From 406147638be8cc912e40f8dbd262145a33e72f11 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Fri, 13 Jun 2025 10:34:55 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E8=AE=BE=E5=A4=87=E5=BC=82=E5=B8=B8?= =?UTF-8?q?=E6=96=AD=E7=94=B5=E5=90=8E=EF=BC=8C=E6=89=98=E7=9B=98=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E4=BC=9A=E8=A2=AB=E6=B8=85=E7=A9=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java | 8 ++++++-- .../iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java | 8 ++++++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java index 4089776..4bf37ae 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java @@ -96,7 +96,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { return runAsync(() -> { try { - trayState.setHeatModuleId(heatModuleCode); + if(trayState != null){ + trayState.setHeatModuleId(heatModuleCode); + } 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(), 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 @@ -111,7 +113,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { 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 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘 - trayState.setInHeatModule(true); + if(trayState != null){ + trayState.setInHeatModule(true); + } gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 // deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块 diff --git a/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java index ae408ea..598d014 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java @@ -126,7 +126,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { 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 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘 - trayState.setInHeatModule(false); + if(trayState != null){ + trayState.setInHeatModule(false); + } deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//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 @@ -134,7 +136,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 - trayState.setInSolutionModule(true); + if(trayState != null){ + trayState.setInSolutionModule(true); + } 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 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方