fix:增加业务指令

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

@@ -1,5 +1,6 @@
 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.status.device.HeatModuleState;
@@ -20,20 +21,24 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
+@CommandMapping("anneal_start")//业务指令注解
 public class AnnealStartCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
+        JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatModuleCode");
+
         return runAsync(() -> {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
                 //获取当前加热区
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+                //获取当前加热区状态
                 HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断是否可以进行退火
+                Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘");
                 //设置加热区目标温度
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getAnnealTemperature());
                 //从系统状态中获取指定加热区设定的退火温度数值

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

@@ -1,7 +1,9 @@
 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
+@CommandMapping("anneal_stop")//业务指令注解
 public class AnnealStopCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
@@ -29,8 +31,13 @@ public class AnnealStopCommand extends BaseCommandHandler {
         JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
         return runAsync(() -> {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
+                //获取当前加热区
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+                //获取当前加热区状态
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断当前加热区是否处于退火状态
+                Assert.isTrue(heatModuleState.isAnnealing(), heatModuleId + "加热区目前不在退火状态");
                 //关闭加热
                 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
                 //设置加热区状态 退火结束

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

@@ -1,6 +1,8 @@
 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.status.device.DoorModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.DoorModuleService;
@@ -24,9 +26,14 @@ public class DoorCloseCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        //获取当前的门状态
+        DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule();
+        //判断当前门的状态
+        Assert.isTrue(doorModuleState.isOpen(),"门已处于关闭状态");
+
         return runAsync(() -> {
-            //门电机回原点
-            doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            //门电机回0点
+            doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
             //将门状态设置为false
             deviceStateService.getDeviceState().getDoorModule().setOpen(false);
         });

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

@@ -1,6 +1,8 @@
 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.status.device.DoorModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -27,6 +29,11 @@ public class DoorOpenCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        //获取当前的门状态
+        DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule();
+        //判断当前门的状态
+        Assert.isTrue(!doorModuleState.isOpen(),"门已处于打开状态");
+
         return runAsync(() -> {
             //从数据库获取开门距离
             Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance();

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

@@ -1,5 +1,6 @@
 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.status.device.HeatModuleState;
@@ -20,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
+@CommandMapping("dry_start")//业务指令注解
 public class DryStartCommand extends BaseCommandHandler {
     private final HeatModuleService deviceCommandUtilService;
     private final DeviceStateService deviceStateService;
@@ -34,11 +35,13 @@ public class DryStartCommand extends BaseCommandHandler {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
                 HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断有无托盘
+                Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘");
                 //设置加热区目标温度
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getDryTemperature());
                 //从系统状态中获取指定加热区设定的烘干温度数值
                 double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).getDryTemperature();
-                //开启退火
+                //开启烘干
                 deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
                 //设置加热区状态 正在烘干
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setDrying(true);

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

@@ -1,7 +1,9 @@
 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
+@CommandMapping("dry_stop")//业务指令注解
 public class DryStopCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
@@ -31,9 +33,13 @@ public class DryStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
-                //关闭加热
+                //获取当前加热区状态
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断当前加热区是否处于烘干状态
+                Assert.isTrue(heatModuleState.isDrying(), heatModuleId + "加热区目前不在烘干状态");
+                //关闭烘干
                 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
-                //设置加热区状态 退火结束
+                //设置加热区状态 烘干结束
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setDrying(false);
 
             }

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

@@ -1,7 +1,9 @@
 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@@ -31,6 +33,10 @@ public class FanStartCommand extends BaseCommandHandler {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+                //获取当前加热区状态
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断风扇状态
+                Assert.isTrue(heatModuleState.isFanOpen(),heatModuleId+"加热区 风扇已打开");
                 heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setFanOpen(true);
             }

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

@@ -1,7 +1,9 @@
 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@@ -31,6 +33,10 @@ public class FanStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+                //获取当前加热区状态
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断风扇状态
+                Assert.isTrue(!heatModuleState.isFanOpen(),heatModuleId+"加热区 风扇已关闭");
                 heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setFanOpen(false);
             }

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

@@ -1,5 +1,6 @@
 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.status.device.HeatModuleState;
@@ -20,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_start")//业务指令注解
+@CommandMapping("heater_start")//业务指令注解
 public class HeatStartCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
@@ -34,6 +35,8 @@ public class HeatStartCommand extends BaseCommandHandler {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
                 HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断是否可以进行退火
+                Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘");
                 //设置加热区目标温度
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getHeatTemperature());
                 //从系统状态中获取指定加热区设定的烘干温度数值

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

@@ -1,7 +1,9 @@
 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.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("heat_stop")//业务指令注解
+@CommandMapping("heater_stop")//业务指令注解
 public class HeatStopCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
@@ -31,6 +33,10 @@ public class HeatStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatIdJsonArray.size(); i++) {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+                //获取当前加热区状态
+                HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+                //判断当前加热区是否处于退火状态
+                Assert.isTrue(heatModuleState.isHeating(), heatModuleId + "加热区目前不在加热状态");
                 //关闭加热
                 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setHeating(false);

