baifengji
/
color-titration
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

fix:完善工艺流程

master
白凤吉 1 week ago
parent
3a6be3a0a9
commit
c051864c09
5 changed files with 145 additions and 15 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java
  2. 2
      src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsContext.java
  3. 137
      src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsExecutionService.java
  4. 17
      src/main/java/com/iflytop/colortitration/app/service/module/HeatModuleService.java
  5. 2
      src/main/java/com/iflytop/colortitration/app/service/module/TransferModuleService.java

2
src/main/java/com/iflytop/colortitration/app/command/control/transfer/TrayMoveTitrationAreaCommand.java
View File

@ -54,7 +54,7 @@ public class TrayMoveTitrationAreaCommand extends BaseCommandHandler {
transferModuleService.zMoveDownWithTrayArea();
//关闭夹爪
transferModuleService.clawClose();
//判断滴定位传感器状态
//判断滴定位传感器状态 TODO 拍摄照片判断滴定位是否有试管
boolean titrationExist = switch (titrationModuleCode) { //1、首先检测试管所在的托盘传感器的值
case MultipleModuleCode.MODULE_1 ->
deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist();

2
src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsContext.java
View File

@ -23,7 +23,7 @@ public class CraftsContext {
private int historyCommandCount = 0;
private MultipleModuleCode currentTitrationModuleCode;
private MultipleModuleCode currentHeatModuleCode;
private TubeCurrentLocal tubeCurrentLocal;
private TubeCurrentLocal tubeCurrentLocal = TubeCurrentLocal.TRAY;
/**
* 自增当前指令计数器

137
src/main/java/com/iflytop/colortitration/app/core/crafts/CraftsExecutionService.java
View File

