(i);
+                if (column > 0 && column < 6) {
                     solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -reduceNumber);//抽液
-                    double distance = (tubeState.getColumnNum() - 1) * trayTubeHorizontalSpacingDistance;
+                    double distance = (jsonArray.getInt(i) - 1) * trayTubeHorizontalSpacingDistance;
                     solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
+                    transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
                     transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动
                 }
             }