调整业务指令，移至加热、加液

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

@@ -0,0 +1,76 @@
+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.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.data.DevicePositionCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 将加液位或目标加热模块托盘移至上下料区
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("move_to_feed_area")//业务指令注解
+public class MoveToFeedAreaCommand extends BaseCommandHandler {
+    private final HeatModuleService heatModuleService;
+    private final TransferModuleService transferModuleService;
+
+    private final DevicePositionService devicePositionService;
+    private final DeviceStateService deviceStateService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
+        String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode targetHeatModuleCode;//目标加热模块
+        if (targetHeatModuleCodeStr != 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加液位是否有托盘
+            targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
+        } else {
+            targetHeatModuleCode = null;
+            //TODO 尝试获取加液位是否有托盘，如果没有托盘则提示错误
+        }
+
+        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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
+
+        return runAsync(() -> {
+            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
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
+                transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//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
+
+            } else {
+                //获取目标加热模块托盘
+                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(), 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
+                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
+                deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上
+                transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
+                transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//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().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
+        });
+    }
+}
+

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

@@ -26,7 +26,6 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("move_to_heat_area")//业务指令注解
 public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final HeatModuleService heatModuleService;
-    private final SolutionModuleService solutionModuleService;
     private final TransferModuleService transferModuleService;
 
     private final DevicePositionService devicePositionService;
@@ -52,6 +51,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 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(), 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

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

@@ -18,7 +18,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 移至加液 todo wmy 需要改
+ * 将上料区或目标加热模块托盘移至加液位
  */
 @Slf4j
 @Component