diff --git a/src/main/java/com/iflytop/gd/app/command/control/DoorCloseCommand.java b/src/main/java/com/iflytop/gd/app/command/control/DoorCloseCommand.java index 943d86d..852b7e1 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/DoorCloseCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/DoorCloseCommand.java @@ -26,7 +26,7 @@ public class DoorCloseCommand extends BaseCommandHandler { public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { deviceStateService.getDeviceState().getDoor().setOpen(false); - doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); + doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); }); } } diff --git a/src/main/java/com/iflytop/gd/app/command/control/DoorOpenCommand.java b/src/main/java/com/iflytop/gd/app/command/control/DoorOpenCommand.java index 8c5182e..a001ed9 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/DoorOpenCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/DoorOpenCommand.java @@ -22,15 +22,13 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("door_open")//业务指令注解 public class DoorOpenCommand extends BaseCommandHandler { private final DoorModuleService doorModuleService; - private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { - Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance(); deviceStateService.getDeviceState().getDoor().setOpen(true); - doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance); + doorModuleService.doorMoveEnd(cmdDTO.getCommandId(), cmdDTO.getCommand()); }); } } diff --git a/src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java b/src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java index 3f0513c..d302ce7 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/FilledSolutionStopCommand.java @@ -1,6 +1,5 @@ package com.iflytop.gd.app.command.control; -import cn.hutool.json.JSONArray; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.api.ContainerService; @@ -27,18 +26,26 @@ public class FilledSolutionStopCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { - JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list"); - for (int i = 0; i < idJsonArray.size(); i++) { - String idStr = idJsonArray.getStr(i); - CompletableFuture.runAsync(() -> { - try { - AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr)); - solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice); - } catch (Exception e) { - log.error("停止预充失败", e); - } - }); +// JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list"); +// for (int i = 0; i < idJsonArray.size(); i++) { +// String idStr = idJsonArray.getStr(i); +// CompletableFuture.runAsync(() -> { +// try { +// AcidPumpDeviceCode acidPumpDevice = containerService.getPumpByContainerId(Long.parseLong(idStr)); +// solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice); +// } catch (Exception e) { +// log.error("停止预充失败", e); +// } +// }); +// } + for (AcidPumpDeviceCode acidPumpDeviceCode : AcidPumpDeviceCode.values()) { + try { + solutionModuleService.acidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDeviceCode); + } catch (Exception e) { + log.error("停止预充错误", e); + } } + Thread.sleep(1000); solutionModuleService.dualRobotOrigin(); }); } diff --git a/src/main/java/com/iflytop/gd/app/command/control/SolutionAddCommand.java b/src/main/java/com/iflytop/gd/app/command/control/SolutionAddCommand.java index b8e94cb..ebcf861 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/SolutionAddCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/SolutionAddCommand.java @@ -22,7 +22,6 @@ import org.springframework.stereotype.Component; import java.util.ArrayList; import java.util.Arrays; import java.util.List; -import java.util.Optional; import java.util.concurrent.CompletableFuture; /** @@ -68,12 +67,12 @@ public class SolutionAddCommand extends BaseCommandHandler { List futuresList = new ArrayList<>(); for (int k = 0; k < solutionList.size(); k++) { JSONObject addSolution = solutionList.getJSONObject(k); - Long solId = addSolution.getLong("solutionId"); + Long solId = addSolution.getLong("solutionId");//实际前端传递的是容器id Double volume = addSolution.getDouble("volume"); //AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵 - Container container = containerService.getContainerBySolutionId(solId); + Container container = containerService.getById(solId); if (container == null) { - throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//未找到对应溶液容器 + throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器 } AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵 int scale = container.getScale() == null ? 120 : container.getScale();//系数 @@ -86,6 +85,7 @@ public class SolutionAddCommand extends BaseCommandHandler { CommandUtil.wait(futuresList.toArray(new CommandFuture[0])); } } + Thread.sleep(1000); solutionModuleService.dualRobotOrigin(); deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false); deviceStateService.getDeviceState().getSolutionModule().setPumping(false); diff --git a/src/main/java/com/iflytop/gd/app/command/debug/DebugDoorOpenCommand.java b/src/main/java/com/iflytop/gd/app/command/debug/DebugDoorOpenCommand.java index be7d5cc..2f54848 100644 --- a/src/main/java/com/iflytop/gd/app/command/debug/DebugDoorOpenCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/debug/DebugDoorOpenCommand.java @@ -26,13 +26,11 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("debug_door_open") public class DebugDoorOpenCommand extends BaseCommandHandler { private final DeviceCommandService deviceCommandService; - private final DevicePositionService devicePositionService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { - DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen); - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance()); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMoveToEnd(); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); CommandUtil.wait(deviceCommandFuture); }); diff --git a/src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java b/src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java new file mode 100644 index 0000000..6a6c88e --- /dev/null +++ b/src/main/java/com/iflytop/gd/app/command/debug/step/DebugShowSmogCommand.java @@ -0,0 +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.DeviceCommandService; +import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; +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.GantryModuleService; +import com.iflytop.gd.app.service.device.module.HeatModuleService; +import com.iflytop.gd.app.service.device.module.SolutionModuleService; +import com.iflytop.gd.common.annotation.CommandMapping; +import com.iflytop.gd.common.command.CommandFuture; +import