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graphite-digester-service
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加热模块5临时高了10厘米

master
白凤吉 2 months ago
parent
0945e87a95
commit
3c89ed98b9
11 changed files with 313 additions and 262 deletions
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  1. 8
      src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java
  2. 6
      src/main/java/com/iflytop/gd/app/command/control/TrayUpCommand.java
  3. 128
      src/main/java/com/iflytop/gd/app/command/debug/step/DebugCapInHeatAreaCommand.java
  4. 126
      src/main/java/com/iflytop/gd/app/command/debug/step/DebugCapOutHeatAreaCommand.java
  5. 122
      src/main/java/com/iflytop/gd/app/command/debug/step/DebugMoveTrayToHeatAreaCommand.java
  6. 124
      src/main/java/com/iflytop/gd/app/command/debug/step/DebugMoveTrayToSolutionAreaCommand.java
  7. 8
      src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java
  8. 8
      src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java
  9. 12
      src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
  10. 24
      src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java
  11. 9
      src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java

8
src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java
View File

@ -103,7 +103,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子

6
src/main/java/com/iflytop/gd/app/command/control/TrayUpCommand.java
View File

@ -47,7 +47,11 @@ public class TrayUpCommand extends BaseCommandHandler {
return runAsync(() -> {
try {
//抬升加热位托盘
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
double newTrayLift = trayLift; //TODO 临时调整位置
if (HeatModuleCode.heat_module_05.equals(heatModuleCode)) {
newTrayLift = trayLift - 10;
}
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);
} catch (Exception e) {
log.error("抬起托盘失败", e);

128
src/main/java/com/iflytop/gd/app/command/debug/step/DebugCapInHeatAreaCommand.java
View File

@ -1,64 +1,64 @@
package com.iflytop.gd.app.command.debug.step;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.api.DevicePositionService;
import com.iflytop.gd.app.service.device.module.CapModuleService;
import com.iflytop.gd.app.service.device.module.GantryModuleService;
import com.iflytop.gd.app.service.device.module.HeatModuleService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 指定加热模块安装拍子
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cap_in_heat_area")
public class DebugCapInHeatAreaCommand extends BaseCommandHandler {
private final GantryModuleService gantryModuleService;
private final HeatModuleService heatModuleService;
private final CapModuleService capModuleService;
private final DevicePositionService devicePositionService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度
double capModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.capModuleCapMoveHeight).getDistance();//拍子升降模块拍子z轴移动高度
Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取指定加热模块拍子上方点位
Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
return runAsync(() -> {
capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热模块托盘
gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放拍子
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
});
}
}
//package com.iflytop.gd.app.command.debug.step;
//
//import com.iflytop.gd.app.core.BaseCommandHandler;
//import com.iflytop.gd.app.model.bo.Point3D;
//import com.iflytop.gd.app.model.dto.CmdDTO;
//import com.iflytop.gd.app.service.api.DevicePositionService;
//import com.iflytop.gd.app.service.device.module.CapModuleService;
//import com.iflytop.gd.app.service.device.module.GantryModuleService;
//import com.iflytop.gd.app.service.device.module.HeatModuleService;
//import com.iflytop.gd.common.annotation.CommandMapping;
//import com.iflytop.gd.common.enums.HeatModuleCode;
//import com.iflytop.gd.common.enums.data.DevicePositionCode;
//import lombok.RequiredArgsConstructor;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.stereotype.Component;
//
//import java.util.concurrent.CompletableFuture;
//
///**
// * 指定加热模块安装拍子
// */
//@Slf4j
//@Component
//@RequiredArgsConstructor
//@CommandMapping("debug_cap_in_heat_area")
//public class DebugCapInHeatAreaCommand extends BaseCommandHandler {
// private final GantryModuleService gantryModuleService;
// private final HeatModuleService heatModuleService;
// private final CapModuleService capModuleService;
// private final DevicePositionService devicePositionService;
//
// @Override
// public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
// String heatId = cmdDTO.getStringParam("heatId");
// HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
// double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
// double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
// double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
// double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
// double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度
// double capModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.capModuleCapMoveHeight).getDistance();//拍子升降模块拍子z轴移动高度
//
// Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取指定加热模块拍子上方点位
// Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
//
// return runAsync(() -> {
// capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
//
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
// gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热模块托盘
// gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放拍子
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
// capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
// });
// }
//}
//

126
src/main/java/com/iflytop/gd/app/command/debug/step/DebugCapOutHeatAreaCommand.java
View File