@ -3,14 +3,21 @@ package com.iflytop.colortitration.app.core.crafts;
import cn.hutool.json.JSONObject;
import cn.hutool.json.JSONUtil;
import com.iflytop.colortitration.app.common.enums.AddSolutionType;
import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
import com.iflytop.colortitration.app.common.enums.TubeCurrentLocal;
import com.iflytop.colortitration.app.common.utils.CommandUtil;
import com.iflytop.colortitration.app.core.command.CommandFuture;
import com.iflytop.colortitration.app.core.state.DeviceState;
import com.iflytop.colortitration.app.core.state.HeatModuleState;
import com.iflytop.colortitration.app.service.DeviceCommandService;
import com.iflytop.colortitration.app.service.module.HeatModuleService;
import com.iflytop.colortitration.app.service.module.TitrationModuleService;
import com.iflytop.colortitration.app.service.module.TransferModuleService;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import java.time.LocalDateTime;
import java.util.List;
/**
@ -22,6 +29,9 @@ import java.util.List;
public class CraftsExecutionService {
private final DeviceCommandService deviceCommandService;
private final TitrationModuleService titrationModuleService;
private final HeatModuleService heatModuleService;
private final DeviceState deviceState;
private final TransferModuleService transferModuleService;
/**
* 执行工艺步骤，直接从 CraftsContext 中获取步骤
@ -44,8 +54,6 @@ public class CraftsExecutionService {
}
private boolean addSolution(CraftsContext craftsContext, JSONObject params) throws Exception {
moveToTitration();//移动至滴定
//TODO 调用相机判断滴定位是否存在试管
Long solutionId = params.getLong("solutionId");//使用的溶液id
Double amount = params.getDouble("amount");//加液量
Long colorId = params.getLong("colorId");//终点颜色
@ -55,8 +63,11 @@ public class CraftsExecutionService {
Double maxAmount = params.getDouble("maxAmount");//滴定最大体积
Boolean stirFlag = params.getBool("stirFlag");//是否搅拌
if(stirFlag){
//调用开始搅拌
moveToTitration(craftsContext);//移动至滴定
//TODO 调用相机判断滴定位是否存在试管
if (stirFlag) {
//TODO 调用开始搅拌
}
if (AddSolutionType.fixed.equals(addSolutionType)) {//定量加液
titrationModuleService.addSolutionStart(craftsContext.getCurrentTitrationModuleCode(), solutionId, amount);
@ -72,20 +83,41 @@ public class CraftsExecutionService {
}
}
}
if(stirFlag){
//调用停止搅拌
if (stirFlag) {
//TODO 调用停止搅拌
}
return true;
}
private boolean heat(CraftsContext craftsContext, JSONObject params) {
moveToHeat();//移动至加热
private boolean heat(CraftsContext craftsContext, JSONObject params) throws Exception {
Double temperature = params.getDouble("temperature");
Integer time = params.getInt("time");
Boolean preHeat = params.getBool("preHeat");
HeatModuleState heatModuleState = deviceState.getHeatModuleStateMap().get(craftsContext.getCurrentHeatModuleCode());
heatModuleState.setTargetTemperature(temperature);//设定目标温度
heatModuleState.setTargetTime(time);
if (preHeat) {
heatModuleService.openHeatRod(craftsContext.getCurrentHeatModuleCode(), temperature);
heatModuleState.setOpen(true);//开启加热
heatModuleState.setStartHeatTime(LocalDateTime.now());
//循环等待
while (heatModuleState.getTemperature() < temperature) {
sleep(5 * 1000L);
}
}
moveToHeat(craftsContext);//移动至加热
//TODO 调用传感器判断加热位是否存在试管
if (!preHeat) {
heatModuleService.openHeatRod(craftsContext.getCurrentHeatModuleCode(), temperature);
heatModuleState.setOpen(true);//开启加热
heatModuleState.setStartHeatTime(LocalDateTime.now());
sleep(time * 1000L);
}
return true;
}
private boolean addMagnet(CraftsContext craftsContext, JSONObject params) {
//TODO 添加磁子方式待定
return true;
}
@ -96,13 +128,94 @@ public class CraftsExecutionService {
}
//移动至滴定
private void moveToTitration() {
//动态分配使用的模块
private void moveToTitration(CraftsContext craftsContext) throws Exception {
//动态分配滴定模块
if (!TubeCurrentLocal.TITRATION.equals(craftsContext.getTubeCurrentLocal())) {//如果试管不在滴定位的话
while (true) {
if (!deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist()) {//如果滴定位1没有试管的话
deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_1).setTubeExist(true);
craftsContext.setCurrentTitrationModuleCode(MultipleModuleCode.MODULE_1);
break;
} else if (!deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_2).isTubeExist()) {//如果滴定位2没有试管的话
deviceState.getTitrationModuleStateMap().get(MultipleModuleCode.MODULE_2).setTubeExist(true);
craftsContext.setCurrentTitrationModuleCode(MultipleModuleCode.MODULE_2);
break;
} else {
//都没有空位置
sleep(2 * 1000L);
}
}
transferModuleService.requestTransferModule();//申请使用机械臂
if (TubeCurrentLocal.TRAY.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在托盘中
titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
transferModuleService.roboticMoveToTubePosition(craftsContext.getTubeNum()); //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
transferModuleService.clawOpen();//打开夹爪
transferModuleService.zMoveDownWithTrayArea(); //z轴下降
transferModuleService.clawClose(); //关闭夹爪
//TODO 拍摄照片判断滴定位是否有试管
transferModuleService.roboticMoveToTitration(craftsContext.getCurrentHeatModuleCode()); //移动到滴定位上方
transferModuleService.zMoveDownWithTitrationArea();//z轴下降
transferModuleService.clawOpen(); //打开夹爪
//TODO 拍摄照片判断滴定位是否有试管
transferModuleService.roboticMoveToOrigin();//机械臂回到原点
} else if (TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在加热位
titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode()); //移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
transferModuleService.clawOpen();//打开夹爪
transferModuleService.zMoveDownWithHeatArea();//z轴下降
transferModuleService.clawClose(); //关闭夹爪
transferModuleService.roboticMoveToTitration(craftsContext.getCurrentHeatModuleCode());//移动到滴定位上方
transferModuleService.zMoveDownWithTitrationArea();//z轴下降
transferModuleService.clawOpen();//打开夹爪
//TODO 拍摄照片判断滴定位是否有试管
transferModuleService.roboticMoveToOrigin();//机械臂回到原点
}
transferModuleService.releaseTransferModule();//释放机械臂
}
}
//移动至加热
private void moveToHeat() {
private void moveToHeat(CraftsContext craftsContext) throws Exception {
//动态分配使用的模块
if (!TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//如果试管不在滴定位的话
while (true) {
if (!deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).isTubeExist()) {//如果滴定位1没有试管的话
deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_1).setTubeExist(true);
craftsContext.setCurrentHeatModuleCode(MultipleModuleCode.MODULE_1);
break;
} else if (!deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).isTubeExist()) {//如果滴定位2没有试管的话
deviceState.getHeatModuleStateMap().get(MultipleModuleCode.MODULE_2).setTubeExist(true);
craftsContext.setCurrentHeatModuleCode(MultipleModuleCode.MODULE_2);
break;
} else {
//都没有空位置
sleep(2 * 1000L);
}
transferModuleService.requestTransferModule();//申请使用机械臂
if (TubeCurrentLocal.TRAY.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在托盘中
transferModuleService.roboticMoveToTubePosition(craftsContext.getTubeNum());//移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
transferModuleService.clawOpen();//打开夹爪
transferModuleService.zMoveDownWithTitrationArea();//z轴下降
transferModuleService.clawClose(); //关闭夹爪
transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode());//移动到加热位上方
transferModuleService.zMoveDownWithHeatArea();//z轴下降
transferModuleService.clawOpen();//打开夹爪
transferModuleService.roboticMoveToOrigin();//机械臂回到原点
} else if (TubeCurrentLocal.HEAT.equals(craftsContext.getTubeCurrentLocal())) {//判断试管是否在滴定位
titrationModuleService.titrationMotorOrigin(craftsContext.getCurrentTitrationModuleCode());//滴定电机回原点
transferModuleService.roboticMoveToTitration(craftsContext.getCurrentTitrationModuleCode());//移动到需要移动的试管为止，z轴先抬升，再移动到试管上方
transferModuleService.clawOpen();//打开夹爪
transferModuleService.zMoveDownWithTitrationArea();//z轴下降
transferModuleService.clawClose(); //关闭夹爪
transferModuleService.roboticMoveToHeat(craftsContext.getCurrentHeatModuleCode());//移动到加热位上方
transferModuleService.zMoveDownWithHeatArea();//z轴下降
transferModuleService.clawOpen();//打开夹爪
transferModuleService.roboticMoveToOrigin();//机械臂回到原点
}
transferModuleService.releaseTransferModule();//释放机械臂
}
}
}
/**