com.iflytop.gd.common.command.DeviceCommandBundle; +import com.iflytop.gd.common.command.DeviceCommandGenerator; +import com.iflytop.gd.common.enums.HeatModuleCode; +import com.iflytop.gd.common.enums.data.DevicePositionCode; +import com.iflytop.gd.common.utils.CommandUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 展示烟雾 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("debug_show_smog") +public class DebugShowSmogCommand extends BaseCommandHandler { + private final HeatModuleService heatModuleService; + private final GantryModuleService gantryModuleService; + private final DevicePositionService devicePositionService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + 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 + 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(); + double heatModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.heatModuleCapMoveHeight).getDistance();//加热模块拍子移动高度 + 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 + 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 + Thread.sleep(3000); + 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 + gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 + heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower); + }); + } +} + diff --git a/src/main/java/com/iflytop/gd/app/controller/CraftsController.java b/src/main/java/com/iflytop/gd/app/controller/CraftsController.java index 122c42d..727a954 100644 --- a/src/main/java/com/iflytop/gd/app/controller/CraftsController.java +++ b/src/main/java/com/iflytop/gd/app/controller/CraftsController.java @@ -86,7 +86,7 @@ public class CraftsController { @Operation(summary = "开始执行工艺") @PostMapping("/start") public Result startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) { - return Result.success(craftsService.startCrafts(startCraftsDTO.getCraftId(), startCraftsDTO.getHeatId())); + return Result.success(craftsService.startCrafts(startCraftsDTO)); } @Operation(summary = "暂停执行工艺") diff --git a/src/main/java/com/iflytop/gd/app/controller/SystemController.java b/src/main/java/com/iflytop/gd/app/controller/SystemController.java index 05df0c8..6c15f08 100644 --- a/src/main/java/com/iflytop/gd/app/controller/SystemController.java +++ b/src/main/java/com/iflytop/gd/app/controller/SystemController.java @@ -12,6 +12,9 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.web.bind.annotation.*; +import java.time.Instant; +import java.time.LocalDateTime; + @Tag(name = "系统") @RestController @RequestMapping("/api/sys") @@ -21,19 +24,6 @@ public class SystemController { private final SystemConfigService systemConfigService; private final DeviceStateService deviceStateService; - @Operation(summary = "是否启动虚拟模式") - @PostMapping("/virtual") - public Result changeVirtualMode(Boolean mode) { - deviceStateService.getDeviceState().setVirtual(mode); - return Result.success(); - } - - @Operation(summary = "模拟向硬件写入完毕") - @PostMapping("/initComplete") - public Result setInitComplete(Boolean initComplete) { - deviceStateService.getDeviceState().setInitComplete(initComplete); - return Result.success(); - } @Operation(summary = "系统状态") @GetMapping("/device-status") @@ -48,4 +38,10 @@ public class SystemController { return Result.success(); } + @Operation(summary = "获取系统时间") + @GetMapping("/datetime") + public Result getDatetime() { + return Result.success(Instant.now().toEpochMilli()); + } + } 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 a96e957..2e1cf68 100644 --- a/src/main/java/com/iflytop/gd/app/controller/TestController.java +++ b/src/main/java/com/iflytop/gd/app/controller/TestController.java @@ -7,7 +7,7 @@ import com.iflytop.gd.app.service.device.DeviceEmergencyStopService; 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.OtherModuleService; -import com.iflytop.gd.app.service.device.module.SolutionModuleService; +import com.iflytop.gd.common.enums.HeatModuleCode; import com.iflytop.gd.common.result.Result; import com.iflytop.gd.hardware.exception.HardwareException; import io.swagger.v3.oas.annotations.Operation; @@ -36,6 +36,21 @@ public class TestController { private final OtherModuleService otherModuleService; private final DeviceEmergencyStopService deviceEmergencyStopService; + @Operation(summary = "启动虚拟模式") + @PostMapping("/virtual") + public Result changeVirtualMode() { + deviceStateService.getDeviceState().setVirtual(true); + deviceStateService.getDeviceState().setInitComplete(true); + return Result.success(); + } + + @Operation(summary = "模拟向硬件写入完毕") + @PostMapping("/initComplete") + public Result setInitComplete(Boolean initComplete) { + deviceStateService.getDeviceState().setInitComplete(initComplete); + return Result.success(); + } + @Operation(summary = "获取所有传感器读数") @GetMapping("/all-sensor") public Result> getAllSensor() throws HardwareException { @@ -57,7 +72,6 @@ public class TestController { return Result.success(); } - @Operation(summary = "获取指令互斥状态") @GetMapping("/mutex-state") public Result getCommandMutexState() throws HardwareException { @@ -71,7 +85,6 @@ public class TestController { return Result.success(); } - @Operation(summary = "触发急停") @PostMapping("/press-emergency-stop") public Result pressEmergencyStop() throws Exception { @@ -92,4 +105,11 @@ public class TestController { otherModuleService.craftsFinishBeepRemind(); return Result.success(); } + + @Operation(summary = "设置当前温度") + @PostMapping("/set-temperature") + public Result setTemperature(HeatModuleCode code, Double temperature) throws Exception { + testService.setTemperature(code, temperature); + return Result.success(); + } } diff --git a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java index a98743f..547f3bd 100644 --- a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java +++ b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java @@ -2,9 +2,12 @@ package com.iflytop.gd.app.core; import cn.hutool.json.JSONUtil; import com.iflytop.gd.app.model.bo.CraftsStep; +import com.iflytop.gd.app.model.bo.status.device.CraftsState; +import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.app.service.crafts.CraftsStepService; +import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.ws.server.WebSocketSender; import com.iflytop.gd.common.constant.WebSocketMessageType; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -34,6 +37,7 @@ public class CraftsContext implements Runnable { private final StateMachine sm; private final WebSocketSender webSocketService; private final CraftsStepService craftsStepService; + private final DeviceStateService deviceStateService; private int currentIndex = 0; /** @@ -43,23 +47,30 @@ public class CraftsContext implements Runnable { Crafts craft, StateMachineFactory