fix:修改业务指令

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

@@ -54,13 +54,13 @@ 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
-            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
             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
+            boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断机械臂是否有托盘
             Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态
             ValveStateCode oldValveState = ValveStateCode.thick.getByChannel(currentChannel);//获取当前电磁阀的值
 
@@ -102,14 +102,14 @@ public class LiquidAddCommand extends BaseCommandHandler {
             for (int i = 0; i < jsonArray.size(); i++) {
                 int column = jsonArray.getInt(i);
                 if (column > 0 && column < 6) {
-                    double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂左移距离
-                    transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//机械臂左移
+                    double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂右移距离
+                    transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint.getX()+distance);//机械臂移动到试管位置
                     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
+                    solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 }
             }
-            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
             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/LiquidPreFillStartCommand.java

@@ -35,7 +35,6 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
-    private final DeviceSensorService deviceSensorService;
     private final SolutionsService solutionsService;
 
     @Override
@@ -46,15 +45,15 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
         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();//溶液首次预充距离
+        double position = devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//溶液首次预充距离
+        double motorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液臂抽液位
         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
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//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(), motorDownInTubeExtPositon);//加液机械臂下降至加液位
             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

@@ -49,22 +49,21 @@ 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
         double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液volume配置
         return runAsync(() -> {
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
             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
+            Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//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
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开
             for (int i = 0; i < jsonArray.size(); i++) {
                 int column = jsonArray.getInt(i);
                 if (column > 0 && column < 6) {
+                    double distance = (jsonArray.getInt(i) - 1) * trayTubeHorizontalSpacingDistance;
+                    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
                     solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -reduceNumber);//抽液
-                    double distance = (jsonArray.getInt(i) - 1) * trayTubeHorizontalSpacingDistance;
-                    solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升
-                    transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
-                    transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动
+                    solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
                 }
             }
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管

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

@@ -0,0 +1,78 @@
+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.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.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.HeatModuleCode;
+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;
+
+/**
+ * 转移至退火区
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("move_to_anneal_area")//业务指令注解
+public class MoveToAnnealAreaCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+    private final TransferModuleService transferModuleService;
+
+    private final DevicePositionService devicePositionService;
+    private final DeviceStateService deviceStateService;
+    private final DeviceSensorService deviceSensorService;
+    private final SolutionModuleService solutionModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
+        String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode heatModuleCode;
+        HeatModuleCode targetHeatModuleCode = HeatModuleCode.heat_module_04;
+        if (heatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取上料区是否有托盘
+            heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);//目标加热模块
+            Assert.isTrue(heatModuleCode.equals(targetHeatModuleCode), () -> new AppException(ResultCode.HAVE_IN_ANNEAL_MODULE));
+        } else {
+            heatModuleCode = null;
+        }
+        Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点
+        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 liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
+        return runAsync(() -> {
+            boolean annealTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST);//获取传感器状态
+            Assert.isTrue(annealTrayExist, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//加热位是否有托盘
+            if (heatModuleCode != null) {
+                solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
+                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
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至加热区托盘夹取点 + 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
+                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(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
+            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
+            deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(true);//设置目标加热区有托盘
+        });
+    }
+}
+

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

@@ -8,6 +8,7 @@ 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.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.DeviceSensorCode;
@@ -35,6 +36,7 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
+    private final SolutionModuleService solutionModuleService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -54,6 +56,7 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
 
         return runAsync(() -> {
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             if (targetHeatModuleCode == null) {
                 //获取加液位托盘
                 deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(false);//设定托盘不在加液位中

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

@@ -7,6 +7,7 @@ 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.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.DeviceSensorCode;
@@ -32,6 +33,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
+    private final SolutionModuleService solutionModuleService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -43,6 +45,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
 
         return runAsync(() -> {
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             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

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

@@ -7,6 +7,7 @@ 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.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
@@ -32,6 +33,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
 
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
+    private final SolutionModuleService solutionModuleService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -52,6 +54,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
 
         return runAsync(() -> {
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             if (targetHeatModuleCode == null) {
                 //获取上料区托盘
                 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

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

@@ -3,6 +3,7 @@ package com.iflytop.sgs.app.cmd.selftest;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.device.SelfTestService;
+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 lombok.RequiredArgsConstructor;
@@ -12,23 +13,21 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 转运机械臂回原点
+ * 加液机械臂回原点
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("transfer_origin")//业务指令注解
+@CommandMapping("dual_robot_origin")//业务指令注解
 public class TransferOriginCommand extends BaseCommandHandler {
-    private final TransferModuleService transferModuleService;
+    private final SolutionModuleService solutionModuleService;
     private final SelfTestService selfTestService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            transferModuleService.transferZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            selfTestService.getSelfTestState().setTransferZOrigin(true);//设置z是否在原点状态
-            transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            selfTestService.getSelfTestState().setTransferXOrigin(true);//设置x是否在原点状态
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            selfTestService.getSelfTestState().setDualRobotOrigin(true);
         });
     }
 }

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -15,7 +15,6 @@ import com.iflytop.sgs.common.enums.ContainerType;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.cmd.CmdColor;
 import com.iflytop.sgs.common.service.CanBusService;
-import com.iflytop.sgs.hardware.exception.HardwareException;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java

@@ -11,7 +11,6 @@ import com.iflytop.sgs.common.service.GDDeviceStatusService;
 import com.iflytop.sgs.hardware.exception.HardwareException;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
 @Slf4j

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

@@ -102,7 +102,14 @@ public class SolutionModuleService {
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
     }
-
+    /**
+     * 加液机械臂移动到0
+     */
+    public void solutionMotorMoveZero(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.solutionMotorMove(0.0);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        CommandUtil.wait(deviceCommandFuture);
+    }
     /**
      * 加液泵加液
      */

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

@@ -60,7 +60,8 @@ public enum ResultCode implements IResultCode, Serializable {
     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"),
-    ;
+    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");
     /** 状态码 */
     private final String code;
     /** 提示信息 */

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

@@ -11,7 +11,7 @@ import java.util.Map;
 public class LeiSaiServoConfig {
     static final double DEFAULT_MAX_LIMIT = 0.0; // mm
     final static Map<LeisaiServoMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
-            Map.entry(LeisaiServoMId.XSV, 1000.0)
+            Map.entry(LeisaiServoMId.XSV, 1500.0)
     );
 
     /* ******************** ********************  ******************** */

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

@@ -34,8 +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.ZM, 100.0)
+            Map.entry(StepMotorMId.LiquidM, 160.0),
+            Map.entry(StepMotorMId.ZM, 110.0)
     );
 
     // 是否安装编码器