From f3c7d062290f76e4d4498603df875189ce666582 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Tue, 27 May 2025 10:57:38 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E4=B8=9A=E5=8A=A1=E6=8C=87=E4=BB=A4?= =?UTF-8?q?=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/control/CleanStartCommand.java | 56 +++++++++++----------- .../sgs/app/cmd/control/LiquidAddCommand.java | 45 +++++++++-------- .../sgs/app/cmd/control/LiquidReduceCommand.java | 43 +++++++++-------- .../sgs/common/cmd/DeviceCommandGenerator.java | 8 ++++ .../iflytop/sgs/common/enums/SystemConfigCode.java | 5 +- .../iflytop/sgs/common/enums/cmd/CmdAction.java | 1 + 6 files changed, 91 insertions(+), 67 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java index fa66270..8a34cd9 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java @@ -1,22 +1,28 @@ 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.bo.status.device.TrayState; import com.iflytop.sgs.app.model.bo.status.device.TubeState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.DevicePositionService; +import com.iflytop.sgs.app.service.api.SystemConfigService; 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; +import com.iflytop.sgs.common.enums.SystemConfigCode; +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.List; import java.util.concurrent.CompletableFuture; /** @@ -30,47 +36,43 @@ public class CleanStartCommand extends BaseCommandHandler { private final SolutionModuleService solutionModuleService; private final DevicePositionService devicePositionService; private final TransferModuleService transferModuleService; - private final DeviceStateService deviceStateService; - private final HeatModuleService heatModuleService; + private final SystemConfigService systemConfigService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { - //清洗次数 - Integer cycle = cmdDTO.getIntegerParam("cycle"); - String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); - HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块 - //TODO 判断目标加热模块传感器是否有托盘，如果没有托盘的话提示错误 - 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 + //TODO 需要先更新一下托盘状态 状态码新增转运模块是否有托盘 + Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY)); + double cleanWaterVolume= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量 + double waterScale= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数 + double pumpPosition= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液时蠕动泵移动 + Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置 + Integer cycle = cmdDTO.getIntegerParam("cycle");//清洗次数 Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距 - Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon();//加液模块电机下降进入试管加液位置 - - TrayState trayState = deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode); - + List trayStates=deviceStateService.getDeviceState().getTrays();//所有的托盘 + TrayState trayState=trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘 return runAsync(() -> { - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至夹取点 + 移动距离 - transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//将Z轴下降至托盘夹取点高度 - 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(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点 + solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开 + 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(), pumpPosition); + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0.0);//加液模块上升 + solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.water);//电磁阀对应通道打开 for (int i = 0; i < cycle; i++) { - for(TubeState tubeState : trayState.getTubes()){ //TODO 切换阀门、加液、取等操作，没完成以后再考虑，应该是先对所有列进行加液，然后从头再依次抽取 + for(TubeState tubeState : trayState.getTubes()){ if(tubeState.isAddSolution() && tubeState.isExists()){ - solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管 - //TODO - transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -trayTubeHorizontalSpacingDistance);//X轴依次按照试管间距移动 + 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(), cleanWaterVolume*waterScale); + //todo 线程sleep指定时间 + solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -cleanWaterVolume*waterScale); + double distance=(tubeState.getColumnNum()-1)*trayTubeHorizontalSpacingDistance; + transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动 } } } solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);//加液模块上升至最高，移出试管 - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至之前的加热模块上方 - 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 }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java index dc15c2d..a1fbc4c 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java @@ -2,11 +2,14 @@ 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; @@ -35,35 +38,37 @@ public class LiquidAddCommand extends BaseCommandHandler { private final DevicePositionService devicePositionService; private final TransferModuleService transferModuleService; private final SystemConfigService systemConfigService; + private final SolutionsService solutionsService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { - //todo "params": { - // "columns":[{"column":1,"solutionId":1,"volume":10}, - // {"column":2,"solutionId":2,"volume":10}, - // {"column":3,"solutionId":3,"volume":10}] - // } - String solution = cmdDTO.getStringParam("solution"); - ValveStateCode valveStateCode = ValveStateCode.valueOf(solution);//解析加液通道 - double volume = cmdDTO.getDoubleParam("column");//解析加液量 - JSONArray jsonArray = cmdDTO.getJSONArrayParam("index");//解析加液列 - Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//获取转换系数 - Double position = volume * scale; - Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 - 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(); //加液模块电机下降进入试管加液位置 return runAsync(() -> { - solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开 + JSONArray jsonArray = cmdDTO.getJSONArrayParam("columns");//获取参数 + Assert.notNull(jsonArray, () -> new AppException(ResultCode.INVALID_PARAMETER));//解析参数 TransferModuleState transferModuleState = deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态 Assert.isTrue(transferModuleState.isTrayStatus(), () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘 - 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.