factory, WebSocketSender webSocketService, - CraftsStepService craftsStepService) { + CraftsStepService craftsStepService, + DeviceStateService deviceStateService) { this.heatModuleCode = heatModuleCode; this.ores = ores; this.craft = craft; this.craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class); this.webSocketService = webSocketService; this.craftsStepService = craftsStepService; + this.deviceStateService = deviceStateService; this.sm = factory.getStateMachine(heatModuleCode.toString()); sm.addStateListener(new StateMachineListenerAdapter<>() { @Override public void stateEntered(State state) { + CraftsState craftsState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode).getCrafts(); + craftsState.setState(state.getId()); + craftsState.setCurrentIndex(currentIndex); + Map dataMap = new HashMap<>(); dataMap.put("heatId", heatModuleCode); dataMap.put("state", state.getId()); dataMap.put("index", currentIndex); webSocketService.push(WebSocketMessageType.CRAFTS_STATE, dataMap); + } }); Mono.from(sm.startReactively()).block(); diff --git a/src/main/java/com/iflytop/gd/app/core/aspect/DeviceStateChangeAspect.java b/src/main/java/com/iflytop/gd/app/core/aspect/DeviceStateChangeAspect.java index 4ff6b4d..6f6b709 100644 --- a/src/main/java/com/iflytop/gd/app/core/aspect/DeviceStateChangeAspect.java +++ b/src/main/java/com/iflytop/gd/app/core/aspect/DeviceStateChangeAspect.java @@ -38,7 +38,7 @@ public class DeviceStateChangeAspect { if (methodArgs != null && methodArgs.length > 0) { // 保存修改后的值 Object afterValue = methodArgs[0]; - log.info("设备状态发生改变，类型{}.{}({})", className, methodName, afterValue); +// log.info("设备状态发生改变，类型{}.{}({})", className, methodName, afterValue); webSocketService.push(WebSocketMessageType.STATUS, deviceStateService.getDeviceState()); } } catch (Exception e) { diff --git a/src/main/java/com/iflytop/gd/app/model/bo/status/crafts/CraftsState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/CraftsState.java similarity index 54% rename from src/main/java/com/iflytop/gd/app/model/bo/status/crafts/CraftsState.java rename to src/main/java/com/iflytop/gd/app/model/bo/status/device/CraftsState.java index b6da60b..9df4362 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/crafts/CraftsState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/CraftsState.java @@ -1,13 +1,21 @@ -package com.iflytop.gd.app.model.bo.status.crafts; +package com.iflytop.gd.app.model.bo.status.device; +import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.common.enums.automaton.CraftStates; import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; +import lombok.RequiredArgsConstructor; +import org.springframework.context.annotation.Scope; +import org.springframework.stereotype.Component; @Schema(description = "工艺") @Data +@Component +@Scope("prototype") +@RequiredArgsConstructor +@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"}) public class CraftsState { @Schema(description = "工艺状态") private CraftStates state; diff --git a/src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java index a757790..5032b11 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/DeviceState.java @@ -73,6 +73,24 @@ public class DeviceState { return null; } + public synchronized TrayState getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) { + for (TrayState t : tray) { + if (heatModuleCode.equals(t.getHeatModuleId())) { + return t; + } + } + return null; + } + + public synchronized TrayState getTrayInSolutionModule() { + for (TrayState t : tray) { + if (t.isInSolutionModule()) { + return t; + } + } + return null; + } + public synchronized TrayState getTrayState(String trayUUID) { for (TrayState t : tray) { if (t.getUuid().equals(trayUUID)) { diff --git a/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java index b4e37bc..b250e74 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java @@ -30,6 +30,9 @@ public class HeatModuleState { @Schema(description = "当前加热类型") private HeatingType heatingType = HeatingType.stop; + @Schema(description = "是否正在加热，true为正在加热，false为未加热")//可能去掉这个状态 + private boolean heating = false; + @Schema(description = "是否启动散热，true为正在散热，false为未在散热") private boolean fanOpen = false; diff --git a/src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java index ea51675..6fd5c14 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/TrayState.java @@ -1,14 +1,22 @@ package com.iflytop.gd.app.model.bo.status.device; -import com.iflytop.gd.app.model.bo.status.crafts.CraftsState; +import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.iflytop.gd.common.enums.HeatModuleCode; import io.swagger.v3.oas.annotations.media.Schema; +import jakarta.annotation.PostConstruct; import lombok.Data; +import lombok.RequiredArgsConstructor; +import org.springframework.context.annotation.Scope; +import org.springframework.stereotype.Component; import java.util.UUID; @Schema(description = "托盘") @Data +@Component +@Scope("prototype") +@RequiredArgsConstructor +@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"}) public class TrayState { @Schema(description = "托盘唯一id") private String uuid = UUID.randomUUID().toString(); @@ -28,11 +36,13 @@ public class TrayState { @Schema(description = "当前托盘的工艺") private CraftsState crafts = null; - public TrayState() { + @PostConstruct + private void init(){ for (int i = 0; i < tubes.length; i++) { TubeState tubeState = new TubeState(); tubeState.setTubeNum(i + 1); tubes[i] = tubeState; } } + } diff --git a/src/main/java/com/iflytop/gd/app/model/bo/status/device/TubeState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/TubeState.java index 0bcbd0f..c8615ad 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/device/TubeState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/TubeState.java @@ -14,4 +14,7 @@ public class TubeState { @Schema(description = "是否存在试管 true存在") private boolean exists = true; + + @Schema(description = "是否需要添加溶液 true需要") + private boolean needAddSolution = true; } diff --git a/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java b/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java index e1598ba..ff44743 100644 --- a/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java +++ b/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java @@ -16,4 +16,7 @@ public class StartCraftsDTO { @Schema(description = "加热区id，非必填，如果不传递则自动分配加热区") private HeatModuleCode heatId; + + @Schema(description = "需要加液的试管") + private int[] tubes; } diff --git a/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java b/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java index 66891cc..81e7ff1 100644 --- a/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java +++ b/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java @@ -12,7 +12,7 @@ public class SetTrayTubeVO { @Schema(description = "托盘UUID") private String trayUuid; - @Schema(description = "矿石 ID") + @Schema(description = "试管") private TubeState[] tubes; } \ No newline at end of file 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 c17fdac..3b0c18a 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 @@ -4,12 +4,17 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.iflytop.gd.app.core.CraftsContext; import com.iflytop.gd.app.mapper.CraftsMapper; +import com.iflytop.gd.app.model.bo.status.device.CraftsState; 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.bo.status.device.TubeState; +import com.iflytop.gd.app.model.dto.StartCraftsDTO; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.app.model.vo.CraftStatusVO; import com.iflytop.gd.app.model.vo.SetCraftsVO; import com.iflytop.gd.app.service.crafts.CraftsStepService; +import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.HeatModuleService; import com.iflytop.gd.app.ws.server.WebSocketSender; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -20,12 +25,12 @@ import com.iflytop.gd.common.result.ResultCode; import jakarta.annotation.PostConstruct; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.ObjectProvider; import org.springframework.statemachine.config.StateMachineFactory; 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; @@ -44,10 +49,14 @@ public class CraftsService extends ServiceImpl { private final WebSocketSender webSocketService; private final CraftsStepService craftsStepService; private final OresService oresService; + private final DeviceStateService deviceStateService; + private final ObjectProvider craftsStateObjectProvider; + private final ConcurrentHashMap contextMap = new ConcurrentHashMap<>(); private final ConcurrentHashMap> futureMap = new ConcurrentHashMap<>(); private ExecutorService executor; + @PostConstruct public void init() { this.executor = Executors.newCachedThreadPool(); @@ -89,7 +98,9 @@ public class CraftsService extends ServiceImpl { /** * 启动执行工艺 */ - public synchronized SetCraftsVO startCrafts(Long craftId, HeatModuleCode heatModuleCode) { + public synchronized SetCraftsVO startCrafts(StartCraftsDTO startCraftsDTO) { + long craftId = startCraftsDTO.getCraftId(); + HeatModuleCode heatModuleCode = startCraftsDTO.getHeatId(); Crafts craft = this.getById(craftId); if (craft == null) { throw new AppException(ResultCode.INVALID_PARAMETER); @@ -98,6 +109,9 @@ public class CraftsService extends ServiceImpl { if (ores == null) { throw new AppException(ResultCode.INVALID_PARAMETER); } + if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) { + throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY); + } //判断是否指定加热区id if (heatModuleCode == null) { //如果没有指定加热区id，则自动获取一个 @@ -109,23 +123,23 @@ public class CraftsService extends ServiceImpl { heatModuleCode = heatModuleState.getModuleCode(); } } else { - if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺 - log.error("工艺正在执行中，不可重复开始执行。"); - throw new AppException(ResultCode.CRAFT_RUNNING); - } +// if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺 +// log.error("工艺正在执行中，不可重复开始执行。"); +// throw new AppException(ResultCode.CRAFT_RUNNING); +// } } log.info("准备开始工艺，加热模块{},工艺{}", heatModuleCode, craft.getName()); //TODO 传感器校验heatModuleCode是否被占用 // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置 - CraftsContext existing = contextMap.get(heatModuleCode); - if (existing != null) { - CraftStates state = existing.getSm().getState().getId(); - if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) { - throw new AppException(ResultCode.CRAFT_RUNNING); - } - clearCraftContext(heatModuleCode); - } +// CraftsContext existing = contextMap.get(heatModuleCode); +// if (existing != null) { +// CraftStates state = existing.getSm().getState().getId(); +// if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) { +// throw new AppException(ResultCode.CRAFT_RUNNING); +// } +// clearCraftContext(heatModuleCode); +// } CraftsContext ctx = new CraftsContext( heatModuleCode, @@ -133,12 +147,33 @@ public class CraftsService extends ServiceImpl { craft, stateMachineFactory, webSocketService, - craftsStepService + craftsStepService, + deviceStateService ); contextMap.put(heatModuleCode, ctx); Future future = executor.submit(ctx); futureMap.put(heatModuleCode, future); + TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); + //配置可操作试管 + TubeState[] tubeStateArr = trayState.getTubes(); + List needTubeNumArr = Arrays.stream(startCraftsDTO.getTubes()).boxed() .toList(); + for (TubeState tubeState : tubeStateArr) { + if(!needTubeNumArr.contains(tubeState.getTubeNum())){ + tubeState.setNeedAddSolution(false); + } + } + + //配置状态 + CraftsState craftsState = craftsStateObjectProvider.getObject(); + craftsState.setCraft(craft); + craftsState.setOres(ores); + craftsState.setState(CraftStates.READY); + craftsState.setCurrentIndex(0); + trayState.setHeatModuleId(heatModuleCode); + trayState.setCrafts(craftsState); + + //组装返回值 SetCraftsVO setCraftsVO = new SetCraftsVO(); setCraftsVO.setHeatId(heatModuleCode); setCraftsVO.setCraftsName(craft.getName()); diff --git a/src/main/java/com/iflytop/gd/app/service/api/SystemConfigService.java b/src/main/java/com/iflytop/gd/app/service/api/SystemConfigService.java index 78e12e7..5ffd29c 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/SystemConfigService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/SystemConfigService.java @@ -10,6 +10,8 @@ import org.springframework.stereotype.Service; import java.io.BufferedReader; import java.io.InputStreamReader; +import java.time.LocalDateTime; +import java.time.format.DateTimeFormatter; /** * 系统配置接口服务 diff --git a/src/main/java/com/iflytop/gd/app/service/api/TestService.java b/src/main/java/com/iflytop/gd/app/service/api/TestService.java index 47c9d11..f64b3e1 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/TestService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/TestService.java @@ -2,6 +2,7 @@ package com.iflytop.gd.app.service.api; import com.iflytop.gd.app.model.dto.AllSensorDTO; import com.iflytop.gd.app.service.device.DeviceStateService; +import com.iflytop.gd.common.enums.HeatModuleCode; import com.iflytop.gd.hardware.exception.HardwareException; import com.iflytop.gd.hardware.service.GDDeviceStatusService; import com.iflytop.gd.hardware.type.IO.InputIOMId; @@ -45,4 +46,8 @@ public class TestService { deviceStateService.getDeviceState().reset(); } + public void setTemperature(HeatModuleCode code, Double temperature){ + deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature); + } + } 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 51fb8c1..7d38649 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 @@ -1,10 +1,12 @@ 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; @@ -17,12 +19,13 @@ 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 = new TrayState(); + TrayState trayState = trayStateObjectProvider.getObject(); 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 d92a769..f6dd6f7 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 @@ -5,28 +5,25 @@ import cn.hutool.json.JSONObject; import com.iflytop.gd.app.core.CraftsDebugGenerator; import com.iflytop.gd.app.model.bo.CraftsStep; import com.iflytop.gd.app.model.bo.Point3D; +import com.iflytop.gd.app.model.entity.Container; import com.iflytop.gd.app.service.api.ContainerService; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.