From 04388d5cd159fc6db9caadd644ca90a6a68c69c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 12 May 2025 00:04:03 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E7=B3=BB=E7=BB=9F=E5=90=84=E4=B8=AA?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=86=99=E5=85=A5=E5=80=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/iflytop/gd/app/cmd/DoorCloseCommand.java | 5 ++++- .../com/iflytop/gd/app/cmd/HeatStartCommand.java | 1 + .../java/com/iflytop/gd/app/cmd/HeatStopCommand.java | 3 +++ .../iflytop/gd/app/cmd/MoveToHeatAreaCommand.java | 7 ++++++- .../gd/app/cmd/MoveToSolutionAreaCommand.java | 6 ++++++ .../com/iflytop/gd/app/cmd/ShakeStartCommand.java | 3 +++ .../com/iflytop/gd/app/cmd/ShakeStopCommand.java | 3 +++ .../com/iflytop/gd/app/cmd/SolutionAddCommand.java | 4 ++++ .../iflytop/gd/app/service/DeviceCommandService.java | 10 ++++++---- .../gd/app/service/DeviceCommandUtilService.java | 20 ++++++++++---------- .../iflytop/gd/app/service/DeviceInitService.java | 2 +- 11 files changed, 47 insertions(+), 17 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java index baaf362..e801ddc 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java @@ -4,6 +4,7 @@ import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; import com.iflytop.gd.app.service.DevicePositionService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.data.DevicePositionCode; import com.iflytop.gd.hardware.service.GDDeviceStatusService; @@ -23,13 +24,15 @@ import java.util.concurrent.CompletableFuture; public class DoorCloseCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; private final DevicePositionService devicePositionService; - private final GDDeviceStatusService gDDeviceStatusService; + private final DeviceStateService deviceStateService; + @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorClose).getDistance(); deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance); + deviceStateService.setDoorStatus(false); //TODO 关门口判断加液模块是否有托盘 }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java index 635297c..5851cfe 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java @@ -30,6 +30,7 @@ public class HeatStartCommand extends BaseCommandHandler { return runAsync(() -> { double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature(); deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); + deviceStateService.setHeatModuleStateHeating(heatModuleId, true); }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java b/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java index 55df061..7d5202d 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java @@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.HeatModuleCode; import lombok.RequiredArgsConstructor; @@ -20,6 +21,7 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("heat_stop")//业务指令注解 public class HeatStopCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -27,6 +29,7 @@ public class HeatStopCommand extends BaseCommandHandler { HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + deviceStateService.setHeatModuleStateHeating(heatModuleId, false); }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java index 5eef5a9..dd97467 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java @@ -5,6 +5,7 @@ import com.iflytop.gd.app.model.bo.Point3D; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; import com.iflytop.gd.app.service.DevicePositionService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.app.service.GantryArmService; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -26,6 +27,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; private final DevicePositionService devicePositionService; private final GantryArmService gantryArmService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -42,6 +44,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧 double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度 + deviceStateService.setSolutionModuleStateTrayStatus(0); Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位 Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方 @@ -62,12 +65,14 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管 + deviceStateService.setHeatModuleStateCapExist(heatModuleId, true); deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方 gantryArmService.setLiquidIdleTrue();//释放加液区等待 - + deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2); double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘 + deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1); }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java index c1e8c02..7cf9555 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java @@ -5,6 +5,7 @@ import com.iflytop.gd.app.model.bo.Point3D; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; import com.iflytop.gd.app.service.DevicePositionService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.app.service.GantryArmService; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -26,6 +27,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; private final DevicePositionService devicePositionService; private final GantryArmService gantryArmService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -36,6 +38,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { gantryArmService.setLiquidIdleFalse();//锁定加液区 double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置 deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 + deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2); //TODO 判断托盘是否有拍子 Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPoint3D);//将机械臂移动至拍子上方 @@ -47,6 +50,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧 double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度 + deviceStateService.setHeatModuleStateCapExist(heatModuleId, false); deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1); //下降拍子存放区1个位置 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度 @@ -63,11 +67,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧 double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度 + deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0); Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点 Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘 + deviceStateService.setSolutionModuleStateTrayStatus(1); deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方 }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java b/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java index 4ccc33c..edbea6b 