调整业务指令开始退火，停止退火

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

@@ -1,13 +1,17 @@
 package com.iflytop.sgs.app.cmd.control;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.DevicePositionService;
 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.HeatModuleCode;
 import com.iflytop.sgs.common.enums.HeatingType;
+import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -22,18 +26,37 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("anneal_start")//业务指令注解
 public class AnnealStartCommand extends BaseCommandHandler {
+    private final TransferModuleService transferModuleService;
     private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        HeatModuleCode heatModuleCode = HeatModuleCode.heat_module_04;
+        //TODO 判断退火加热模块传感器是否有托盘
+        String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
+        //TODO 判断目标加热模块传感器是否有托盘
+        HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;
+
+        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 annealHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(annealHeatModuleCode);//获取退火加热模块托盘夹取点
+        HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode);//获取设定的退火温度
+        double targetTemperature = heatModuleState.getAnnealTemperature();
+        heatModuleState.setTargetTemperature(targetTemperature);//将退火温度设定为目标温度
         return runAsync(() -> {
-            HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode);
-            double targetTemperature = heatModuleState.getAnnealTemperature();
-            heatModuleState.setTargetTemperature(targetTemperature);
-            heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, targetTemperature);
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.annealing);
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至夹取点 + 移动距离
+            transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//将Z轴下降至托盘夹取点高度
+            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点
+            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
+            transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
+            transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+            heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleCode, targetTemperature);//开启加热
+            deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode).setHeatingType(HeatingType.annealing);//状态修改为退火中
         });
     }
 }

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

@@ -53,7 +53,7 @@ public class CleanStartCommand extends BaseCommandHandler {
         //转运模块X轴拿取托盘进出卡槽移动距离
         double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
         //获取指定加热模块上方点位
-        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
+        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
         //获取加液区上方点位
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
         //判断加热区有无托盘

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

@@ -13,7 +13,6 @@ 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.HeatModuleCode;
-import com.iflytop.sgs.common.enums.PumpStateCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
 import com.iflytop.sgs.common.result.ResultCode;
@@ -65,7 +64,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         //转运模块X轴拿取托盘进出卡槽移动距离
         double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
         //获取指定加热模块上方点位
-        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
+        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
         return runAsync(() -> {
             try {
                 //升高加液电机高度 回0点

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

@@ -1,6 +1,5 @@
 package com.iflytop.sgs.app.cmd.control;
 
-import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
@@ -56,7 +55,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         //转运模块X轴拿取托盘进出卡槽移动距离
         double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
         //获取指定加热模块上方点位
-        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
+        Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
         //获取加液区上方点位
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
         return runAsync(() -> {

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

@@ -69,7 +69,7 @@ public class HeatModuleService {
     /**
      * 获取指定加热区托盘夹爪点位
      */
-    public Point3D getHeatAreaTrayClawPoint3D(HeatModuleCode heatModuleId) {
+    public Point3D getHeatModuleTrayClawPoint3D(HeatModuleCode heatModuleId) {
         DevicePosition devicePosition = switch (heatModuleId) {
             case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint);
             case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2TrayClawPoint);

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

@@ -1,7 +1,6 @@
 package com.iflytop.sgs.app.service.device.module;
 
 import com.iflytop.sgs.app.model.bo.Point3D;
-import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
@@ -96,6 +95,23 @@ public class TransferModuleService {
     }
 
     /**
+     * 转运机械臂Z轴移动到0点
+     */
+    public void transferZMoveZero() throws Exception {
+        transferZMoveZero(null, null);
+    }
+
+
+    /**
+     * 转运机械臂Z轴移动到0点
+     */
+    public void transferZMoveZero(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(0.0);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
+
+    /**
      * 转运机械臂Z轴移动到指定点
      */
     public void transferZMove(double position) throws Exception {

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

@@ -36,11 +36,7 @@ public enum DevicePositionCode {
      */
     transferModuleZMotorUpInTubePositon(DevicePositionType.POSITION, "转运模块Z轴电机上升进入试管位置"),
     /**
-     * 转运模块Z轴移动托盘时起托盘的高度位置
-     */
-    transferModuleZTrayUpMovePositon(DevicePositionType.POSITION, "转运模块Z轴移动托盘时起托盘的高度位置"),
-    /**
-     * 转运模块Z轴拿取托盘时起下降的高度位置
+     * 转运模块Z轴拿取托盘时下降的高度位置
      */
     transferModuleZPickTrayDownPositon(DevicePositionType.POSITION, "转运模块Z轴拿取托盘时起下降的高度位置"),
     /**