定义位置点与距离

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

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

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

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

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

@@ -7,54 +7,38 @@ import lombok.Getter;
  */
 @Getter
 public enum DevicePositionCode {
-
+    ////////////相对距离
     /**
      * 预充防滴落距离
      */
     antiDripDistance(DevicePositionType.DISTANCE, "预充防滴落距离"),
     /**
-     * 试管间距距离
-     */
-    testTubeSpacing(DevicePositionType.DISTANCE, "试管间距距离"),
-
-    /**
-     * 夹爪托盘夹取距离
-     */
-    //clawTrayPick(DevicePositionType.DISTANCE, "夹爪托盘夹取距离"),
-
-    /**
-     * 加液机械臂脱离试管的距离
-     */
-    liquidMotorSafeDistance(DevicePositionType.DISTANCE, "加液机械臂脱离试管的距离"),
-    /**
-     * 机械臂夹紧距离
+     * 托盘试管水平间距
      */
-    clawTrayGrip(DevicePositionType.DISTANCE, "夹紧托盘横向距离"),
+    trayTubeHorizontalSpacingDistance(DevicePositionType.DISTANCE, "托盘试管水平间距"),
     /**
-     * 托盘和夹爪分离高度
+     * 转运模块X轴拿取托盘进出卡槽移动距离
      */
-    clawTrayHeight(DevicePositionType.DISTANCE, "夹紧托盘纵向高度"),
+    transferModuleXPickTrayMoveDistance(DevicePositionType.DISTANCE, "转运模块X轴拿取托盘进出卡槽移动距离"),
 
+    ////////////////位置
 
     /**
-     * 夹爪试管夹取距离
+     * 加液模块电机下降进入试管位置
      */
-    //clawTestTubePick(DevicePositionType.DISTANCE, "夹爪试管夹取距离"),
-
+    solutionModuleMotorDownInTubePositon(DevicePositionType.POSITION, "加液模块电机下降进入试管位置"),
     /**
-     * 夹爪试管夹紧距离
+     * 转运模块电机上升进入试管位置
      */
-    //clawTestTubeGrip(DevicePositionType.DISTANCE, "夹爪试管夹紧距离"),
+    transferModuleZMotorUpInTubePositon(DevicePositionType.POSITION, "转运模块电机上升进入试管位置"),
     /**
-     * 夹爪拍子夹取距离
+     * 转运模块Z轴移动托盘时起托盘的高度位置
      */
-    //clawCapPick(DevicePositionType.DISTANCE, "夹爪拍子夹取距离"),
-
+    transferModuleZTrayUpMovePositon(DevicePositionType.POSITION, "转运模块Z轴移动托盘时起托盘的高度位置"),
     /**
-     * 夹爪拍子夹紧距离
+     * 转运模块Z轴拿取托盘时起下降的高度位置
      */
-    //clawCapGrip(DevicePositionType.DISTANCE, "夹爪拍子夹紧距离"),
-
+    transferModuleZPickTrayDownPositon(DevicePositionType.POSITION, "转运模块Z轴拿取托盘时起下降的高度位置"),
     /**
      * 开门距离
      */
@@ -65,117 +49,33 @@ public enum DevicePositionCode {
      */
     trayLift(DevicePositionType.DISTANCE, "托盘升降抬升距离"),
 
-    /**
-     * 托盘升降下降距离
-     */
-    trayLower(DevicePositionType.DISTANCE, "托盘升降下降距离"),
-
-    /**
-     * 加热模块拍子移动高度
-     */
-    heatModuleCapMoveHeight(DevicePositionType.DISTANCE, "加热模块拍子移动高度"),
-
-    /**
-     * 拍子升降模块拍子移动高度
-     */
-    capModuleCapMoveHeight(DevicePositionType.DISTANCE, "拍子升降模块拍子移动高度"),
-
-    /**
-     * 加热模块托盘移动高度
-     */
-    heatModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加热模块托盘移动高度"),
-
-    /**
-     * 加液模块托盘移动高度
-     */
-    solutionModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加液模块托盘移动高度"),
-
-//    /**
-//     * 移动试管安全高度
-//     */
-//    testTubeSafetyHeight(DevicePositionType.DISTANCE, "移动试管安全高度"),
-
-    /**
-     * 拍子升降高度
-     */
-    capLiftingHeight(DevicePositionType.DISTANCE, "拍子升降高度"),
 
     ////////////////////////点
-
     /**
-     * 拍子存放区拍子夹爪点
+     * 上料区托盘夹爪位置点
      */
-    capStorageCapClawPoint(DevicePositionType.POINT_3D, "拍子存放区拍子夹爪点"),
+    materialAreaTrayPoint(DevicePositionType.POINT_3D, "上料区托盘夹爪位置点"),
     /**
-     * 上料区托盘夹爪点
+     * 加液时托盘位置点
      */
-    materialAreaTrayPoint(DevicePositionType.POINT_3D, "上料区托盘夹爪点"),
+    liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液时托盘位置点"),
     /**
-     * 加液区托盘夹爪点
+     * 加热区1托盘夹爪位置点
      */
-    liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液区托盘夹爪点"),
-
+    heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪位置点"),
     /**
-     * 加热区1托盘夹爪点
+     * 加热区2托盘夹爪位置点
      */
-    heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪点"),
-
-    /**
-     * 加热区2托盘夹爪点
-     */
-    heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪点"),
-
-    /**
-     * 加热区3托盘夹爪点
-     */
-    heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪点"),
-
-    /**
-     * 加热区4托盘夹爪点
-     */
-    heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪点"),
-
-    /**
-     * 加热区5托盘夹爪点
-     */
-    heatArea5TrayClawPoint(DevicePositionType.POINT_3D, "加热区5托盘夹爪点"),
-
+    heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪位置点"),
     /**
-     * 加热区6托盘夹爪点
+     * 加热区3托盘夹爪位置点
      */
-    heatArea6TrayClawPoint(DevicePositionType.POINT_3D, "加热区6托盘夹爪点"),
-
+    heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪位置点"),
     /**
-     * 加热区1拍子夹爪点
+     * 加热区4托盘夹爪位置点
      */
-    heatArea1CapClawPoint(DevicePositionType.POINT_3D, "加热区1拍子夹爪点"),
-
-    /**
-     * 加热区2拍子夹爪点
-     */
-    heatArea2CapClawPoint(DevicePositionType.POINT_3D, "加热区2拍子夹爪点"),
-
-    /**
-     * 加热区3拍子夹爪点
-     */
-    heatArea3CapClawPoint(DevicePositionType.POINT_3D, "加热区3拍子夹爪点"),
-
-    /**
-     * 加热区4拍子夹爪点
-     */
-    heatArea4CapClawPoint(DevicePositionType.POINT_3D, "加热区4拍子夹爪点"),
-
-    /**
-     * 加热区5拍子夹爪点
-     */
-    heatArea5CapClawPoint(DevicePositionType.POINT_3D, "加热区5拍子夹爪点"),
-
-    /**
-     * 加热区6拍子夹爪点
-     */
-    heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点");
-
-
+    heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪位置点"),
+    ;
     private final DevicePositionType type;
     private final String name;
 

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

@@ -10,7 +10,11 @@ public enum DevicePositionType {
     /**
      * 直线距离
      */
-    DISTANCE("直线距离"),
+    DISTANCE("距离"),
+    /**
+     * 位置
+     */
+    POSITION("位置"),
     /**
      * 二维点
      */