fix:增加预充开始 结束功能

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

@@ -39,7 +39,6 @@ public class AnnealStopCommand extends BaseCommandHandler {
             for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) {
                 String targetHeatModuleCodeStr = heatModuleCodeJsonArray.getStr(i);
                 HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标退火模块
-                Assert.isTrue(targetHeatModuleCode != null, () -> new AppException(ResultCode.PARAMETER_TYPE_MISMATCH));//参数检验
                 HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode);//获取退火区的状态
                 Assert.isTrue(heatModuleState.getHeatingType().equals(HeatingType.annealing), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NOT_ANNEAL));//判断退火区状态
                 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleCode);//关闭加热棒

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

@@ -42,7 +42,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-
+        //todo 更新阀的状态
 
 
         return runAsync(() -> {

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

@@ -0,0 +1,62 @@
+package com.iflytop.sgs.app.cmd.control;
+
+import cn.hutool.core.lang.Assert;
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.Point3D;
+import com.iflytop.sgs.app.model.bo.status.device.TransferModuleState;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+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.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.ValveStateCode;
+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;
+
+/**
+ * 添加溶液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("liquid_pre_fill_start")//业务指令注解
+public class LiquidPreFillStartCommand extends BaseCommandHandler {
+    private final SolutionModuleService solutionModuleService;
+    private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
+    private final TransferModuleService transferModuleService;
+    private final SystemConfigService systemConfigService;
+    private final SolutionsService solutionsService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isIdle(), () -> new AppException(ResultCode.SOLUTION_MODULE_IS_BUSY));//判断当前加液区状态
+        Integer solutionId = cmdDTO.getIntegerParam("solutionId");//解析参数酸液Id
+        Solutions solutions = solutionsService.getById(solutionId);//数据库获取酸液信息
+        Assert.notNull(solutions, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//检验参数
+        ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//获取对应的电磁阀通道
+        Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
+        double position=devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//预充开始
+        return runAsync(() -> {
+            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
+        });
+    }
+}
+

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

@@ -0,0 +1,52 @@
+package com.iflytop.sgs.app.cmd.control;
+
+import cn.hutool.core.lang.Assert;
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.bo.Point3D;
+import com.iflytop.sgs.app.model.bo.status.device.TransferModuleState;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+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.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.ValveStateCode;
+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;
+
+/**
+ * 添加溶液
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("liquid_add")//业务指令注解
+public class LiquidPreFillStopCommand extends BaseCommandHandler {
+    private final SolutionModuleService solutionModuleService;
+    private final DeviceStateService deviceStateService;
+    private final DevicePositionService devicePositionService;
+    private final TransferModuleService transferModuleService;
+    private final SystemConfigService systemConfigService;
+    private final SolutionsService solutionsService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            solutionModuleService.liquidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止预充
+            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/model/entity/Solutions.java

@@ -17,4 +17,8 @@ public class Solutions extends BaseEntity {
     @Schema(description = "溶液名称")
     private String name;
 
+    @NotNull
+    @Schema(description = "溶液code")
+    private String code;
+
 }

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

@@ -112,6 +112,15 @@ public class SolutionModuleService {
         CommandUtil.wait(deviceCommandFuture);
 
     }
+    /**
+     * 加液泵停止
+     */
+    public void liquidPumpStop(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommandBundle = DeviceCommandGenerator.liquidPumpStop();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommandBundle);
+        CommandUtil.wait(deviceCommandFuture);
+
+    }
 
     /**
      * 加液泵排空

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

@@ -12,6 +12,24 @@ public enum DevicePositionCode {
      * 预充防滴落距离
      */
     antiDripDistance(DevicePositionType.DISTANCE, "预充防滴落距离"),
+
+    /**
+     * 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"),
+    /**
+     *
+     * 蒸馏水预充距离
+     * */
+    waterPreFillDistance(DevicePositionType.DISTANCE,"蒸馏水预充距离"),
     /**
      * 托盘试管水平间距
      */

src/main/java/com/iflytop/sgs/common/result/ResultCode.java

@@ -59,6 +59,7 @@ public enum ResultCode implements IResultCode, Serializable {
     TRANSFER_MODULE_NO_TRAY("6026", "转运模块无托盘"),
     SOLUTION_MODULE_NO_TRAY("6027", "加液模块无托盘"),
     FEED_AREA_NO_TRAY("6028", "上料区无托盘"),
+    SOLUTION_MODULE_IS_BUSY("6029", "加液模块正忙"),
     ;
     /** 状态码 */
     private final String code;

src/main/resources/sql/init.sql

@@ -135,12 +135,13 @@ CREATE TABLE IF NOT EXISTS solutions
 (
     id          INTEGER PRIMARY KEY AUTOINCREMENT,
     name        VARCHAR NOT NULL,
+    code        VARCHAR NOT NULL,
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
 
-INSERT OR IGNORE INTO solutions (id, name, create_time, update_time)
-VALUES (1, '稀硝酸', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
-       (2, '浓硝酸', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
-       (3, '蒸馏水', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
-       (4, '废液', '2025-02-18 02:46:23', '2025-02-18 02:46:23');
+INSERT OR IGNORE INTO solutions (id, name, code, create_time, update_time)
+VALUES (1, '稀硝酸', 'thin', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
+       (2, '浓硝酸', 'thick', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
+       (3, '蒸馏水', 'water', '2025-02-18 02:44:07', '2025-02-18 02:44:07'),
+       (4, '废液', 'waste', '2025-02-18 02:46:23', '2025-02-18 02:46:23');