fix:获取坐标功能修改

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

@@ -44,12 +44,12 @@ 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 = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量
-        double waterScale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数
-        double pumpPosition = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液时蠕动泵移动
+        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 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 = Integer.valueOf(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.cycle_clean_max));//获取最大清洁次数配置
+        Integer maxCycles = systemConfigService.getSystemConfigIntegerByCode(SystemConfigCode.cycle_clean_max);//获取最大清洁次数配置
         Assert.isTrue(cycle > 0 && cycle < maxCycles, () -> new AppException(ResultCode.INVALID_PARAMETER));//cycle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

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

@@ -95,7 +95,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
                     }
                 }
             }
-            double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比
+            double scale = systemConfigService.getSystemConfigDoubleByCode(valveStateCode.getSystemConfigCode());//根据溶液获取转换比
             double position = volume * scale * 8 + preFillDistance;//
             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

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

@@ -47,7 +47,7 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         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
-        double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液volume配置
+        double reduceNumber= systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.number_reduce);//抽液volume配置
         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

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

@@ -33,14 +33,14 @@ public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));
+        Double scale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.scale_water);
         Double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
 
 
         return runAsync(() -> {
             if (speed != null) {
-                double max_speed = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.liquid_max_speed));
+                double max_speed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.liquid_max_speed);
                 Assert.isTrue(speed < max_speed, () -> new AppException(ResultCode.INVALID_PARAMETER));
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -33,12 +33,12 @@ public class DebugLiquidPumpReduceCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double volume = cmdDTO.getDoubleParam("volume");
-        double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));
+        double scale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.scale_water);
         double position = volume * scale;
         Double speed = cmdDTO.getDoubleParam("speed");
         return runAsync(() -> {
             if (speed != null) {
-                double max_speed = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.liquid_max_speed));
+                double max_speed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.liquid_max_speed);
                 Assert.isTrue(speed < max_speed, () -> new AppException(ResultCode.INVALID_PARAMETER));
                 DeviceCommandBundle liquidPumpSetCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidPumpSetCommand);

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

@@ -39,7 +39,7 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
         CmdDirection cmdDirection = CmdDirection.valueOf(direction);
         return runAsync(() -> {
             if (speed != null) {
-                double max_speed = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.liquid_max_speed));
+                double max_speed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.liquid_max_speed);
                 Assert.isTrue(speed < max_speed, () -> new AppException(ResultCode.INVALID_PARAMETER));
                 DeviceCommandBundle liquidPumpSetCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidPumpSetCommand);

src/main/java/com/iflytop/sgs/app/controller/MotorController.java

@@ -27,18 +27,31 @@ public class MotorController {
 
     @Operation(summary = "获取当前电机位置")
     @GetMapping("/position/{motor}")
-    public Result<Double> getPosition(@PathVariable String motor) {
-        DevicePartId devicePartId = DevicePartId.valueOf(motor);
-        Double position;
-        try {
-            if (devicePartId.equals(DevicePartId.XSV)) {
-                position = deviceSensorService.getXYServoPosition(devicePartId);
-            } else {
-                position = deviceSensorService.getMotorPosition(devicePartId);
+    public Result<String> getPosition(@PathVariable String motor) {
+
+        if(motor.equals("Transfer")){
+            try {
+                double xPosition=deviceSensorService.getXYServoPosition(DevicePartId.XSV);
+                double zPosition=deviceSensorService.getXYServoPosition(DevicePartId.ZM);
+                String position=String.format("%.2f,0,%.2f",xPosition,zPosition);
+                return Result.success(position);
+            } catch (HardwareException e) {
+                throw new RuntimeException(e);
+            }
+
+        }else{
+            DevicePartId devicePartId = DevicePartId.valueOf(motor);
+            Double position;
+            try {
+                if (devicePartId.equals(DevicePartId.XSV)) {
+                    position = deviceSensorService.getXYServoPosition(devicePartId);
+                } else {
+                    position = deviceSensorService.getMotorPosition(devicePartId);
+                }
+                return Result.success(position.toString());
+            } catch (HardwareException e) {
+                throw new RuntimeException(e);
             }
-            return Result.success(position);
-        } catch (HardwareException e) {
-            throw new RuntimeException(e);
         }
     }
 }

src/main/java/com/iflytop/sgs/app/service/api/SystemConfigService.java

@@ -75,8 +75,16 @@ public class SystemConfigService extends ServiceImpl<SystemConfigMapper, SystemC
         }
     }
 
-    public String getSystemConfigValueByCode(SystemConfigCode systemConfigCode) {
+    public Integer getSystemConfigIntegerByCode(SystemConfigCode systemConfigCode) {
+        SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
+        return Integer.valueOf(systemConfig.getValue());
+    }
+    public String getSystemConfigStringByCode(SystemConfigCode systemConfigCode) {
         SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
         return systemConfig.getValue();
     }
+    public Double getSystemConfigDoubleByCode(SystemConfigCode systemConfigCode) {
+        SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
+        return Double.parseDouble(systemConfig.getValue());
+    }
 }