fix:解决测试问题

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

@@ -55,26 +55,28 @@ public class CleanStartCommand extends BaseCommandHandler {
         return runAsync(() -> {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
             boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//监测夹爪是否有托盘
             Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//夹爪必须有托盘
-            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
-            solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.1);//todo 测试准确后打开 pumpPosition
-            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
-            for (int i = 0; i < cycle; i++) {
-                for (int j = 0; j < jsonArray.size(); j++) {
-                    int column = jsonArray.getInt(i);
-                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+            for (int j = 0; j < jsonArray.size(); j++) {
+                int column = jsonArray.getInt(j);
+                double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//x轴移动距离
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
+                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+                for (int i = 0; i < cycle; i++) {
                     solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.water);//电磁阀对应通道打开
+                    Thread.sleep(500);
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.1);//八通道蠕动泵  cleanWaterVolume * waterScale * 8
+
                     solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
+                    Thread.sleep(500);
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.1);//八通道蠕动泵
-                    double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//x轴移动距离
-                    transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
-
                 }
-
+                solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
             }
+
+
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//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

@@ -65,6 +65,8 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
                 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
             } else {
+                boolean feedTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
+                Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
                 Point3D  targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getZ());//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

@@ -68,6 +68,8 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                     deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态
                     //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中 todo 报错
                 } else {//有加热模块参数
+                    boolean feedTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
+                    Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
                     Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
                     transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
                     transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getZ());//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/XOriginCommand.java

@@ -1,12 +1,17 @@
 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.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.DevicePartId;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -23,10 +28,14 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("x_origin")
 public class XOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            //确保z轴的高度
+            Double zPosition = deviceSensorService.getMotorPosition(DevicePartId.ZM);
+            Assert.isTrue(zPosition <50, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

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

@@ -69,11 +69,6 @@ public class MoveTestCommand extends BaseCommandHandler {
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入上料区
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100));
-
-                if(clawTrayExist){
-                    transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),feedAreaTrayPoint3D);//转移至加液区托盘点位
-
-                }
             } finally {
                 deviceStateService.getCommandMutexState().get().setMoveTest(false);
             }

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

@@ -61,7 +61,8 @@ public enum ResultCode implements IResultCode, Serializable {
     FEED_AREA_NO_TRAY("6028", "上料区无托盘"),
     SOLUTION_MODULE_IS_BUSY("6029", "加液模块正忙"),
     ANNEAL_MODULE_EXIST_TRAY("6030", "退火模块存在托盘"),
-    HAVE_IN_ANNEAL_MODULE("6031", "已经在退热模块");
+    HAVE_IN_ANNEAL_MODULE("6031", "已经在退热模块"),
+    Z_IS_NOT_SAFE("6032", "Z轴位置不安全"),;
     /** 状态码 */
     private final String code;
     /** 提示信息 */