*; import com.iflytop.gd.app.ws.server.WebSocketSender; +import com.iflytop.gd.common.command.CommandFuture; import com.iflytop.gd.common.enums.AcidPumpDeviceCode; import com.iflytop.gd.common.enums.HeatModuleCode; +import com.iflytop.gd.common.enums.HeatingType; import com.iflytop.gd.common.enums.data.DevicePositionCode; import com.iflytop.gd.common.exception.AppException; import com.iflytop.gd.common.result.ResultCode; -import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver; -import com.iflytop.gd.hardware.drivers.TricolorLightDriver; -import com.iflytop.gd.hardware.exception.HardwareException; -import com.iflytop.gd.hardware.type.IO.OutputIOMId; -import com.iflytop.gd.hardware.type.MId; +import com.iflytop.gd.common.utils.CommandUtil; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; -import java.util.concurrent.CompletableFuture; - /** * 工艺步骤执行服务 */ @@ -78,6 +75,15 @@ public class CraftsStepService { && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) { moveToSolutionModule(heatModuleCode); } + + JSONArray tubeNums = params.getJSONArray("tubeNums"); + for (int i = 0; i < tubeNums.size(); i++) { + JSONObject tubeSol = tubeNums.getJSONObject(i); + Integer tubeNum = tubeSol.getInt("tubeNum"); + + } + + JSONArray tubeSolList = params.getJSONArray("tubeSolList"); for (int i = 0; i < tubeSolList.size(); i++) { JSONObject tubeSol = tubeSolList.getJSONObject(i); @@ -87,14 +93,15 @@ public class CraftsStepService { JSONObject addLiquid = addLiquidList.getJSONObject(j); Long solId = addLiquid.getLong("solId"); Double volume = addLiquid.getDouble("volume"); - AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId); - if (acidPumpDevice == null) { - throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND); + Container container = containerService.getContainerBySolutionId(solId); + if (container == null) { + throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器 } - webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", tubeNum)); + AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵 + int scale = container.getScale() == null ? 120 : container.getScale();//系数 solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管 - webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquid)); - solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液 + CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液 + CommandUtil.wait(deviceCommandFuture); } } solutionModuleService.dualRobotOrigin(); @@ -126,8 +133,15 @@ public class CraftsStepService { Double temperature = params.getDouble("temperature"); Integer second = params.getInt("second"); heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic); + //达到目标温度后才算开始加热 + while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) { + delay(1); + } + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.constant); delay(second); heatModuleService.heatRodClose(heatModuleCode);//停止加热 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.finish); heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘 return true; } @@ -166,7 +180,7 @@ public class CraftsStepService { public void finish(HeatModuleCode heatModuleCode) throws Exception { moveToSolutionModule(heatModuleCode); //蜂鸣器提示 - otherModuleService.craftsFinishBeepRemind(); +// otherModuleService.craftsFinishBeepRemind(); } /** @@ -190,29 +204,30 @@ public class CraftsStepService { Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//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; + capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方 gantryModuleService.clawMove(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(clawTrayGrip);//将夹爪收紧，夹住托盘 gantryModuleService.gantryZMove(0);//抬升z轴 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(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 +// deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(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 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(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方 // deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(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 + 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 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块 gantryModuleService.clawMove(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 gantryModuleService.gantryZMove(0);//抬升z轴 - capModuleService.capUpBalance();//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 gantryModuleService.clawMove(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(clawCapGrip);//将夹爪收紧，夹住拍子 gantryModuleService.gantryZMove(0);//抬升z轴 gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方 + capModuleService.capUpBalanceNoWait(); //提升拍子存放区 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块 gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放拍子 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子 @@ -221,11 +236,8 @@ public class CraftsStepService { // trayState.setInHeatModule(true); heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热模块托盘 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 - capModuleService.capUpBalance(); //提升拍子存放区 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 - heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热位托盘 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1); solutionModuleService.releaseSolutionModule();//释放加液区 } @@ -253,15 +265,15 @@ public class CraftsStepService { // TrayState trayState = deviceStateService.getTrayInSolutionModule(); solutionModuleService.requestSolutionModule();//申请使用加液区并等待 - capModuleService.capUpBalance(); //提升拍子存放区至拍子夹取的高度 + capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方 heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘 gantryModuleService.clawMove(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(clawCapGrip);//将夹爪收紧，夹住拍子 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子 - gantryModuleService.gantryZMove(0);//抬升z轴 - capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置 + capModuleService.capMotorMoveByNumNoWait(-1);//拍子存放模块下降1个拍子位置 + gantryModuleService.gantryZMove(0); Thread.sleep(2000);//抬升z轴 gantryModuleService.gantryMove(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(clawCapPick);//将夹爪打开，释放夹取的拍子 @@ -274,10 +286,10 @@ public class CraftsStepService { gantryModuleService.clawMove(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);//托盘是否在加热模块中 - gantryModuleService.gantryZMove(0);//抬升z轴 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(heatModuleCode);//TODO 临时避让下降 + gantryModuleService.gantryZMove(0);Thread.sleep(2500);//抬升z轴 // deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLower);//下降加热模块托盘 // deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态 - 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.