测试问题

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

@@ -51,7 +51,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
         Integer solutionId = cmdDTO.getIntegerParam("solutionId");//溶液ID
         double volume = cmdDTO.getDoubleParam("volume");//量
         Solutions solutions = solutionsService.getById(solutionId);//获取溶液
-        ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
+        ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//根据溶液获取电磁阀code
         Assert.isTrue(!jsonArray.isEmpty(), () -> new AppException(ResultCode.INVALID_PARAMETER));//确定选中了列
         return runAsync(() -> {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
@@ -106,12 +106,11 @@ public class LiquidAddCommand extends BaseCommandHandler {
                 if (column > 0 && column < 6) {
                     double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂右移距离
                     transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint.getX()+distance);//机械臂移动到试管位置
-                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
-                    solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液
+                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 10);//加液机械臂下降 solutionModuleMotorDownInTubeAddPositon
+                    solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.5);//加液 position设置固定值 todo 正式要改这个
                     solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 }
             }
-            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用解除
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束

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

@@ -45,7 +45,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
         HeatModuleCode targetHeatModuleCode = HeatModuleCode.heat_module_04;
         if (heatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取上料区是否有托盘
             heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);//目标加热模块
-            Assert.isTrue(heatModuleCode.equals(targetHeatModuleCode), () -> new AppException(ResultCode.HAVE_IN_ANNEAL_MODULE));
+            Assert.isTrue(!heatModuleCode.equals(targetHeatModuleCode), () -> new AppException(ResultCode.HAVE_IN_ANNEAL_MODULE));
         } else {
             heatModuleCode = null;
         }
@@ -54,13 +54,14 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
         Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
         return runAsync(() -> {
-            boolean annealTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST);//获取传感器状态
-            Assert.isTrue(annealTrayExist, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//加热位是否有托盘
-            if (heatModuleCode != null) {
+            //boolean annealTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST);//获取传感器状态
+            //Assert.isTrue(!annealTrayExist, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//加热位是否有托盘
+            if (heatModuleCode == null) {
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
                 boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
                 Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
+            }else{
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至加热区托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
@@ -69,7 +70,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
             transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
             transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
             transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
-            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高  todo   不执行
             deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(true);//设置目标加热区有托盘
         });
     }

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

@@ -69,8 +69,8 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
-                deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
-                deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中
+                //deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态 todo 报错
+                //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中 todo 报错
                 deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点

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

@@ -69,10 +69,10 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
-                deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中
+                //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中  todo 报错
             }
             transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
-            deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(true);//设定托盘在加液位中
+            //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(true);//设定托盘在加液位中 todo 报错
 
         });
     }

src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java

@@ -40,9 +40,10 @@ public class TransferModuleService {
     public void transferMove(String cmdId, String cmdCode, Point3D point) throws Exception {
         DeviceCommandBundle transferZMoveDeviceCommand = DeviceCommandGenerator.transferZMove(point.getZ());
         CommandFuture transferZMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, transferZMoveDeviceCommand);
+        CommandUtil.wait(transferZMoveDeviceCommandFuture);
         DeviceCommandBundle transferXMoveDeviceCommand = DeviceCommandGenerator.transferXMove(point.getX());
         CommandFuture transferXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, transferXMoveDeviceCommand);
-        CommandUtil.wait(transferXMoveDeviceCommandFuture, transferZMoveDeviceCommandFuture);
+        CommandUtil.wait(transferXMoveDeviceCommandFuture);
     }