fix:测试问题修改

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

@@ -0,0 +1,37 @@
+package com.iflytop.sgs.app.cmd.control;
+
+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.common.annotation.CommandDebugMapping;
+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.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 加液位电机回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("liquid_motor_origin")
+public class LiquidMotorOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+

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

@@ -48,7 +48,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//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
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运移动至加热位1
+            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运模块移动至加热位1
             solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
             solutionModuleService.liquidPumpRotateForward(cmdDTO.getCommandId(), cmdDTO.getCommand());//预充开始 todo 测试后改动 需要测试一下
         });

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

@@ -34,6 +34,7 @@ public class LiquidPreFillStopCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             solutionModuleService.liquidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止预充
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂归0
             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/LiquidReduceCommand.java

@@ -50,7 +50,7 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         double reduceNumber= systemConfigService.getSystemConfigDoubleByCode(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
+            transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
             boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪是否有托盘
             Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断转态
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
@@ -66,7 +66,7 @@ public class LiquidReduceCommand extends BaseCommandHandler {
                     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
+            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至托盘至加液位置点
             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/MoveToAnnealAreaCommand.java

@@ -49,7 +49,6 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
         } 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
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
@@ -69,6 +68,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
                     transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
                 }
             }else{
+                Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点
                 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(), heatModuleTrayClawPoint3D.getZ());//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

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

@@ -77,6 +77,7 @@ public class MoveToFeedAreaCommand 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.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().getTransferModule().setTrayStatus(false);//设定托盘夹爪为FALSE
             }
             deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
         });

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

@@ -11,6 +11,8 @@ 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.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
 import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
@@ -46,7 +48,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         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
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪位置点
-        //目标加热模块有无托盘
+
+        boolean heatModuleTrayExist=deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//目标加热模块有无托盘
+        Assert.isTrue(!heatModuleTrayExist, ()->new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
         return runAsync(() -> {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置

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

@@ -48,7 +48,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
             targetHeatModuleCode = null;
         }
 
-      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 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
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
 
@@ -56,10 +56,10 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置
             boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
-            if(!clawTrayExist){//夹爪无托盘
+            if (!clawTrayExist) {//夹爪无托盘
                 if (targetHeatModuleCode == null) {//无加热模块参数
                     boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
-                    Assert.isTrue(feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘
+                    Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘
                     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(), feedAreaTrayPoint3D.getZ());//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
@@ -75,8 +75,8 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                     deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
                     //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中  todo 报错
                 }
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
             }
-            transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//x轴移动至加液时托盘位置点
             //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(true);//设定托盘在加液位中 todo 报错
 
         });

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

@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.control;
+
+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.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.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 处理复位x轴电机复位
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("x_origin")
+public class XOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+

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

@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.control;
+
+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.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.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * z轴电机复位
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("z_origin")
+public class ZOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+

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

@@ -5,12 +5,14 @@ import com.iflytop.sgs.app.core.SelfMoveTestGenerator;
 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.app.ws.server.WebSocketSender;
 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;
@@ -35,6 +37,7 @@ public class MoveTestCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final WebSocketSender webSocketService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -50,9 +53,12 @@ public class MoveTestCommand extends BaseCommandHandler {
         deviceStateService.getCommandMutexState().get().setMoveTest(true);
         return runAsync(() -> {
             try {
+                deviceSensorService.collectSensorState();//收集传感器转态
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 25));
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+                transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaTrayPoint3D);//转移至加液区托盘点位
+                boolean clawTrayExist=deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点
                 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高
@@ -63,6 +69,11 @@ 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/app/service/device/DeviceSensorService.java

@@ -23,6 +23,19 @@ public class DeviceSensorService {
     /*
      * 获取传感器状态
      * */
+    public boolean getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) throws HardwareException {
+        DeviceSensorCode deviceSensorCode = switch (heatModuleCode) {
+            case heat_module_01 -> DeviceSensorCode.HEATER_TRAY_1_EXIST;
+            case heat_module_02 -> DeviceSensorCode.HEATER_TRAY_2_EXIST;
+            case heat_module_03 -> DeviceSensorCode.HEATER_TRAY_3_EXIST;
+            case heat_module_04 -> DeviceSensorCode.HEATER_TRAY_4_EXIST;
+        };
+        return deviceStatusService.getInputState(deviceSensorCode.name());
+    }
+
+    /*
+     * 获取传感器状态
+     * */
     public boolean getSensorStatus(DeviceSensorCode sensorCode) throws HardwareException {
         return deviceStatusService.getInputState(sensorCode.name());
     }
@@ -49,10 +62,9 @@ public class DeviceSensorService {
     }
 
 
-
     /**
      * 采集所有传感器状态
-     * */
+     */
     public void collectSensorState() throws HardwareException {
         HeatModuleState heat_module_01 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_01);
         heat_module_01.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_1_EXIST));