拆分DeviceCommandUtilService

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

@@ -4,8 +4,8 @@ import cn.hutool.json.JSONArray;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandUtilService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
+import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import lombok.RequiredArgsConstructor;
@@ -22,7 +22,7 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("heat_start")//业务指令注解
 public class HeatStartCommand extends BaseCommandHandler {
-    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final HeatModuleService heatModuleService;
     private final DeviceStateService deviceStateService;
 
     @Override
@@ -39,7 +39,7 @@ public class HeatStartCommand extends BaseCommandHandler {
                 //从系统状态中获取指定加热区设定的烘干温度数值
                 double temperature = deviceStateService.getHeatModuleState(heatModuleId).getHeatTemperature();
                 //开启加热
-                deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
+                heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
                 //设置加热区状态 正在加热
                 deviceStateService.setHeatModuleStateHeating(heatModuleId, true);
 

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

@@ -26,7 +26,7 @@ public class TransferXOriginCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态
+            selfTestService.getSelfTestState().setTransferXOrigin(true);//设置是否在原点状态
         });
     }
 }

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

@@ -26,7 +26,7 @@ public class TransferZOriginCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             transferModuleService.transferZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态
+            selfTestService.getSelfTestState().setTransferZOrigin(true);//设置是否在原点状态
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java

@@ -37,7 +37,7 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
             Integer times = cmdDTO.getIntegerParam("times");
 
             if (speed != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(speed);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
@@ -47,13 +47,13 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
                         return;
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
 
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(-distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
@@ -61,7 +61,7 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
                 }
             } else {
                 if (distance != null) {
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(distance);
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(deviceCommandFuture);
                 }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java

@@ -28,7 +28,7 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         double position = cmdDTO.getDoubleParam("position");
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java

@@ -27,7 +27,7 @@ public class DebugMotorXOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java

@@ -27,7 +27,7 @@ public class DebugMotorXStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXStop();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java

@@ -36,7 +36,7 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
 
 
             if (speed != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(speed);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
@@ -46,19 +46,19 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
                         return;
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(-distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (distance != null) {
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(distance);
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(deviceCommandFuture);
                 }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java

@@ -29,7 +29,7 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         double position = cmdDTO.getDoubleParam("position");
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java

@@ -27,7 +27,7 @@ public class DebugMotorZOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZSetCommand.java

@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("gantry_z_set")
+@CommandMapping("z_set")
 public class DebugMotorZSetCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
@@ -28,7 +28,7 @@ public class DebugMotorZSetCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             double speed = cmdDTO.getDoubleParam("speed");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(speed);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZSet(speed);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java

@@ -27,7 +27,7 @@ public class DebugMotorZStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZStop();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java

@@ -1,7 +1,6 @@
 package com.iflytop.sgs.app.controller;
 
 import com.iflytop.sgs.app.model.bo.status.SelfTestState;
-import com.iflytop.sgs.app.service.device.DeviceCommandUtilService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.SelfTestService;
 import com.iflytop.sgs.common.result.Result;
@@ -22,7 +21,6 @@ import org.springframework.web.bind.annotation.RestController;
 public class SelfTestController {
     private final SelfTestService selfTestService;
     private final DeviceStateService deviceStateService;
-    private final DeviceCommandUtilService deviceCommandUtilService;
 
     @Operation(summary = "获取自检状态")
     @GetMapping("/status")

src/main/java/com/iflytop/sgs/app/model/bo/status/SelfTestState.java

@@ -12,14 +12,14 @@ public class SelfTestState {
     @Schema(description = "摇匀是否在原点")
     private boolean shakeOrigin = false;
 
-    @Schema(description = "龙门架机械臂x轴是否在原点")
-    private boolean gantryXOrigin = false;
+    @Schema(description = "转运机械臂x轴是否在原点")
+    private boolean transferXOrigin = false;
 
-    @Schema(description = "龙门架机械臂y轴是否在原点")
-    private boolean gantryYOrigin = false;
+    @Schema(description = "转运机械臂y轴是否在原点")
+    private boolean transferYOrigin = false;
 
-    @Schema(description = "龙门架机械臂z轴是否在原点")
-    private boolean gantryZOrigin = false;
+    @Schema(description = "转运机械臂z轴是否在原点")
+    private boolean transferZOrigin = false;
 
