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 8ac83af..ebcd3b1 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 @@ -47,6 +47,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) { throw new AppException(ResultCode.CMD_BUSY); } + if (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) { + throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED); + } String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 @@ -108,7 +111,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降 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 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 临时避 恢复抬起状态 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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 // trayState.setInSolutionModule(true);//托盘是否在加液模块中 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 diff --git a/src/main/java/com/iflytop/gd/app/controller/TestController.java b/src/main/java/com/iflytop/gd/app/controller/TestController.java index 59d28bc..72a912f 100644 --- a/src/main/java/com/iflytop/gd/app/controller/TestController.java +++ b/src/main/java/com/iflytop/gd/app/controller/TestController.java @@ -2,10 +2,10 @@ package com.iflytop.gd.app.controller; import com.iflytop.gd.app.model.bo.status.CommandMutexState; import com.iflytop.gd.app.model.dto.AllSensorDTO; -import com.iflytop.gd.app.service.api.HeatService; import com.iflytop.gd.app.service.api.TestService; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.CapModuleService; +import com.iflytop.gd.app.service.device.module.SolutionModuleService; import com.iflytop.gd.common.result.Result; import com.iflytop.gd.hardware.exception.HardwareException; import io.swagger.v3.oas.annotations.Operation; @@ -31,6 +31,7 @@ public class TestController { private final TestService testService; private final CapModuleService capModuleService; private final DeviceStateService deviceStateService; + private final SolutionModuleService solutionModuleService; @Operation(summary = "获取所有传感器读数") @GetMapping("/all-sensor") @@ -60,4 +61,10 @@ public class TestController { return Result.success(deviceStateService.getCommandMutexState().get()); } + + @Operation(summary = "获取加液区锁状态") + @GetMapping("/module-lock-try-lock") + public Result getModuleLockTryLock() { + return Result.success(solutionModuleService.getModuleLockTryLock()); + } } diff --git a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java index 5ce4131..54f9c1d 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java @@ -24,6 +24,7 @@ import org.springframework.stereotype.Service; import java.util.Arrays; import java.util.List; +import java.util.Map; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.ExecutorService; import java.util.concurrent.Executors; @@ -178,6 +179,19 @@ public class CraftsService extends ServiceImpl { } /** + * 停止执行所有工艺，不清除上下文 + */ + public synchronized void stopAllCrafts() { + contextMap.forEach((key, ctx) -> { + Future future = futureMap.remove(key); + if (ctx != null && future != null) { + ctx.stop(); + future.cancel(true); + } + }); + } + + /** * 清理指定 heatId 的执行上下文和 Future */ public synchronized void clearCraftContext(HeatModuleCode heatModuleCode) { diff --git a/src/main/java/com/iflytop/gd/app/service/api/TrayService.java b/src/main/java/com/iflytop/gd/app/service/api/TrayService.java index 7d38649..51fb8c1 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/TrayService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/TrayService.java @@ -1,12 +1,10 @@ package com.iflytop.gd.app.service.api; -import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.vo.SetTrayTubeVO; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.SolutionModuleService; import lombok.RequiredArgsConstructor; -import org.springframework.beans.factory.ObjectProvider; import org.springframework.stereotype.Service; import java.util.List; @@ -19,13 +17,12 @@ import java.util.List; public class TrayService { private final DeviceStateService deviceStateService; private final SolutionModuleService solutionModuleService; - private final ObjectProvider trayStateObjectProvider; /** * 放入了新托盘 */ public synchronized TrayState trayIn() { - TrayState trayState = trayStateObjectProvider.getObject(); + TrayState trayState = new TrayState(); trayState.setInSolutionModule(true); deviceStateService.getDeviceState().getTray().add(trayState); deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1); diff --git a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java index 