自检后把风扇和加热关了

src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java

@@ -24,6 +24,9 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -41,7 +44,6 @@ public class MoveTestCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final WebSocketSender webSocketService;
     private final DeviceSensorService deviceSensorService;
-    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -77,27 +79,13 @@ public class MoveTestCommand extends BaseCommandHandler {
                 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.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100, "success"));
-                CompletableFuture.runAsync(() -> {
+                HeatModuleCode[] heatModuleCodes = HeatModuleCode.values();
+                Arrays.stream(heatModuleCodes).toList().forEach(heatModuleCode -> {//关闭所有的加热和风扇
                     try {
-                        boolean preFillFlag = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.pre_fill_when_open_service);
-                        Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D();//加热位1坐标
-                        Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
-                        Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance_when_open_service);//预充距离
-                        if (preFillFlag) {
-                            transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1
-                            solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
-                            solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
-                            solutionModuleService.liquidPumpMove(-preFillDistance);//排空
-                            solutionModuleService.liquidValveSwitch(SolutionCode.thin);//电磁阀对应通道打开
-                            solutionModuleService.liquidPumpMove(preFillDistance);//预充
-                            solutionModuleService.liquidValveSwitch(SolutionCode.thick);//电磁阀对应通道打开
-                            solutionModuleService.liquidPumpMove(preFillDistance);//预充
-                            solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
-                            solutionModuleService.liquidPumpMove(preFillDistance);//预充
-                            solutionModuleService.solutionMotorMoveZero();//回原点
-                        }
+                        heatModuleService.fanClose(heatModuleCode);//关闭风扇
+                        heatModuleService.heatRodClose(heatModuleCode);//打开加热棒
                     } catch (Exception e) {
-                        log.error("设备开机预充失败");
+                        log.error("自检关闭风扇和加热棒{},{}", heatModuleCode, e.getMessage());
                     }
                 });