17
src/main/java/com/iflytop/colortitration/app/service/module/HeatModuleService.java
View File

@ -1,6 +1,9 @@
package com.iflytop.colortitration.app.service.module;
import cn.hutool.json.JSONObject;
import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
import com.iflytop.colortitration.app.common.utils.CommandUtil;
import com.iflytop.colortitration.app.core.command.CommandFuture;
import com.iflytop.colortitration.app.core.command.DeviceCommand;
import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
import com.iflytop.colortitration.app.service.DeviceCommandService;
@ -39,4 +42,18 @@ public class HeatModuleService {
deviceCommandService.sendCommand(deviceCommand);
}
/**
* 获取指定加热棒温度
*/
public Double getHeatRodTemperature(MultipleModuleCode heatModuleCode) throws Exception {
DeviceCommand deviceCommand = switch (heatModuleCode) {
case MultipleModuleCode.MODULE_1 -> DeviceCommandGenerator.heatRod1Get();
case MultipleModuleCode.MODULE_2 -> DeviceCommandGenerator.heatRod2Get();
};
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
CommandUtil.wait(deviceCommandFuture);
JSONObject result = deviceCommandFuture.getResponseResult();
return result.getDouble("temperature");
}
}

2
src/main/java/com/iflytop/colortitration/app/service/module/TransferModuleService.java
View File

@ -73,7 +73,7 @@ public class TransferModuleService {
}
/**
* 机械臂移动到指定试管为止
* 机械臂移动到指定托盘试管上方
*/
public void roboticMoveToTubePosition(Integer index) throws Exception {
Point3D position = positionService.getPositionByCode(DevicePositionCode.tube).getPoint3D(); //根据index和第一个托盘试管的位置计算index试管的位置 todo

Write Preview
Loading…
Cancel
Save