     @Schema(description = "加液机械臂是否在原点")
     private boolean dualRobotOrigin = false;

src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java

@@ -12,9 +12,9 @@ import java.util.List;
 @Data
 public class DeviceState {
     @Schema(description = "门状态")
-    private final DoorState door = new DoorState();
-    @Schema(description = "龙门架机械臂状态")
-    private final GantryArmState gantryArm = new GantryArmState();
+    private final DoorModuleState doorModule = new DoorModuleState();
+    @Schema(description = "转运机械臂状态")
+    private final TransferModuleState transferModule = new TransferModuleState();
     @Schema(description = "加液模块属性")
     private final SolutionModuleState solutionModule = new SolutionModuleState();
     @Schema(description = "加热模块属性")

src/main/java/com/iflytop/sgs/app/model/bo/status/device/DoorState.java → src/main/java/com/iflytop/sgs/app/model/bo/status/device/DoorModuleState.java

@@ -5,7 +5,7 @@ import lombok.Data;
 
 @Schema(description = "门")
 @Data
-public class DoorState {
+public class DoorModuleState {
     @Schema(description = "是否开门，true为开启状态，false为关闭状态")
     private boolean open = false;
 }

src/main/java/com/iflytop/sgs/app/model/bo/status/device/GantryArmState.java → src/main/java/com/iflytop/sgs/app/model/bo/status/device/TransferModuleState.java

@@ -3,9 +3,9 @@ package com.iflytop.sgs.app.model.bo.status.device;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
-@Schema(description = "龙门架机械臂")
+@Schema(description = "转运机模块")
 @Data
-public class GantryArmState {
+public class TransferModuleState {
     @Schema(description = "是否空闲，true为空闲，false为占用")
     private boolean idle = true;
 }

src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java

@@ -1,12 +1,9 @@
 package com.iflytop.sgs.app.service.crafts;
 
 import cn.hutool.json.JSONObject;
-import com.iflytop.sgs.app.core.CraftsDebugGenerator;
 import com.iflytop.sgs.app.model.bo.CraftsStep;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
-import com.iflytop.sgs.app.service.device.DeviceCommandUtilService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
-import com.iflytop.sgs.app.service.device.GantryArmService;
 import com.iflytop.sgs.app.ws.server.WebSocketSender;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
@@ -17,10 +14,8 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class CraftsStepService {
-    private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
     private final WebSocketSender webSocketService;
-    private final GantryArmService gantryArmService;
     private final DeviceStateService deviceStateService;
 
 
@@ -35,37 +30,10 @@ public class CraftsStepService {
         String method = step.getMethod();
         JSONObject params = step.getParams();
         return switch (method) {
-            case "addLiquid" -> addLiquid(heatId, params);
-            case "shaking" -> shaking(heatId, params);
-            case "startHeating" -> heating(heatId, params);
             default -> true;
         };
     }
 
-    /**
-     * 将托盘从加热区移动至加液区并且添加溶液
-     */
-    private boolean addLiquid(String heatId, JSONObject params) throws Exception {
-        return true;
-    }
-
-    /**
-     * 摇匀操作
-     */
-    private boolean shaking(String heatId, JSONObject params) throws Exception {
-        Integer second = params.getInt("second");
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开始摇匀", params));
-        delay(second);
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "停止摇匀", null));
-        return true;
-    }
-
-    /**
-     * 将托盘从加液区移动至加热区并开启加热
-     */
-    private boolean heating(String heatId, JSONObject params) throws Exception {
-        return true;
-    }
 