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

@@ -17,8 +17,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("solution_add")//业务指令注解
-public class SolutionAddCommand extends BaseCommandHandler {
+@CommandMapping("liquid_add")//业务指令注解
+public class LiquidAddCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
 

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

@@ -17,8 +17,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("solution_add")//业务指令注解
-public class SolutionReduceCommand extends BaseCommandHandler {
+@CommandMapping("liquid_reduce")//业务指令注解
+public class LiquidReduceCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
 

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

@@ -1,7 +1,10 @@
 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.bo.status.device.HeatModuleState;
+import com.iflytop.sgs.app.model.bo.status.device.PumpState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -10,6 +13,7 @@ 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.HeatModuleCode;
+import com.iflytop.sgs.common.enums.PumpStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
 import com.iflytop.sgs.common.result.ResultCode;
@@ -50,6 +54,12 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         }
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
+        PumpState pumpState=deviceStateService.getDeviceState().getPumpState();
+        //判断是否有托盘
+        Assert.isTrue(heatModuleState.getTrayStatus()==0,heatModuleId+"此加热位已存在托盘");
+        //判断泵现在处于关闭状态
+        Assert.isTrue(pumpState.equals(PumpStateCode.close),"蠕动泵正在运行，无法转移");
         //加液电机升起的安全高度
         double liquidMotorSafeDistance = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();
         //获取机械臂夹取托盘的横向距离
@@ -58,18 +68,28 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance();
         //获取指定加热模块上方点位
         Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
+        //获取加液模块的上方点位
+        Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
         return runAsync(() -> {
             try {
                 //升高加液电机高度
                 solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSafeDistance);
+                //移动到加液区点位
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
+                //下降z轴
+                transferModuleService.transferZMove(clawTrayHeight);
+                //向左夹紧托盘
+                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);
                 //移动机械臂到加热区上方 此时机械臂夹着托盘
-                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D); //将机械臂移动至加热模块上方
-                //下降z轴,夹爪脱离机械臂
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);
+                //下降z轴
                 transferModuleService.transferZMove(clawTrayHeight);
                 //移动x轴向右脱离托盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip);
-                //z轴返回原点
-                solutionModuleService.motorLiquidMove(0);
+                //z轴返回0点
+                solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
+                //设置加热区有托盘
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTrayStatus(1);
             } finally {
                 deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
             }

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

@@ -25,8 +25,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("move_to_solution_area")//业务指令注解
-public class MoveToSolutionAreaCommand extends BaseCommandHandler {
+@CommandMapping("move_to_liquid_area")//业务指令注解
+public class MoveToLiquidAreaCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
     private final SolutionModuleService solutionModuleService;
     private final TransferModuleService transferModuleService;
@@ -66,16 +66,24 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             try {
                 //升高加液电机高度
                 solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSafeDistance);
-                //机械臂移动到加热位上方或者上料位上方
+                //机械臂移动到加热位上方
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D);
                 //下降z轴
                 transferModuleService.transferZMove(clawTrayHeight);
                 //移动x轴向左夹紧托盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);
-                //z轴上升到0点
-                transferModuleService.transferZMove(0);
+                //z轴上升到0点 todo 安全距离即可 需要测试
+                transferModuleService.transferZMove(100);
                 //机械臂移动到加液区
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
+                //下降z轴
+                transferModuleService.transferZMove(clawTrayHeight);
+                //移动x轴向右放开托盘
+                transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip);
+                //z轴上升到0点 todo 安全距离即可 需要测试
+                transferModuleService.transferZMove(100);
+                //todo x轴回原点
+                transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
             } finally {
                 deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
             }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java

@@ -1,14 +1,15 @@
 package com.iflytop.sgs.app.cmd.debug;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.status.device.ValveState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
-import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.enums.cmd.CmdDirection;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
@@ -27,18 +28,17 @@ import java.util.concurrent.CompletableFuture;
 public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     private final SystemConfigService systemConfigService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        //todo 监测阀门开启状态 将加液量转换成电机转数
-
-        Double scale = Double.valueOf(systemConfigService.getSystemConfig(SystemConfigCode.scale_thin));
+        ValveState valveState = deviceStateService.getDeviceState().getValveState();
+        Double scale = Double.valueOf(systemConfigService.getSystemConfig(valveState.getState().getSystemConfigCode()));
         Double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {
-            CmdDirection cmdDirection = CmdDirection.forward;
             DeviceCommandBundle deviceCommand;
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java