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降 - //开始加液 + Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 + 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(); //加液模块电机下降进入试管加液位置 for (int i = 0; i < jsonArray.size(); i++) { + JSONObject jsonObject = (JSONObject) jsonArray.get(i); + Integer solutionId = jsonObject.getInt("solutionId");//溶液Id + Integer column = jsonObject.getInt("column");//列数 + double volume = jsonObject.getDouble("volume");//量 + 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 + double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比 + double position = volume * scale;//加液泵的转数 + solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开 + 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.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降 solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液 - transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -trayTubeHorizontalSpacingDistance);//机械臂左移试管间距 + double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂左移距离 + transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//机械臂左移试管间距 + + } 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 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java index ce7658c..7bb0dad 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java @@ -5,6 +5,8 @@ import cn.hutool.json.JSONArray; 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.bo.status.device.TrayState; +import com.iflytop.sgs.app.model.bo.status.device.TubeState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.DevicePositionService; import com.iflytop.sgs.app.service.api.SystemConfigService; @@ -12,6 +14,7 @@ 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.SystemConfigCode; import com.iflytop.sgs.common.enums.ValveStateCode; import com.iflytop.sgs.common.enums.data.DevicePositionCode; import com.iflytop.sgs.common.exception.AppException; @@ -20,6 +23,7 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; +import java.util.List; import java.util.concurrent.CompletableFuture; /** @@ -38,27 +42,28 @@ public class LiquidReduceCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - //todo 无参数 - double volume=cmdDTO.getDoubleParam("column");//解析加液量 - JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列 - Double position = volume;//蠕动泵移动距离 - Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 - Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon(); //加液模块电机下降进入试管抽液位置 - Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置 - + //todo 需要更新一下传感器的状态 + Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//机械臂是否有托盘 + Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 + Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距 + Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置 + List trayStates = deviceStateService.getDeviceState().getTrays();//所有的托盘 + TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘 + double reduceNumber= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce)); return runAsync(() -> { - solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀废液通道打开 - TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态 - Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘 - 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.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降 - for (int i = 0; i < jsonArray.size(); i++) { - solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),-position);//加液 - transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距 + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升 + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点 + solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开 + for (TubeState tubeState : trayState.getTubes()) { + if (tubeState.isAddSolution() && tubeState.isExists()) { + 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 = (tubeState.getColumnNum() - 1) * trayTubeHorizontalSpacingDistance; + transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动 + } } - 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.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管 + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点 }); } } diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java index 5bf0c32..656f852 100644 --- a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java +++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java @@ -462,6 +462,14 @@ public class DeviceCommandGenerator { } /** + * 获取托盘状态 todo 文档action是heater_tray + * + */ + public static DeviceCommandBundle getTrayStatus() { + return getInfoCmd(CmdDevice.sensor, "获取托盘状态"); + } + + /** * 控制设备电机指令 */ private static DeviceCommandBundle controlMotorCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) { diff --git a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java index 0fdb185..2c425ca 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java @@ -13,7 +13,10 @@ public enum SystemConfigCode { scale_thick("浓硝酸转换系数"), scale_water("水转换系数"), scale_waste("废水转换系数"), - scale_vacant("空气转换系数"); + scale_vacant("空气转换系数"), + volume_clean("清洁时加水的量"), + number_reduce("抽液时机蠕动泵的转数"); + private String description; diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java index 7f3d7f9..ee1ee71 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java +++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java @@ -6,4 +6,5 @@ public enum CmdAction { open, close, stop, start, set, get, open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo, + heater_tray, }