自检后开机预充

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

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+package com.iflytop.sgs.app.cmd.selftest;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.Point3D;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.DevicePositionService;
+import com.iflytop.sgs.app.service.api.SystemConfigService;
+import com.iflytop.sgs.app.service.device.DeviceStateService;
+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.SolutionCode;
+import com.iflytop.sgs.common.enums.SystemConfigCode;
+import com.iflytop.sgs.common.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 自检后 开机预充
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("liquid_pre_fill_when_launch ")//业务指令注解
+public class LiquidPreFillCommand extends BaseCommandHandler {
+    private final SolutionModuleService solutionModuleService;
+    private final TransferModuleService transferModuleService;
+    private final DevicePositionService devicePositionService;
+    private final DeviceStateService deviceStateService;
+    private final SystemConfigService systemConfigService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        if (deviceStateService.getCommandMutexState().get().isMoveTest()) {
+            throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
+        }
+        deviceStateService.getCommandMutexState().get().setMoveTest(true);
+        return runAsync(() -> {
+            try {
+                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
+                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
+            } finally {
+                deviceStateService.getCommandMutexState().get().setMoveTest(false);
+            }
+        });
+    }
+}
+