代码冲突

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugDisabledAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_disabled_all_motor")
+@CommandDebugMapping("disable_all_motor")
 public class DebugDisabledAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugEnableAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_enable_all_motor")
+@CommandDebugMapping("enable_all_motor")
 public class DebugEnableAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/step/DebugStopAllMotorCommand.java

@@ -18,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("debug_stop_all_motor")
+@CommandDebugMapping("stop_all_motor")
 public class DebugStopAllMotorCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 

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

@@ -22,8 +22,7 @@ import org.springframework.web.bind.annotation.RestController;
 @RequiredArgsConstructor
 @Slf4j
 public class MotorController {
-
-    private DeviceSensorService deviceSensorService;
+    private final DeviceSensorService deviceSensorService;
 
     @Operation(summary = "获取当前电机位置")
     @GetMapping("/position/{motor}")
@@ -32,7 +31,7 @@ public class MotorController {
         if (motor.equals("Transfer")) {
             try {
                 double xPosition = deviceSensorService.getXYServoPosition(DevicePartId.XSV);
-                double zPosition=deviceSensorService.getXYServoPosition(DevicePartId.ZM);
+                double zPosition = deviceSensorService.getMotorPosition(DevicePartId.ZM);
                 String position = String.format("%.2f,0,%.2f", xPosition, zPosition);
                 return Result.success(position);
             } catch (HardwareException e) {

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -103,6 +103,20 @@ public class DeviceInitService {
         //蠕动泵
         DeviceCommandBundle liquidPumpEnableDeviceCommandBundle = DeviceCommandGenerator.liquidPumpEnable();
         deviceCommandService.sendCommand(liquidPumpEnableDeviceCommandBundle);
+
+        //开抱闸
+        DeviceCommandBundle doorOpenClampDeviceCommandBundle = DeviceCommandGenerator.doorOpenClamp();
+        deviceCommandService.sendCommand(doorOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle transferZOpenClampDeviceCommandBundle = DeviceCommandGenerator.transferZOpenClamp();
+        deviceCommandService.sendCommand(transferZOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle transferXOpenClampDeviceCommandBundle = DeviceCommandGenerator.transferXOpenClamp();
+        deviceCommandService.sendCommand(transferXOpenClampDeviceCommandBundle);
+
+        DeviceCommandBundle liquidMotorOpenClampDeviceCommandBundle = DeviceCommandGenerator.liquidMotorOpenClamp();
+        deviceCommandService.sendCommand(liquidMotorOpenClampDeviceCommandBundle);
+
     }
 
 

src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java

@@ -17,11 +17,11 @@ public enum DevicePositionCode {
      * 溶液首次预充距离
      * */
     solutionPreFillDistance(DevicePositionType.DISTANCE, "溶液首次预充距离"),
-    /*
+    /**
     * 稀硝酸预充距离
     * */
     thinPreFillDistance(DevicePositionType.DISTANCE,"稀硝酸预充距离"),
-    /*
+    /**
     * 浓硝酸预充距离
     * */
     thickPreFillDistance(DevicePositionType.DISTANCE,"浓硝酸预充距离"),

src/main/java/com/iflytop/sgs/hardware/comm/can/A8kCanBusService.java

@@ -81,11 +81,13 @@ public class A8kCanBusService implements CanBusService {
     public ModuleStatus moduleGetStatus(MId id) throws HardwareException {
         return connection.moduleGetStatus(id);
     }
+
     public void moduleSetRegByApp(String id, String regindex, Integer reg) throws HardwareException {
         MId mId = MId.valueOf(id);
-		RegIndex regIndex=RegIndex.valueOf(reg);
+        RegIndex regIndex = RegIndex.valueOf(regindex);
         this.moduleSetReg(mId, regIndex, reg);
     }
+
     /**
      * 设置各动作超时时间
      */

src/main/resources/sql/init.sql

@@ -35,26 +35,6 @@ CREATE TABLE IF NOT EXISTS device_position
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
-INSERT OR IGNORE INTO device_position (id, name, code, type, position)
-VALUES ('1', '预充防滴落距离', 'antiDripDistance', 'DISTANCE', '0'),
-       ('2', '溶液首次预充距离', 'solutionPreFillDistance', 'DISTANCE', '10'),
-       ('3', '稀硝酸预充距离', 'thinPreFillDistance', 'DISTANCE', '10'),
-       ('4', '浓硝酸预充距离', 'thickPreFillDistance', 'DISTANCE', '10'),
-       ('5', '蒸馏水预充距离', 'waterPreFillDistance', 'DISTANCE', '10'),
-       ('6', '托盘试管水平间距', 'trayTubeHorizontalSpacingDistance', 'DISTANCE', '10'),
-       ('7', '转运模块X轴拿取托盘进出卡槽移动距离', 'transferModuleXPickTrayMoveDistance', 'DISTANCE', '3'),
-       ('8', '加液模块电机下降进入试管加液位置', 'solutionModuleMotorDownInTubeAddPositon', 'POSITION', '2'),
-       ('9', '加液模块电机下降进入试管抽取位置', 'solutionModuleMotorDownInTubeExtPositon', 'POSITION', '5'),
-       ('10', '转运模块Z轴拿取托盘时起下降的高度位置', 'transferModuleZPickTrayDownPositon', 'POSITION', '2'),
-       ('11', '开门位置', 'doorOpenPosition', 'POSITION', '10'),
-       ('12', '关门位置', 'doorClosePosition', 'POSITION', '0'),
-       ('13', '上料区托盘夹爪位置点', 'feedAreaTrayPoint', 'POINT_3D', '10,10,10'),
-       ('14', '加液时托盘位置点', 'liquidAreaTrayPoint', 'POINT_3D', '10,10,10'),
-       ('15', '加热区1托盘夹爪位置点', 'heatArea1TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('16', '加热区2托盘夹爪位置点', 'heatArea2TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('17', '加热区3托盘夹爪位置点', 'heatArea3TrayClawPoint', 'POINT_3D', '10,10,10'),
-       ('18', '加热区4托盘夹爪位置点', 'heatArea4TrayClawPoint', 'POINT_3D', '10,10,10');
-
 
 -- 系统配置 表
 CREATE TABLE IF NOT EXISTS system_config