     /**
      * 延时等待

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

@@ -27,50 +27,9 @@ public class DeviceCommandService {
     private final WebSocketSender webSocketService;
     private final DeviceStateService deviceStateService;
     /**
-     * 需要等待加液区空闲的龙门架机械臂指令
+     * 需要等待加液区空闲的转运机械臂指令
      */
     private final ConcurrentMap<Integer, CommandFuture> sendCommandFutureMap = new ConcurrentHashMap<>();
-    private final BlockingQueue<CommandFuture[]> gantryCommandQueue = new LinkedBlockingQueue<>();
-
-    @PostConstruct
-    private void initExecutorThread() {
-        new Thread(this::executeCommands).start();
-    }
-
-    private void executeCommands() {
-        while (true) {
-            try {
-                deviceStateService.setGantryArmStateIdle(true);
-                CommandFuture[] commandFutureArray = gantryCommandQueue.take();
-                for (CommandFuture commandFuture : commandFutureArray) {
-                    executeCommand(commandFuture);
-                }
-            } catch (Exception e) {
-                Thread.currentThread().interrupt();
-            } finally {
-                deviceStateService.setGantryArmStateIdle(false);
-            }
-        }
-    }
-
-    public synchronized CommandFuture[] sendCommandGantryQueue(DeviceCommandBundle... deviceCommandBundles) {
-        return sendCommandGantryQueue(null, null, deviceCommandBundles);
-    }
-
-    public synchronized CommandFuture[] sendCommandGantryQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) {
-        List<CommandFuture> commandFutureList = new ArrayList<>();
-        for (DeviceCommandBundle deviceCommandBundle : deviceCommandBundles) {
-            commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle));
-        }
-        CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-        try {
-            gantryCommandQueue.put(commandFutureArray);
-        } catch (Exception e) {
-            log.error("设备指令入队列失败", e);
-            throw new RuntimeException(e);
-        }
-        return commandFutureArray;
-    }
 
     /**
      * 根据 DeviceCommand 创建 CommandFuture

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

@@ -95,14 +95,14 @@ public class DeviceStateService {
     }
 
     public synchronized void setDoorStatus(boolean status) {
-        boolean oldValue = deviceState.getDoor().isOpen();
-        deviceState.getDoor().setOpen(status);
+        boolean oldValue = deviceState.getDoorModule().isOpen();
+        deviceState.getDoorModule().setOpen(status);
         support.firePropertyChange("setDoorStatus", oldValue, status);
     }
 
     public synchronized void setGantryArmStateIdle(boolean idle) {
-        boolean oldValue = deviceState.getGantryArm().isIdle();
-        deviceState.getGantryArm().setIdle(idle);
+        boolean oldValue = deviceState.getTransferModule().isIdle();
+        deviceState.getTransferModule().setIdle(idle);
         support.firePropertyChange("setGantryArmStateIdle", oldValue, idle);
     }
 

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

@@ -1,62 +0,0 @@
-package com.iflytop.sgs.app.service.device;
-
-
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Service;
-
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-
-@Slf4j
-@Service
-@RequiredArgsConstructor
-public class GantryArmService {
-    private final Lock liquidLock = new ReentrantLock();
-    private final Condition liquidIdleCondition = liquidLock.newCondition();
-    private final DeviceStateService deviceStateService;
-
-    /**
-     * 等待加液区空闲
-     */
-    public void waitLiquidIdle() {
-        liquidLock.lock();
-        try {
-            while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
-                liquidIdleCondition.await();
-            }
-        } catch (InterruptedException e) {
-            throw new RuntimeException("等待加液区空闲错误", e);
-        } finally {
-            liquidLock.unlock();
-        }
-    }
-
-    /**
-     * 锁定加液区
-     */
-    public void setLiquidIdleFalse() {
-        liquidLock.lock();
-        try {
-            deviceStateService.setSolutionModuleStateIdle(false);
-            liquidIdleCondition.signalAll(); // 唤醒所有等待的线程
-        } finally {
-            liquidLock.unlock();
-        }
-    }
-
-    /**
-     * 释放加液区
-     */
-    public void setLiquidIdleTrue() {
-        liquidLock.lock();
-        try {
-            deviceStateService.setSolutionModuleStateIdle(true);
-            liquidIdleCondition.signalAll(); // 唤醒所有等待的线程
-        } finally {
-            liquidLock.unlock();
-        }
-    }
-
-}

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

@@ -1,6 +1,7 @@
 package com.iflytop.sgs.app.service.device;
 
 import com.iflytop.sgs.app.model.bo.Point3D;
+import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -10,9 +11,9 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class StepCommandService {
-    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final TransferModuleService transferModuleService;
 
     public void gantryToPoint3D(Point3D point3D) throws Exception {
-        deviceCommandUtilService.gantryMove(point3D);
+        transferModuleService.transferMove(point3D);
     }
 }

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

@@ -19,7 +19,6 @@ import org.springframework.stereotype.Service;
 @RequiredArgsConstructor
 public class TransferModuleService {
     private final DeviceCommandService deviceCommandService;
-    private final DevicePositionService devicePositionService;
 
 
     /**
@@ -47,23 +46,6 @@ public class TransferModuleService {
         CommandUtil.wait(transferXMoveDeviceCommandFuture, transferZMoveDeviceCommandFuture);
     }
 
