fix:测试问题修改

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

@@ -43,10 +43,9 @@ public class CleanStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        //Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//判断转运模块托盘状态
         double cleanWaterVolume = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.volume_clean);//清洁时加水的量
         double waterScale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.scale_water);//水转换系数
-        double pumpPosition = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.number_reduce);//抽液时蠕动泵移动
+        double pumpPosition = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.number_reduce);//抽液时蠕动泵移动 todo 值需要测试
         Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
         Integer cycle = cmdDTO.getIntegerParam("cycle");//清洗次数
         Integer maxCycles = systemConfigService.getSystemConfigIntegerByCode(SystemConfigCode.cycle_clean_max);//获取最大清洁次数配置
@@ -56,9 +55,9 @@ public class CleanStartCommand extends BaseCommandHandler {
         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
         return runAsync(() -> {
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
-            boolean LIQUID_TRAY_EXIST=deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//监测加液位是否有托盘
-           // Assert.isTrue(LIQUID_TRAY_EXIST, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
+            boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//监测夹爪是否有托盘
+            Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//夹爪必须有托盘
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
             solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), pumpPosition);
@@ -75,7 +74,7 @@ public class CleanStartCommand extends BaseCommandHandler {
                     }
                 }
             }
-            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
         });
     }
 }

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

@@ -14,6 +14,7 @@ import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -57,15 +58,18 @@ public class LiquidAddCommand extends BaseCommandHandler {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升至0
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
-            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
             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.SOLUTION_MODULE_NO_TRAY));//判断机械臂是否有托盘 todo 正式放开
+            boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
+            if (!clawTrayExist) {//夹爪托盘不存在 尝试取上料位托盘
+                boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料位托盘状态
+                Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
+                transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
+            }
             Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态
             ValveStateCode oldValveState = ValveStateCode.thick.getByChannel(currentChannel);//获取当前电磁阀的值
-
             double preFillDistance = 0;
             if (!oldValveState.equals(valveStateCode)) {//判断是否与当前加酸的通道一致 不一致排空
                 double drainDistance = 0;
@@ -98,16 +102,16 @@ public class LiquidAddCommand extends BaseCommandHandler {
                 }
             }
             double scale = systemConfigService.getSystemConfigDoubleByCode(valveStateCode.getSystemConfigCode());//根据溶液获取转换比
-            double position = volume * scale * 8 + preFillDistance;//
+            double position = volume * scale * 8 + preFillDistance;//todo 需要测试加液量是否准确
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
             deviceStateService.getDeviceState().getSolutionModule().setValveState(valveStateCode);//设置阀门状态
             for (int i = 0; i < jsonArray.size(); i++) {
                 int column = jsonArray.getInt(i);
                 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(), 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
+                    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(), 10);//加液机械臂下降 todo 未测量 测量后要改成 solutionModuleMotorDownInTubeAddPositon
+                    solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.5);//加液 position设置固定值 todo 未测量 测量后要改成distance
                     solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 }
             }

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

@@ -7,12 +7,10 @@ import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.Solutions;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SolutionsService;
-import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
-import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -24,7 +22,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 预充溶液
+ * 预充开始
  */
 @Slf4j
 @Component
@@ -39,21 +37,20 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isIdle(), () -> new AppException(ResultCode.SOLUTION_MODULE_IS_BUSY));//判断当前加液区状态
+        Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isIdle(), () -> new AppException(ResultCode.SOLUTION_MODULE_IS_BUSY));//判断当前加液区空闲状态 true空闲
         Integer solutionId = cmdDTO.getIntegerParam("solutionId");//解析参数酸液Id
         Solutions solutions = solutionsService.getById(solutionId);//数据库获取酸液信息
         Assert.notNull(solutions, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//检验参数
         ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//获取对应的电磁阀通道
-        Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); //加热区1上方点位
-        Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //加液模块电机预充时下降进入试管抽取位置
-        double position = devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//溶液首次预充距离
+        Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); //加热区1上方点位用于放置转运机械臂
+        Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
         return runAsync(() -> {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//移动至加热位1
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运移动至加热位1
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
-            solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//预充开始 todo 泵一直转
+            solutionModuleService.liquidPumpRotateForward(cmdDTO.getCommandId(), cmdDTO.getCommand());//预充开始 todo 测试后改动 需要测试一下
         });
     }
 }

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

@@ -51,8 +51,8 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         return runAsync(() -> {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//将X轴移动至加液时托盘位置点
-            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
-            //Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断机械臂是否有托盘
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪是否有托盘
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断转态
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
@@ -67,8 +67,8 @@ public class LiquidReduceCommand extends BaseCommandHandler {
                 }
             }
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管
-            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
-            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用解除
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至托盘至加液位置点
+            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));//传参模块和目标模块不能一致
         } else {
             heatModuleCode = null;
         }
@@ -53,14 +53,21 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
         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
+        Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         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
+            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));//加热位不能有托盘
             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
+                boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪是否有托盘
+                if(!liquidTrayExist){
+                    boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//上料区是否有托盘
+                    Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须有托盘
+                    transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
+                    transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
+                }
             }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
@@ -70,7 +77,7 @@ 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  todo   不执行
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
             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