@@ -1,8 +1,11 @@
 package com.iflytop.sgs.app.cmd.debug;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.status.device.ValveState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
@@ -24,12 +27,15 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("liquid_pump_reduce")
 public class DebugLiquidPumpReduceCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final DeviceStateService deviceStateService;
+    private SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        //todo 量转换成转数
-        Double position = Double.valueOf(1000);
+        ValveState valveState = deviceStateService.getDeviceState().getValveState();
+        Double scale = Double.valueOf(systemConfigService.getSystemConfig(valveState.getState().getSystemConfigCode()));
+        Double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java

@@ -29,7 +29,6 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double speed = cmdDTO.getDoubleParam("speed");
         String direction = cmdDTO.getStringParam("direction");//front back 正转倒转
-        Integer channel = 1;
         CmdDirection cmdDirection = CmdDirection.valueOf(direction);
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand;

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java

@@ -26,7 +26,6 @@ public class DebugLiquidPumpStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        Integer channel = 1;
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java

@@ -34,6 +34,10 @@ public class DeviceState {
     private User currentUser;
     @Schema(description = "当前实验")
     private Tasks currentTasks;
+    @Schema(description = "电磁阀状态")
+    private ValveState valveState;
+    @Schema(description = "蠕动泵状态")
+    private PumpState pumpState;
     /**
      * 获取指定加热模块状态
      */

src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java

@@ -10,8 +10,6 @@ public class HeatModuleState {
     @Schema(description = "加热模块code")
     private HeatModuleCode moduleCode;
 
-    @Schema(description = "托盘升降状态，0为降下，1为抬起")
-    private int trayUp = 0;
 
     @Schema(description = "托盘状态，0为无托盘，1为有托盘")
     private int trayStatus = 0;

src/main/java/com/iflytop/sgs/app/model/bo/status/device/PumpState.java

@@ -0,0 +1,16 @@
+package com.iflytop.sgs.app.model.bo.status.device;
+
+import com.iflytop.sgs.common.enums.PumpStateCode;
+import com.iflytop.sgs.common.enums.ValveStateCode;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "电磁转换阀")
+@Data
+public class PumpState {
+
+    @Schema(description = "开关")
+    private PumpStateCode state;
+
+
+}

src/main/java/com/iflytop/sgs/app/model/bo/status/device/ValveState.java

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.model.bo.status.device;
 
+import com.iflytop.sgs.common.enums.ValveStateCode;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -7,22 +8,8 @@ import lombok.Data;
 @Data
 public class ValveState {
 
-    @Schema(description = "稀硝酸开关 true开")
-    private boolean thin = false;
-
-    @Schema(description = "浓硝酸开关 true开")
-    private boolean thick = false;
-
-    @Schema(description = "废水开关 true开")
-    private boolean waste = false;
-
-    @Schema(description = "蒸馏水开关 true开")
-    private boolean water = false;
-
-
-
-
-
+    @Schema(description = "开关")
+    private ValveStateCode state;
 
 
 }

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

@@ -22,13 +22,6 @@ public class DoorModuleService {
     /**
      * 门电机回原点
      */
-    public void doorOrigin() throws Exception {
-        doorOrigin(null, null);
-    }
-
-    /**
-     * 门电机回原点
-     */
     public void doorOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin();
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
@@ -38,13 +31,6 @@ public class DoorModuleService {
     /**
      * 门电机移动
      */
-    public void doorMove(double position) throws Exception {
-        doorMove(null, null, position);
-    }
-
-    /**
-     * 门电机移动
-     */
     public void doorMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);

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

@@ -0,0 +1,18 @@
+package com.iflytop.sgs.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 电磁转换阀状态枚举类 index为对应的物理通道
+ *
+ */
+@Getter
+public enum PumpStateCode {
+    //加液时 液量的转换系数
+    open(),
+    close();
+
+
+}
+
+

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

@@ -12,7 +12,8 @@ public enum SystemConfigCode {
     scale_thin("稀硝酸转换系数"),
     scale_thick("浓硝酸转换系数"),
     scale_water("水转换系数"),
-    scale_waste("废水转换系数");
+    scale_waste("废水转换系数"),
+    scale_vacant("空气转换系数");
 
     private String description;
 

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

@@ -0,0 +1,28 @@
+package com.iflytop.sgs.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 电磁转换阀状态枚举类 index为对应的物理通道
+ *
+ */
+@Getter
+public enum ValveStateCode {
+    //加液时 液量的转换系数
+    thin_way(1, "稀硝酸通道",SystemConfigCode.scale_thin),
+    thick_way(2, "浓硝酸通道",SystemConfigCode.scale_thick),
+    water(3, "蒸馏水通道",SystemConfigCode.scale_water),
+    waste(4, "废水通道",SystemConfigCode.scale_waste),
+    vacant(5, "空气通道",SystemConfigCode.scale_vacant);
+    private final Integer index;
+    private final String description;
+    private SystemConfigCode systemConfigCode;
+
+    ValveStateCode(Integer index, String description, SystemConfigCode systemConfigCode) {
+        this.index = index;
+        this.description = description;
+        this.systemConfigCode = systemConfigCode;
+    }
+}
+
+