fix:修改业务指令 用传感器获取状态

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

@@ -15,6 +15,7 @@ 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.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -54,8 +55,8 @@ public class LiquidAddCommand extends BaseCommandHandler {
             Solutions solutions = solutionsService.getById(solutionId);//获取溶液
             ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
             Assert.isTrue(!jsonArray.isEmpty(), () -> new AppException(ResultCode.INVALID_PARAMETER));//确定选中了列
-            TransferModuleState transferModuleState = deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态
-            Assert.isTrue(transferModuleState.isTrayStatus(), () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
             Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位
             Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
             Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
@@ -66,23 +67,20 @@ public class LiquidAddCommand extends BaseCommandHandler {
 
             double preFillDistance = 0;
             if (!oldValveState.equals(valveStateCode)) {//判断是否与当前加酸的通道一致 不一致排空
+                double drainDistance = 0;
                 switch (oldValveState) {
                     case ValveStateCode.thin -> {
-                        solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
-                        double distance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
-                        solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
+                        drainDistance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
                     }
                     case ValveStateCode.thick -> {
-                        solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
-                        double distance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离
-                        solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
+                        drainDistance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离
                     }
                     case ValveStateCode.water -> {
-                        solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
-                        double distance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离
-                        solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
+                        drainDistance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离
                     }
                 }
+                solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
+                solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -drainDistance);//排空
                 switch (valveStateCode) {
                     case ValveStateCode.thin -> {
                         double distance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
@@ -99,7 +97,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
                 }
             }
             double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比
-            double position = volume * scale * 8 + preFillDistance;//加液泵的转数
+            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
             for (int i = 0; i < jsonArray.size(); i++) {
@@ -110,7 +108,6 @@ public class LiquidAddCommand extends BaseCommandHandler {
                     solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液
                     solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
-                    transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
                 }
             }
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升

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

@@ -9,10 +9,12 @@ import com.iflytop.sgs.app.model.entity.Solutions;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SolutionsService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 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.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.ValveStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -35,7 +37,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
-    private final SystemConfigService systemConfigService;
+    private final DeviceSensorService deviceSensorService;
     private final SolutionsService solutionsService;
 
     @Override
@@ -48,12 +50,16 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
         double position=devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//溶液首次预充距离
         return runAsync(() -> {
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
             solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//预充开始
+            deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
+            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置正在加液
         });
     }
 }

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

@@ -48,11 +48,11 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
         List<TrayState> trayStates = deviceStateService.getDeviceState().getTrays();//所有的托盘
         TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘
-        double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));
+        double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液volume配置
         return runAsync(() -> {
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
-            boolean LIQUID_TRAY_EXIST=deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//监测加液位是否有托盘
-            Assert.isTrue(LIQUID_TRAY_EXIST, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//将X轴移动至加液时托盘位置点
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
@@ -62,11 +62,12 @@ public class LiquidReduceCommand extends BaseCommandHandler {
                     solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -reduceNumber);//抽液
                     double distance = (tubeState.getColumnNum() - 1) * trayTubeHorizontalSpacingDistance;
+                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
                     transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动
                 }
             }
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用解除
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
         });

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

@@ -10,6 +10,7 @@ import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -43,7 +44,8 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
         } else {
             targetHeatModuleCode = null;
-            Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//转运模块是否有托盘
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘
         }
 
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点

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

@@ -5,10 +5,12 @@ 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.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -32,22 +34,20 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
 
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
-        if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
-            Assert.isTrue(!deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区有托盘
-
-        }
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
         Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离
         Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
 
         return runAsync(() -> {
-            if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            if (!liquidTrayExist) { //判断机械臂上是否有托盘
                 //机械臂上无托盘，取上料区托盘
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘

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

@@ -41,6 +41,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
         } else {
             targetHeatModuleCode = null;
+            //todo 要改成传感器获取
             Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isFeedAreaTrayStatus(), () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
         }
 

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

@@ -38,10 +38,10 @@ public class TransferModuleService {
      * 转运机械臂移动到指定点
      */
     public void transferMove(String cmdId, String cmdCode, Point3D point) throws Exception {
-        DeviceCommandBundle transferXMoveDeviceCommand = DeviceCommandGenerator.transferXMove(point.getX());
-        CommandFuture transferXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, transferXMoveDeviceCommand);
         DeviceCommandBundle transferZMoveDeviceCommand = DeviceCommandGenerator.transferZMove(point.getZ());
         CommandFuture transferZMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, transferZMoveDeviceCommand);
+        DeviceCommandBundle transferXMoveDeviceCommand = DeviceCommandGenerator.transferXMove(point.getX());
+        CommandFuture transferXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, transferXMoveDeviceCommand);
         CommandUtil.wait(transferXMoveDeviceCommandFuture, transferZMoveDeviceCommandFuture);
     }
 

src/main/java/com/iflytop/sgs/hardware/config/StepMotorConfig.java

@@ -34,7 +34,8 @@ public class StepMotorConfig {
     static final double DEFAULT_MAX_LIMIT = 0.0; // mm
     final static Map<StepMotorMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
             Map.entry(StepMotorMId.DoorM, 200.0),
-            Map.entry(StepMotorMId.LiquidM, 150.0)
+            Map.entry(StepMotorMId.LiquidM, 150.0),
+            Map.entry(StepMotorMId.ZM, 100.0)
     );
 
     // 是否安装编码器