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java @@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.common.annotation.CommandMapping; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -19,11 +20,13 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("shake_start")//业务指令注解 public class ShakeStartCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { deviceCommandUtilService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());//开始摇匀 + deviceStateService.setSolutionModuleStateShaking(true); }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java b/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java index 17e44d5..dc40777 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java @@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.DeviceCommandUtilService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.common.annotation.CommandMapping; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -19,11 +20,13 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("shake_stop")//业务指令注解 public class ShakeStopCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { deviceCommandUtilService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止摇匀 + deviceStateService.setSolutionModuleStateShaking(false); }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java index 58939f4..7a7a050 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java @@ -7,6 +7,7 @@ import com.iflytop.gd.app.model.bo.Point2D; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.ContainerService; import com.iflytop.gd.app.service.DeviceCommandUtilService; +import com.iflytop.gd.app.service.DeviceStateService; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.AcidPumpDeviceCode; import com.iflytop.gd.common.exception.AppException; @@ -27,9 +28,11 @@ import java.util.concurrent.CompletableFuture; public class SolutionAddCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; private final ContainerService containerService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { + deviceStateService.setSolutionModuleStatePumping(true); return runAsync(() -> { JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList"); for (int i = 0; i < dataList.size(); i++) { @@ -49,6 +52,7 @@ public class SolutionAddCommand extends BaseCommandHandler { } } deviceCommandUtilService.dualRobotOrigin(); + deviceStateService.setSolutionModuleStatePumping(false); }); } } diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java b/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java index 39d83c3..53745c1 100644 --- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java +++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java @@ -27,7 +27,6 @@ public class DeviceCommandService { private final HardwareService hardwareService; private final WebSocketService webSocketService; private final DeviceStateService deviceStateService; - /** * 需要等待加液区空闲的龙门架机械臂指令 */ @@ -42,21 +41,24 @@ public class DeviceCommandService { 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[] sendCommandQueue(DeviceCommandBundle... deviceCommandBundles) { - return sendCommandQueue(null, null, deviceCommandBundles); + public synchronized CommandFuture[] sendCommandGantryQueue(DeviceCommandBundle... deviceCommandBundles) { + return sendCommandGantryQueue(null, null, deviceCommandBundles); } - public synchronized CommandFuture[] sendCommandQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) { + public synchronized CommandFuture[] sendCommandGantryQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) { List commandFutureList = new ArrayList<>(); for (DeviceCommandBundle deviceCommandBundle : deviceCommandBundles) { commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle)); diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java b/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java index 56c2c65..70fee8c 100644 --- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java +++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java @@ -56,7 +56,7 @@ public class DeviceCommandUtilService { DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX()); DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY()); DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ()); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand); commandWait(deviceCommandFutureArr); } @@ -73,7 +73,7 @@ public class DeviceCommandUtilService { */ public void gantryXMoveOrigin(String cmdId, String cmdCode) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin(); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -89,7 +89,7 @@ public class DeviceCommandUtilService { */ public void gantryYMoveOrigin(String cmdId, String cmdCode) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYOrigin(); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -105,7 +105,7 @@ public class DeviceCommandUtilService { */ public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin(); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -121,7 +121,7 @@ public class DeviceCommandUtilService { */ public void gantryXMove(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -137,7 +137,7 @@ public class DeviceCommandUtilService { */ public void gantryYMove(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -153,7 +153,7 @@ public class DeviceCommandUtilService { */ public void gantryZMove(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -169,7 +169,7 @@ public class DeviceCommandUtilService { */ public void gantryXMoveBy(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -185,7 +185,7 @@ public class DeviceCommandUtilService { */ public void gantryYMoveBy(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } @@ -201,7 +201,7 @@ public class DeviceCommandUtilService { */ public void gantryZMoveBy(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position); - CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand); + CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand); commandWait(deviceCommandFutureArr); } diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java b/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java index 7ca74b4..3f5bcd2 100644 --- a/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java +++ b/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java @@ -87,6 +87,6 @@ public class DeviceInitService { solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization)); } } - deviceState.setInitComplete(true); + deviceStateService.setInitComplete(true); } }