@@ -40,32 +40,32 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
+
+        boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+        Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         HeatModuleCode targetHeatModuleCode;//目标加热模块
         if (targetHeatModuleCodeStr != 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加液位是否有托盘
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
         } else {
             targetHeatModuleCode = null;
-            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
         }
-
-        Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
         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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
-
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪位置点
         return runAsync(() -> {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             if (targetHeatModuleCode == null) {
-                //获取加液位托盘
-                deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(false);//设定托盘不在加液位中
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置
+                boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪位托盘状态
+                Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//夹爪托盘必须存在
+                //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(false);//设定托盘不在加液位中 todo 报错
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入上料区
                 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
-
             } else {
-                //获取目标加热模块托盘
+                Point3D  targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
                 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

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

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.control;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
@@ -13,6 +14,8 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -20,7 +23,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 将上料区托盘或者机械臂上的托盘移至目标加热模块
+ * 将上料区托盘或者夹爪托盘移至目标加热模块
  */
 @Slf4j
 @Component
@@ -42,16 +45,18 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
         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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
-
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪位置点
+        //目标加热模块有无托盘
         return runAsync(() -> {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
-            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
-            if (!liquidTrayExist) { //判断机械臂上是否有托盘
-                //机械臂上无托盘，取上料区托盘
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置
+            boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
+            if (!clawTrayExist) { //夹爪不存在托盘
+                boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区传感器状态
+                Assert.isTrue(!feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
-
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
             }
             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

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

@@ -5,11 +5,13 @@ import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -34,6 +36,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final SolutionModuleService solutionModuleService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -43,35 +46,37 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
         } else {
             targetHeatModuleCode = null;
-            //todo 要改成传感器获取
-            Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isFeedAreaTrayStatus(), () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
         }
 
-        Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
-        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
+      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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
 
         return runAsync(() -> {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
-            if (targetHeatModuleCode == null) {
-                //获取上料区托盘
-                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
-                transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
-                transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
-                deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态
-                deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中
-            } else {
-                //获取目标加热模块托盘
-                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
-                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  todo 报错
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置
+            boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
+            if(!clawTrayExist){//夹爪无托盘
+                if (targetHeatModuleCode == null) {//无加热模块参数
+                    boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+                    Assert.isTrue(feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘
+                    transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
+                    transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.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
+                    transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+                    deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态
+                    //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中 todo 报错
+                } else {//有加热模块参数
+                    Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
+                    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
+                    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  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
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//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 todo 报错
 
         });

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

@@ -9,6 +9,7 @@ import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
 import com.iflytop.sgs.common.constant.CommandStatus;
 import com.iflytop.sgs.common.enums.ValveStateCode;
+import com.iflytop.sgs.common.enums.cmd.CmdDirection;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -128,6 +129,25 @@ public class SolutionModuleService {
         CommandUtil.wait(deviceCommandFuture);
 
     }
+
+    /**
+     * 加液泵正转
+     */
+    public void liquidPumpRotateForward(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.liquidPumpRotate(CmdDirection.forward);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommandBundle);
+        CommandUtil.wait(deviceCommandFuture);
+
+    }
+    /**
+     * 加液泵倒转
+     */
+    public void liquidPumpRotateBackward(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.liquidPumpRotate(CmdDirection.backward);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommandBundle);
+        CommandUtil.wait(deviceCommandFuture);
+
+    }
     /**
      * 加液泵停止
      */

src/main/java/com/iflytop/sgs/common/enums/DeviceSensorCode.java

@@ -14,7 +14,8 @@ public enum DeviceSensorCode {
     HEATER_TRAY_3_EXIST("加热位3托盘存在状态"),
     HEATER_TRAY_4_EXIST("加热位4托盘存在状态"),
     WASTE_EXIST("废液桶是否存在"),
-    LIQUID_TRAY_EXIST("加液区托盘是否存在"),
+    CLAW_TRAY_EXIST("夹爪位托盘存在状态"),
+    LIQUID_TRAY_EXIST("上料区托盘存在状态"),
     THIN_LOW_LEVEL("稀硝酸低液位"),
     THICK_LOW_LEVEL("浓硝酸低液位"),
     WATER_LOW_LEVEL("水低液位"),

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

@@ -56,7 +56,7 @@ public enum ResultCode implements IResultCode, Serializable {
     CAP_LIFT_ERROR("6023", "拍子升降错误"),
     CMD_BUSY("6024", "设备忙，请稍后"),
     TARGET_HEAT_MODULE_NOT_ANNEAL("6025", "目标加热区不是退火状态"),
-    TRANSFER_MODULE_NO_TRAY("6026", "机械臂无托盘"),
+    TRANSFER_MODULE_NO_TRAY("6026", "夹爪无托盘"),
     SOLUTION_MODULE_NO_TRAY("6027", "加液模块无托盘"),
     FEED_AREA_NO_TRAY("6028", "上料区无托盘"),
     SOLUTION_MODULE_IS_BUSY("6029", "加液模块正忙"),