@ -1,63 +1,63 @@
package com.iflytop.gd.app.command.debug.step;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.api.DevicePositionService;
import com.iflytop.gd.app.service.device.module.CapModuleService;
import com.iflytop.gd.app.service.device.module.GantryModuleService;
import com.iflytop.gd.app.service.device.module.HeatModuleService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 指定加热模块拆卸拍子
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_cap_out_heat_area")
public class DebugCapOutHeatAreaCommand extends BaseCommandHandler {
private final GantryModuleService gantryModuleService;
private final HeatModuleService heatModuleService;
private final CapModuleService capModuleService;
private final DevicePositionService devicePositionService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度
double capModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.capModuleCapMoveHeight).getDistance();//拍子升降模块拍子z轴移动高度
Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取指定加热模块拍子上方点位
Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
return runAsync(() -> {
capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升指定加热位托盘
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
});
}
}
//package com.iflytop.gd.app.command.debug.step;
//
//import com.iflytop.gd.app.core.BaseCommandHandler;
//import com.iflytop.gd.app.model.bo.Point3D;
//import com.iflytop.gd.app.model.dto.CmdDTO;
//import com.iflytop.gd.app.service.api.DevicePositionService;
//import com.iflytop.gd.app.service.device.module.CapModuleService;
//import com.iflytop.gd.app.service.device.module.GantryModuleService;
//import com.iflytop.gd.app.service.device.module.HeatModuleService;
//import com.iflytop.gd.common.annotation.CommandMapping;
//import com.iflytop.gd.common.enums.HeatModuleCode;
//import com.iflytop.gd.common.enums.data.DevicePositionCode;
//import lombok.RequiredArgsConstructor;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.stereotype.Component;
//
//import java.util.concurrent.CompletableFuture;
//
///**
// * 指定加热模块拆卸拍子
// */
//@Slf4j
//@Component
//@RequiredArgsConstructor
//@CommandMapping("debug_cap_out_heat_area")
//public class DebugCapOutHeatAreaCommand extends BaseCommandHandler {
// private final GantryModuleService gantryModuleService;
// private final HeatModuleService heatModuleService;
// private final CapModuleService capModuleService;
// private final DevicePositionService devicePositionService;
//
// @Override
// public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
// String heatId = cmdDTO.getStringParam("heatId");
// HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
// double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
// double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
// double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
// double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
// double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度
// double capModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.capModuleCapMoveHeight).getDistance();//拍子升降模块拍子z轴移动高度
//
// Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取指定加热模块拍子上方点位
// Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
//
// return runAsync(() -> {
// capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升指定加热位托盘
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
// gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
// gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
// });
// }
//}
//

122
src/main/java/com/iflytop/gd/app/command/debug/step/DebugMoveTrayToHeatAreaCommand.java
View File

@ -1,61 +1,61 @@
package com.iflytop.gd.app.command.debug.step;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.api.DevicePositionService;
import com.iflytop.gd.app.service.device.module.GantryModuleService;
import com.iflytop.gd.app.service.device.module.HeatModuleService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 将托盘从加液模块移至加热模块
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_move_tray_to_heat_area")
public class DebugMoveTrayToHeatAreaCommand extends BaseCommandHandler {
private final GantryModuleService gantryModuleService;
private final HeatModuleService heatModuleService;
private final DevicePositionService devicePositionService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
double heatModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleTrayMoveHeight).getDistance();//加热模块托盘z轴移动高度
double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定加热模块上方点位
Point3D heatArea4TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取指定加热模块上方点位
return runAsync(() -> {
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
});
}
}
//package com.iflytop.gd.app.command.debug.step;
//
//import com.iflytop.gd.app.core.BaseCommandHandler;
//import com.iflytop.gd.app.model.bo.Point3D;
//import com.iflytop.gd.app.model.dto.CmdDTO;
//import com.iflytop.gd.app.service.api.DevicePositionService;
//import com.iflytop.gd.app.service.device.module.GantryModuleService;
//import com.iflytop.gd.app.service.device.module.HeatModuleService;
//import com.iflytop.gd.common.annotation.CommandMapping;
//import com.iflytop.gd.common.enums.HeatModuleCode;
//import com.iflytop.gd.common.enums.data.DevicePositionCode;
//import lombok.RequiredArgsConstructor;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.stereotype.Component;
//
//import java.util.concurrent.CompletableFuture;
//
///**
// * 将托盘从加液模块移至加热模块
// */
//@Slf4j
//@Component
//@RequiredArgsConstructor
//@CommandMapping("debug_move_tray_to_heat_area")
//public class DebugMoveTrayToHeatAreaCommand extends BaseCommandHandler {
// private final GantryModuleService gantryModuleService;
// private final HeatModuleService heatModuleService;
// private final DevicePositionService devicePositionService;
//
// @Override
// public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
// String heatId = cmdDTO.getStringParam("heatId");
// HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
// double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
// double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
// double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
// double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
// double heatModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleTrayMoveHeight).getDistance();//加热模块托盘z轴移动高度
// double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
//
// Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
// Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定加热模块上方点位
// Point3D heatArea4TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取指定加热模块上方点位
//
// return runAsync(() -> {
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
// gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
// gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
// });
// }
//}
//

124
src/main/java/com/iflytop/gd/app/command/debug/step/DebugMoveTrayToSolutionAreaCommand.java
View File