-    /**
-     * 转运机械臂移动到指定点
-     */
-    public void transferMoveQueue(Point3D point) throws Exception {
-        transferMoveQueue(null, null, point);
-    }
-
-    /**
-     * 转运机械臂移动到指定点
-     */
-    public void transferMoveQueue(String cmdId, String cmdCode, Point3D point) throws Exception {
-        DeviceCommandBundle transferXMoveDeviceCommand = DeviceCommandGenerator.transferXMove(point.getX());
-        DeviceCommandBundle transferZMoveDeviceCommand = DeviceCommandGenerator.transferZMove(point.getZ());
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, transferXMoveDeviceCommand, transferZMoveDeviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
 
     /**
      * 转运机械臂X轴回原点
@@ -82,23 +64,6 @@ public class TransferModuleService {
     }
 
     /**
-     * 转运机械臂X轴回原点
-     */
-    public void transferXMoveOriginQueue() throws Exception {
-        transferXMoveOriginQueue(null, null);
-    }
-
-    /**
-     * 转运机械臂X轴回原点
-     */
-    public void transferXMoveOriginQueue(String cmdId, String cmdCode) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin();
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
-
-    /**
      * 转运机械臂Z轴回原点
      */
     public void transferZMoveOrigin() throws Exception {
@@ -114,23 +79,6 @@ public class TransferModuleService {
         CommandUtil.wait(deviceCommandFuture);
     }
 
-
-    /**
-     * 转运机械臂Z轴回原点
-     */
-    public void transferZMoveOriginQueue() throws Exception {
-        transferZMoveOriginQueue(null, null);
-    }
-
-    /**
-     * 转运机械臂Z轴回原点
-     */
-    public void transferZMoveOriginQueue(String cmdId, String cmdCode) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin();
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
     /**
      * 转运机械臂X轴移动到指定点
      */
@@ -148,22 +96,6 @@ public class TransferModuleService {
     }
 
     /**
-     * 转运机械臂X轴移动到指定点
-     */
-    public void transferXMoveQueue(double position) throws Exception {
-        transferXMoveQueue(null, null, position);
-    }
-
-    /**
-     * 转运机械臂X轴移动到指定点
-     */
-    public void transferXMoveQueue(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
-    /**
      * 转运机械臂Z轴移动到指定点
      */
     public void transferZMove(double position) throws Exception {
@@ -181,22 +113,6 @@ public class TransferModuleService {
     }
 
     /**
-     * 转运机械臂Z轴移动到指定点
-     */
-    public void transferZMoveQueue(double position) throws Exception {
-        transferZMoveQueue(null, null, position);
-    }
-
-    /**
-     * 转运机械臂Z轴移动到指定点
-     */
-    public void transferZMoveQueue(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
-    /**
      * 转运机械臂X轴相对移动到指定点
      */
     public void transferXMoveBy(double position) throws Exception {
@@ -213,22 +129,6 @@ public class TransferModuleService {
     }
 
     /**
-     * 转运机械臂X轴相对移动到指定点
-     */
-    public void transferXMoveByQueue(double position) throws Exception {
-        transferXMoveByQueue(null, null, position);
-    }
-
-    /**
-     * 转运机械臂X轴相对移动到指定点
-     */
-    public void transferXMoveByQueue(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
-
-    /**
      * 转运机械臂Z轴相对移动到指定点
      */
     public void transferZMoveBy(double position) throws Exception {
@@ -243,20 +143,4 @@ public class TransferModuleService {
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
     }
-
-    /**
-     * 转运机械臂Z轴相对移动到指定点
-     */
-    public void transferZMoveByQueue(double position) throws Exception {
-        transferZMoveByQueue(null, null, position);
-    }
-
-    /**
-     * 转运机械臂Z轴相对移动到指定点
-     */
-    public void transferZMoveByQueue(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
-        CommandUtil.wait(deviceCommandFutureArr);
-    }
 }

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java

@@ -94,7 +94,7 @@ public class DeviceCommandGenerator {
 
 
     /**
-     * 龙门架 x轴回原点
+     * 转运 x轴回原点
      */
     public static DeviceCommandBundle transferXOrigin() {
         return controlMotorCmd(CmdDevice.x_motor, CmdAction.origin, null, "x轴回原点");