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态 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 677b7fa..ea301ee 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 @@ -38,6 +38,15 @@ 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 { moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); } @@ -94,6 +103,15 @@ 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); } diff --git a/src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java b/src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java index 921752a..9d800ac 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java @@ -29,7 +29,7 @@ public class DeviceEmergencyStopService { } /** - * 处理接触急停 + * 处理解除急停 */ public void release(){ commandPoolManager.restartExecutor(); diff --git a/src/main/java/com/iflytop/gd/app/service/device/DeviceStepCommandService.java b/src/main/java/com/iflytop/gd/app/service/device/DeviceStepCommandService.java index eca7138..70ee23d 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/DeviceStepCommandService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/DeviceStepCommandService.java @@ -92,6 +92,16 @@ public class DeviceStepCommandService { stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_4_MOTOR_MID); stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_5_MOTOR_MID); stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_6_MOTOR_MID); + + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_1_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_2_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_3_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_4_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_5_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_6_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_7_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.ACID_PUMP_8_MOTOR_MID); + stepMotorCtrlDriver.stepMotorStop(StepMotorMId.SHAKE_MOTOR_MID); liquidDistributionArmDriver.moduleStop(LiquidArmMId.LiquidDistributionArm); miniServoDriver.miniServoStop(MiniServoMId.CLAW_MID); diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java index 10e9609..b3df5f7 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java @@ -30,6 +30,13 @@ public class CapModuleService { /** * 将拍子升降区抬升至可以获取的位置 */ + public void capUpBalanceNoWait() throws Exception { + capUpBalanceNoWait(null, null); + } + + /** + * 将拍子升降区抬升至可以获取的位置 + */ public void capUpBalance() throws Exception { capUpBalance(null, null); } @@ -79,7 +86,7 @@ public class CapModuleService { } } if (capNum == 0) { - throw new AppException(ResultCode.CAP_MODULE_NO_CAP); + return; } double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度 double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21; @@ -169,6 +176,15 @@ public class CapModuleService { * * @param num 1为上升1格，-1为下降1格 */ + public void capMotorMoveByNumNoWait(int num) throws Exception { + capMotorMoveByNumNoWait(null, null, num); + } + + /** + * 调整拍子升降电机位置 + * + * @param num 1为上升1格，-1为下降1格 + */ public void capMotorMoveByNum(int num) throws Exception { capMotorMoveByNum(null, null, num); } diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java index c61964c..013e9be 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java @@ -85,4 +85,13 @@ public class DoorModuleService { CommandUtil.wait(deviceCommandFuture); } + /** + * 门点击移动至最远距离 + */ + public void doorMoveEnd(String commandId, String command) throws Exception { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMoveToEnd(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); + CommandUtil.wait(deviceCommandFuture); + } + } diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java index 5315f9f..4e0f6d0 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/GantryModuleService.java @@ -51,10 +51,10 @@ public class GantryModuleService { public void gantryMove(String commandId, String command, Point3D point) throws Exception { DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX()); CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryXMoveDeviceCommand); - DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY()); CommandFuture gantryYMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryYMoveDeviceCommand); CommandUtil.wait(gantryXMoveDeviceCommandFuture, gantryYMoveDeviceCommandFuture); + DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ()); CommandFuture gantryZMoveDeviceCommandFuture = deviceCommandService.sendCommand(commandId, command, gantryZMoveDeviceCommand); CommandUtil.wait(gantryZMoveDeviceCommandFuture); 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 1c7f3bd..799fb82 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 @@ -69,6 +69,7 @@ public class SolutionModuleService { * 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()) { @@ -84,29 +85,60 @@ public class SolutionModuleService { * 双轴械臂 移动至指定试管 */ public void dualRobotMovePoint(int index) throws Exception { - liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index); + if (!deviceStateService.getDeviceState().isVirtual()) { + liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, index); + } else { + new Thread(() -> { + try { + Thread.sleep(2000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + }).start(); + } } /** * 加液机械臂回原点 */ public void dualRobotOrigin() throws Exception { - liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0); + if (!deviceStateService.getDeviceState().isVirtual()) { + liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0); + } else { + new Thread(() -> { + try { + Thread.sleep(2000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + }).start(); + } } /** * 加液机械臂回原点 */ public void dualRobotOrigin(String