524ec6f..e359f54 100644 --- a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java +++ b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java @@ -45,7 +45,7 @@ public class CraftsStepService { * 执行单个工艺步骤 * * @param heatModuleCode 加热区 ID - * @param step 工艺步骤，包括 method 和 params + * @param step 工艺步骤，包括 method 和 params * @return true 表示执行成功，false 表示失败 */ public boolean executeStep(HeatModuleCode heatModuleCode, CraftsStep step) throws Exception { @@ -259,7 +259,7 @@ public class CraftsStepService { deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(heatModuleCode);//TODO 临时避让下降 gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 临时避 恢复抬起状态 + 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 // trayState.setInSolutionModule(true);//托盘是否在加液模块中 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘 diff --git a/src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java b/src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java index ea301ee..8788ada 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java @@ -26,7 +26,6 @@ import java.util.concurrent.CompletableFuture; @Service @RequiredArgsConstructor public class DeviceCommandTempUtilService { - private final DeviceCommandService deviceCommandService; private final HeatModuleService heatModuleService; private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; @@ -38,63 +37,38 @@ public class DeviceCommandTempUtilService { * 临时移动托盘的时候，加热模块升降避让 * 该方法会恢复之前升起的状态 */ - public void moveTrayHeatModuleAvoidUpNoWait(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { - moveTrayHeatModuleAvoidUpNoWait(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); - } - - /** - * 避让抬升 - * 临时移动托盘的时候，加热模块升降避让 - * 该方法会恢复之前升起的状态 - */ - public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { + public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) { moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); } - /** - * 避让抬升 - * 临时移动托盘的时候，加热模块升降避让 - * 该方法会恢复之前升起的状态 - */ - 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) { - if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift); - deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - } - } - if (targetHeatModuleCode != null) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift); - deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - } - for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态 - } - } /** * 避让抬升 * 临时移动托盘的时候，加热模块升降避让 * 该方法会恢复之前升起的状态 */ - public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { + public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) { double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离 - List futuresList = new ArrayList<>(); for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - futuresList.add(deviceCommandFuture); + CompletableFuture.runAsync(() -> { + try { + heatModuleService.heaterMotorMove(cmdId, cmdCode, heatModuleCode, trayLift); + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态 + } catch (Exception e) { + log.error("避让抬升错误:{}", heatModuleCode, e); + } + }); } } if (targetHeatModuleCode != null) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - futuresList.add(deviceCommandFuture); - } - CommandUtil.wait(futuresList.toArray(new CommandFuture[0])); - for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态 + CompletableFuture.runAsync(() -> { + try { + heatModuleService.heaterMotorMove(cmdId, cmdCode, targetHeatModuleCode, trayLift); + deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayUp(1);//加热模块托盘升降状态 + } catch (Exception e) { + log.error("避让抬升错误:{}", targetHeatModuleCode, e); + } + }); } } @@ -103,15 +77,6 @@ public class DeviceCommandTempUtilService { * 临时移动托盘的时候，加热模块升降避让 * 该方法会下降所有升起的加热模块并且记录 */ - public void moveTrayHeatModuleAvoidDownNoWait(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { - moveTrayHeatModuleAvoidDownNoWait(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); - } - - /** - * 避让下降 - * 临时移动托盘的时候，加热模块升降避让 - * 该方法会下降所有升起的加热模块并且记录 - */ public void moveTrayHeatModuleAvoidDown(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { moveTrayHeatModuleAvoidDown(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); } @@ -121,35 +86,7 @@ public class DeviceCommandTempUtilService { * 临时移动托盘的时候，加热模块升降避让 * 该方法会下降所有升起的加热模块并且记录 */ - public void moveTrayHeatModuleAvoidDownNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { - moveTrayHeatModuleAvoidUpStateList.clear(); - List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); - double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 - for (HeatModuleState heatModuleState : heatModuleStateList) { - if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) { - if (heatModuleState.getTrayUp() == 1) { - HeatModuleCode heatModuleCode = heatModuleState.getModuleCode(); - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower); - deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode); - } - } - } - if (targetHeatModuleCode != null) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower); - deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - } - for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 - } - } - - /** - * 避让下降 - * 临时移动托盘的时候，加热模块升降避让 - * 该方法会下降所有升起的加热模块并且记录 - */ - public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { + public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) { moveTrayHeatModuleAvoidUpStateList.clear(); List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 @@ -158,21 +95,26 @@ public class DeviceCommandTempUtilService { if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) { if (heatModuleState.getTrayUp() == 1) { HeatModuleCode heatModuleCode = heatModuleState.getModuleCode(); - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode); - futuresList.add(deviceCommandFuture); + CompletableFuture.runAsync(() -> { + try { + heatModuleService.heaterMotorMove(cmdId, cmdCode, heatModuleCode, trayLower); + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 + } catch (Exception e) { + log.error("避让下降错误:{}", heatModuleCode, e); + } + }); } } } if (targetHeatModuleCode != null) { - DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); - futuresList.add(deviceCommandFuture); - } - CommandUtil.wait(futuresList.toArray(new CommandFuture[0])); - for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 + CompletableFuture.runAsync(() -> { + try { + heatModuleService.heaterMotorMove(cmdId, cmdCode, targetHeatModuleCode, trayLower); + deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayUp(0);//加热模块托盘升降状态 + } catch (Exception e) { + log.error("避让下降错误:{}", targetHeatModuleCode, e); + } + }); } } diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java index 799fb82..d24ec5d 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/SolutionModuleService.java @@ -20,6 +20,8 @@ import org.springframework.stereotype.Service; import java.util.concurrent.ArrayBlockingQueue; import java.util.concurrent.BlockingQueue; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; /** * 加液模块 @@ -33,6 +35,7 @@ public class SolutionModuleService { private final LiquidDistributionArmDriver liquidDistributionArmDriver; private final WebSocketSender webSocketService; + private final Lock moduleLock = new ReentrantLock(); private final BlockingQueue waitingQueue = new ArrayBlockingQueue<>(1); /** @@ -45,9 +48,8 @@ public class SolutionModuleService { /** * 申请使用加液模块 */ - public synchronized void requestSolutionModule(String commandId, String command) { + public void requestSolutionModule(String commandId, String command) { try { - log.info("申请使用加液模块"); // 如果加液模块繁忙，加入队列等待 while (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) { if (commandId != null && command != null) { @@ -57,8 +59,7 @@ public class SolutionModuleService { // 把当前线程放到队列中等待 waitingQueue.put(Thread.currentThread()); // 阻塞当前线程直到被唤醒 } - deviceStateService.getDeviceState().getSolutionModule().setIdle(false); - log.info("加液模块申请成功"); + occupySolutionModule(); } catch (InterruptedException e) { Thread.currentThread().interrupt(); throw new RuntimeException("等待加液区空闲错误", e); @@ -66,79 +67,64 @@ public class SolutionModuleService { } /** + * 占用加液模块 + */ + private void occupySolutionModule() { + moduleLock.lock(); + deviceStateService.getDeviceState().getSolutionModule().setIdle(false); + } + + /** * 释放加液区 */ - public synchronized void releaseSolutionModule() throws InterruptedException { - log.info("释放加液模块占用"); - deviceStateService.getDeviceState().getSolutionModule().setIdle(true); - // 唤醒队列中的第一个线程 - if (!waitingQueue.isEmpty()) { - Thread waitingThread = waitingQueue.take(); - synchronized (waitingThread) { - waitingThread.notify(); // 唤醒队列中的第一个等待线程 + public void releaseSolutionModule() throws InterruptedException { + try { + deviceStateService.getDeviceState().getSolutionModule().setIdle(true); + // 唤醒队列中的第一个线程 + if (!waitingQueue.isEmpty()) { + Thread waitingThread = waitingQueue.take(); + synchronized (waitingThread) { + waitingThread.notify(); // 唤醒队列中的第一个等待线程 + } + } + } finally { + if (moduleLock.tryLock()) { + moduleLock.unlock(); } } } + public boolean getModuleLockTryLock(){ + return moduleLock.tryLock(); + } /** * 双轴械臂 移动至指定试管 */ public void dualRobotMovePoint(int index) throws Exception { - if (!deviceStateService.getDeviceState().isVirtual()) { - liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index); - } else { - new Thread(() -> { - try { - Thread.sleep(2000); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } - }).start(); - } + liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, index); } /** * 加液机械臂回原点 */ public void dualRobotOrigin() throws Exception { - if (!deviceStateService.getDeviceState().isVirtual()) { - liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0); - } else { - new Thread(() -> { - try { - Thread.sleep(2000); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } - }).start(); - } + liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0); } /** * 加液机械臂回原点 */ public void dualRobotOrigin(String commandId, String command, CmdAxis cmdAxis) throws Exception { - if (!deviceStateService.getDeviceState().isVirtual()) { - if (cmdAxis == CmdAxis.joint1) { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin(); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); - CommandUtil.wait(deviceCommandFuture); - } else { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin(); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); - CommandUtil.wait(deviceCommandFuture); - } + if (cmdAxis == CmdAxis.joint1) { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); + CommandUtil.wait(deviceCommandFuture); } else { - new Thread(() -> { - try { - Thread.sleep(2000); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } - }).start(); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); + CommandUtil.wait(deviceCommandFuture); } - } @@ -217,14 +203,14 @@ public class SolutionModuleService { /** * 添加溶液 */ - public CommandFuture acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { - return acidPumpMoveBy(null, null, acidPumpDevice, position); + public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { + acidPumpMoveBy(null, null, acidPumpDevice, position); } /** * 添加溶液 */ - public CommandFuture acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { + public void acidPumpMoveBy(String commandId, String command, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { DeviceCommandBundle deviceCommand; switch (acidPumpDevice) { case acid_pump_01 -> { @@ -253,7 +239,8 @@ public class SolutionModuleService { } default -> throw new RuntimeException("index 未找到"); } - return deviceCommandService.sendCommand(commandId, command, deviceCommand); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); + CommandUtil.wait(deviceCommandFuture); } /** diff --git a/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java b/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java index bc8850e..a4cdb56 100644 --- a/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java +++ b/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java @@ -1,6 +1,7 @@ package com.iflytop.gd.app.ws.client; import com.iflytop.gd.app.core.CommandPoolManager; +import com.iflytop.gd.app.service.api.CraftsService; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.DeviceStepCommandService; import lombok.RequiredArgsConstructor; @@ -18,6 +19,7 @@ public class DeviceEmergencyStopConfig { private final DeviceStepCommandService stepCommandService; private final DeviceStateService deviceStateService; private final CommandPoolManager commandPoolManager; + private final CraftsService craftsService; @Value("${iflytophald.ip}") String ip; @@ -33,6 +35,7 @@ public class DeviceEmergencyStopConfig { log.info("触发急停{}", s); try { commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令 + craftsService.stopAllCrafts();//停止所有工艺 stepCommandService.stopAll(); deviceStateService.getDeviceState().setEmergencyStop(true); } catch (Exception e) { diff --git a/src/main/java/com/iflytop/gd/common/result/ResultCode.java b/src/main/java/com/iflytop/gd/common/result/ResultCode.java index 7287b4a..74c7364 100644 --- a/src/main/java/com/iflytop/gd/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/gd/common/result/ResultCode.java @@ -58,6 +58,7 @@ public enum ResultCode implements IResultCode, Serializable { CMD_BUSY("6025", "设备忙，请稍后"), HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"), CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"), + SOLUTION_MODULE_OCCUPIED("6028", "加液模块被占用"), ; /** 状态码 */ private final String code;