@ -1,62 +1,62 @@
package com.iflytop.gd.app.command.debug.step;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.api.DevicePositionService;
import com.iflytop.gd.app.service.device.module.GantryModuleService;
import com.iflytop.gd.app.service.device.module.HeatModuleService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 将托盘从加热模块移至加液模块
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("debug_move_tray_to_solution_area")
public class DebugMoveTrayToSolutionAreaCommand extends BaseCommandHandler {
private final GantryModuleService gantryModuleService;
private final HeatModuleService heatModuleService;
private final DevicePositionService devicePositionService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
double heatModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleTrayMoveHeight).getDistance();//加热模块托盘z轴移动高度
double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定加热模块上方点位
Point3D heatArea4TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取指定加热模块上方点位
return runAsync(() -> {
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将机械臂移动至加热模块上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升指定加热位托盘
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
});
}
}
//package com.iflytop.gd.app.command.debug.step;
//
//import com.iflytop.gd.app.core.BaseCommandHandler;
//import com.iflytop.gd.app.model.bo.Point3D;
//import com.iflytop.gd.app.model.dto.CmdDTO;
//import com.iflytop.gd.app.service.api.DevicePositionService;
//import com.iflytop.gd.app.service.device.module.GantryModuleService;
//import com.iflytop.gd.app.service.device.module.HeatModuleService;
//import com.iflytop.gd.common.annotation.CommandMapping;
//import com.iflytop.gd.common.enums.HeatModuleCode;
//import com.iflytop.gd.common.enums.data.DevicePositionCode;
//import lombok.RequiredArgsConstructor;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.stereotype.Component;
//
//import java.util.concurrent.CompletableFuture;
//
///**
// * 将托盘从加热模块移至加液模块
// */
//@Slf4j
//@Component
//@RequiredArgsConstructor
//@CommandMapping("debug_move_tray_to_solution_area")
//public class DebugMoveTrayToSolutionAreaCommand extends BaseCommandHandler {
// private final GantryModuleService gantryModuleService;
// private final HeatModuleService heatModuleService;
// private final DevicePositionService devicePositionService;
//
// @Override
// public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
// String heatId = cmdDTO.getStringParam("heatId");
// HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
// double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
// double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
// double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
// double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
// double heatModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleTrayMoveHeight).getDistance();//加热模块托盘z轴移动高度
// double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
//
// Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
// Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定加热模块上方点位
// Point3D heatArea4TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取指定加热模块上方点位
//
// return runAsync(() -> {
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将机械臂移动至加热模块上方
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升指定加热位托盘
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
// gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
// gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
// gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
// gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
// gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
//
// });
// }
//}
//

8
src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java
View File

@ -48,7 +48,13 @@ public class DebugShowSmogCommand extends BaseCommandHandler {
Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位
return runAsync(() -> {
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子

8
src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java
View File

@ -67,7 +67,13 @@ public class TrayOutCommand extends BaseCommandHandler {
solutionModuleService.requestSolutionModule();//申请使用加液区并等待
capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, newTrayLift);//抬升指定加热位托盘
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子

12
src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
View File

@ -278,8 +278,8 @@ public class CraftsStepService {
log.info("工艺{},将携带托盘的机械臂移动至加热模块上方", heatModuleCode);
gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
log.info("工艺{},临时避让完毕，升起", heatModuleCode);
deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(heatModuleCode);
Thread.sleep(3200);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(heatModuleCode);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
Thread.sleep(3200);
log.info("工艺{},下降z轴,使托盘落入加热模块", heatModuleCode);
gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
@ -351,7 +351,13 @@ public class CraftsStepService {
gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起
log.info("工艺{},抬升指定加热位托盘", heatModuleCode);
heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
heatModuleService.heaterMotorMove(heatModuleCode, newTrayLift);//抬升指定加热位托盘
log.info("工艺{},将夹爪打开，准备夹取拍子", heatModuleCode);
gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子
log.info("工艺{},下降z轴,使夹爪落入加热模块拍子孔位", heatModuleCode);

24
src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java
View File

@ -58,13 +58,21 @@ public class DeviceCommandTempUtilService {
public void moveTrayHeatModuleAvoidUpNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
}
}
if (targetHeatModuleCode != null) {
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)){
newTrayLift = trayLift - 10;
}
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, newTrayLift);
deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
}
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
@ -81,14 +89,22 @@ public class DeviceCommandTempUtilService {
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
List<CommandFuture> futuresList = new ArrayList<>();
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
futuresList.add(deviceCommandFuture);
}
}
if (targetHeatModuleCode != null) {
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)){
newTrayLift = trayLift - 10;
}
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, newTrayLift);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
futuresList.add(deviceCommandFuture);
}

9
src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java
View File

@ -395,7 +395,14 @@ public class GantryModuleService {
List<CommandFuture> futuresList = new ArrayList<>();
for(HeatModuleCode heatModuleCode : HeatModuleCode.values()){
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
double newTrayLift = trayLift; //TODO 临时调整位置
if(HeatModuleCode.heat_module_05.equals(heatModuleCode)){
newTrayLift = trayLift - 10;
}
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, newTrayLift);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
futuresList.add(deviceCommandFuture);
}

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