commandId, String command, CmdAxis cmdAxis) throws Exception { - if (cmdAxis == CmdAxis.joint1) { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin(); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); - CommandUtil.wait(deviceCommandFuture); + 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); + } } else { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin(); - CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(commandId, command, deviceCommand); - CommandUtil.wait(deviceCommandFuture); + new Thread(() -> { + try { + Thread.sleep(2000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + }).start(); } + } @@ -185,8 +217,8 @@ public class SolutionModuleService { /** * 添加溶液 */ - public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { - acidPumpMoveBy(null, null, acidPumpDevice, position); + public CommandFuture acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception { + return acidPumpMoveBy(null, null, acidPumpDevice, position); } /** diff --git a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java index 63b8278..b3b632c 100644 --- a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java +++ b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java @@ -19,7 +19,7 @@ public class FetchTemperatureScheduledTask { private final GDDeviceStatusService gdDeviceStatusService; private final DeviceStateService deviceStateService; - @Scheduled(fixedRate = 30000) + @Scheduled(fixedRate = 10000) public void fetchTemperature() { try { if (!deviceStateService.getDeviceState().isVirtual()) { @@ -42,12 +42,14 @@ public class FetchTemperatureScheduledTask { deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_06).setTemperature(heatModule06Temperature); } else {//虚拟模式随便写个值 -// List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); -// for (HeatModuleState heatModuleState : heatModuleStateList) { -// if (heatModuleState.isHeating()) { -// deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleState.getModuleCode()).setTemperature(123.0); -// } -// } + List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); + for (HeatModuleState heatModuleState : heatModuleStateList) { + if (heatModuleState.isHeating()) { + heatModuleState.setTemperature(heatModuleState.getTargetTemperature()); + } else { + heatModuleState.setTemperature(26.0); + } + } } } catch (Exception e) { log.error("定时采集加热棒温度错误", e); diff --git a/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java b/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java index 49e9a08..079f665 100644 --- a/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java +++ b/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java @@ -1,6 +1,7 @@ package com.iflytop.gd.app.service.scheduled; 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.HeatCountdownVO; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceStateService; @@ -21,7 +22,7 @@ import java.util.ArrayList; import java.util.List; /** - * 加热倒计时 + * 加热时间到自动抬起 */ @Slf4j @Service @@ -32,53 +33,42 @@ public class HeatCountdownScheduledTask { private final HeatModuleService heatModuleService; private final WebSocketSender webSocketSender; - @Scheduled(fixedRate = 1000) + @Scheduled(fixedDelay = 1000) public void fetchTemperature() { try { LocalDateTime now = LocalDateTime.now(); - List heatCountdownVOList = new ArrayList<>(); for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) { + //工艺除外 + TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleState.getModuleCode()); + if (trayState != null && trayState.getCrafts() != null) { + continue; + } if (heatModuleState.getHeatingType() == HeatingType.thermostatic) {//如果这个加热模块在加热中 if (heatModuleState.getTemperature() + 1 > heatModuleState.getHeatTemperature()) {//当前温度达到目标温度，允许有1度以内的误差 + heatModuleState.setStartHeatTime(now); heatModuleState.setHeatingType(HeatingType.constant);//修改状态为恒温中 - if (heatModuleState.getStartHeatTime() == null) { - //设定开始加热时间 - heatModuleState.setStartHeatTime(now); - } else { - LocalDateTime endTime = heatModuleState.getStartHeatTime().minusSeconds(heatModuleState.getTargetTime()); - //判断是否达到目标加热时间 - if (endTime.isBefore(now)) {//加热完毕 - double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); - //抬起托盘 - heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift); - heatModuleState.setTrayUp(1); - //关闭加棒 - heatModuleService.heatRodClose(heatModuleState.getModuleCode()); - heatModuleState.setHeatingType(HeatingType.stop); - //还原状态 - heatModuleState.setStartHeatTime(null); - heatModuleState.setTargetTime(null); - heatModuleState.setWarmUpTemperature(null); - heatModuleState.setHeatTemperature(null); - heatModuleState.setTargetTemperature(null); - heatModuleState.setHeatingType(HeatingType.stop); - } else {//加热中 - long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间 - HeatCountdownVO heatCountdownVO = new HeatCountdownVO(); - heatCountdownVO.setHeatModuleCode(heatModuleState.getModuleCode()); - heatCountdownVO.setCountdown((int) diffSeconds); - heatCountdownVO.setCountdownStr(LocalDateTimeUtil.formatSecondsToHMS(diffSeconds)); - heatCountdownVO.setStartTime(heatModuleState.getStartHeatTime()); - heatCountdownVO.setEndTime(endTime); - heatCountdownVOList.add(heatCountdownVO); - } - } + } + } else if (heatModuleState.getHeatingType() == HeatingType.constant) { + LocalDateTime endTime = heatModuleState.getStartHeatTime().plusSeconds(heatModuleState.getTargetTime()); + //判断是否达到目标加热时间 + long diffSeconds = Duration.between(now, endTime).getSeconds();//计算剩余时间 + if (diffSeconds <= 0) {//加热完毕 + double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); + //抬起托盘 + heatModuleService.heaterMotorMove(heatModuleState.getModuleCode(), trayLift); + heatModuleState.setTrayUp(1); + //关闭加棒 + heatModuleService.heatRodClose(heatModuleState.getModuleCode()); + //还原状态 + heatModuleState.setStartHeatTime(null);//开始加热时间 + heatModuleState.setTargetTime(null);//加热器目标加热时间 + heatModuleState.setWarmUpTemperature(null);//加热器预热温度 + heatModuleState.setHeatTemperature(null);//加热器加热温度 + heatModuleState.setTargetTemperature(null);//加热器目标温度 + heatModuleState.setHeatingType(HeatingType.finish); } } } - if (!heatCountdownVOList.isEmpty()) { - webSocketSender.pushHeatCountdown(heatCountdownVOList); - } } catch (Exception e) { log.error("加热倒计时错误", e); } 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 7123e2c..9eba5f6 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 @@ -1,10 +1,6 @@ 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.DeviceEmergencyStopService; -import com.iflytop.gd.app.service.device.DeviceStateService; -import com.iflytop.gd.app.service.device.DeviceStepCommandService; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Value; diff --git a/src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java b/src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java index 8746903..fecdb26 100644 --- a/src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java +++ b/src/main/java/com/iflytop/gd/app/ws/server/WebSocketSender.java @@ -16,7 +16,7 @@ public class WebSocketSender { websocketResult.setType(type); websocketResult.setData(data); WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult)); - log.info("WS::{}", JSONUtil.toJsonStr(websocketResult)); +// log.info("WS::{}", JSONUtil.toJsonStr(websocketResult)); } public void pushCraftsDebug(Object data) { diff --git a/src/main/java/com/iflytop/gd/common/command/DeviceCommandGenerator.java b/src/main/java/com/iflytop/gd/common/command/DeviceCommandGenerator.java index 2056d5a..261e4d8 100644 --- a/src/main/java/com/iflytop/gd/common/command/DeviceCommandGenerator.java +++ b/src/main/java/com/iflytop/gd/common/command/DeviceCommandGenerator.java @@ -10,6 +10,14 @@ public class DeviceCommandGenerator { /** * 门 移动 + */ + public static DeviceCommandBundle doorMoveToEnd() { + return controlMotorCmd(CmdDevice.door_motor, CmdAction.move_end, null, "门 移动到最远距离"); + } + + + /** + * 门 移动 * * @param position 位置 单位mm */ diff --git a/src/main/java/com/iflytop/gd/common/enums/HeatingType.java b/src/main/java/com/iflytop/gd/common/enums/HeatingType.java index 99e6f66..e4b88bc 100644 --- a/src/main/java/com/iflytop/gd/common/enums/HeatingType.java +++ b/src/main/java/com/iflytop/gd/common/enums/HeatingType.java @@ -20,4 +20,8 @@ public enum HeatingType { * 恒温中 */ constant, + /** + * 加热完成 + */ + finish, } diff --git a/src/main/java/com/iflytop/gd/common/enums/command/CmdAction.java b/src/main/java/com/iflytop/gd/common/enums/command/CmdAction.java index a2846bd..fcb554b 100644 --- a/src/main/java/com/iflytop/gd/common/enums/command/CmdAction.java +++ b/src/main/java/com/iflytop/gd/common/enums/command/CmdAction.java @@ -1,7 +1,7 @@ package com.iflytop.gd.common.enums.command; public enum CmdAction { - move, move_by, move_joint, move_point, origin, rotate, + move, move_by, move_joint, move_point, origin, rotate, move_end, open, close, stop, start, set, get, open_power, close_power, open_circle, close_circle, 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 3a53727..ea1fa13 100644 --- a/src/main/java/com/iflytop/gd/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/gd/common/result/ResultCode.java @@ -37,9 +37,10 @@ public enum ResultCode implements IResultCode, Serializable { OPERATION_NOT_ALLOWED("4003", "业务操作不允许"), DATA_ALREADY_EXISTS("4004", "数据已存在"), + CONTAINER_NOT_FOUND("4005", "未找到对应溶液容器"), + CRAFT_RUNNING("4101", "工艺正在执行"), CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"), - CRAFT_CONTAINER_NOT_FOUND("4005", "工艺未找到对应溶液容器"), CRAFT_NO_TRAY("4005", "工艺未找到托盘"), //============================ 5xxx：系统 & 第三方 ============================ SYSTEM_ERROR("5000", "系统内部错误"), diff --git a/src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java b/src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java index 5c8a751..c9e1c9a 100644 --- a/src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java +++ b/src/main/java/com/iflytop/gd/common/utils/LocalDateTimeUtil.java @@ -3,16 +3,13 @@ package com.iflytop.gd.common.utils; public class LocalDateTimeUtil { /** - * 秒数格式化为 “HH:mm:ss” 格式。 - * @param diffSeconds 两个时间点相差的秒数（可以为正或负） - * @return 格式化后的 “HH:mm:ss” 字符串 + * 秒数格式化为 “mm:ss” 格式。 */ public static String formatSecondsToHMS(long diffSeconds) { long absSeconds = Math.abs(diffSeconds); - long hours = absSeconds / 3600; - long minutes = (absSeconds % 3600) / 60; + long minutes = absSeconds / 60; long seconds = absSeconds % 60; - return String.format("%02d:%02d:%02d", hours, minutes, seconds); + return String.format("%02d:%02d", minutes, seconds); } } \ No newline at end of file diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java index 4ea9b59..5492242 100644 --- a/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java @@ -5,8 +5,8 @@ import com.iflytop.gd.common.enums.command.CmdAction; import com.iflytop.gd.common.enums.command.CmdDevice; import com.iflytop.gd.hardware.command.CommandHandler; import com.iflytop.gd.hardware.drivers.StepMotorDriver.DoorDriver; -import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId; import com.iflytop.gd.hardware.type.MId; +import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -18,7 +18,7 @@ import java.util.stream.Collectors; @Slf4j @Component @RequiredArgsConstructor -public class DoorHandler extends CommandHandler { +public class DoorHandler extends CommandHandler { private final DoorDriver driver_; private final Map stepMotorMIdMap_ = Map.ofEntries( @@ -26,11 +26,10 @@ public class DoorHandler extends CommandHandler { ); private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); - private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop); + private final Set supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.move_by, CmdAction.stop, CmdAction.move_end); @Override - protected Map getSupportCmdDeviceMIdMap() - { + protected Map getSupportCmdDeviceMIdMap() { return supportCmdDeviceMIdMap; } @@ -45,24 +44,22 @@ public class DoorHandler extends CommandHandler { StepMotorMId stepMotorMId = stepMotorMIdMap_.get(command.getDevice()); if (command.getAction() == CmdAction.origin) { driver_.moveToHome(stepMotorMId); - } - else if(command.getAction() == CmdAction.stop) { + } else if (command.getAction() == CmdAction.stop) { driver_.stop(stepMotorMId); - } - else if(command.getAction() == CmdAction.move) { + } else if (command.getAction() == CmdAction.move) { double position = command.getParam().getPosition(); driver_.moveTo(stepMotorMId, position); - } - else if(command.getAction() == CmdAction.move_by) { + } else if (command.getAction() == CmdAction.move_by) { double distance = command.getParam().getPosition(); driver_.moveBy(stepMotorMId, distance); - } - else if(command.getAction() == CmdAction.set) { + } else if (command.getAction() == CmdAction.set) { Double speed = command.getParam().getSpeed(); - if(speed != null) { + if (speed != null) { driver_.setSpeed(stepMotorMId, speed); } + } else if (command.getAction() == CmdAction.move_end) { + driver_.moveToEnd(stepMotorMId); } } } diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java index 9ba128c..f81b94c 100644 --- a/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java +++ b/src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java @@ -76,4 +76,9 @@ public class DoorDriver{ stepMotorCtrlDriver_.stepMotorStop(stepMotorMId); motorEnable(stepMotorMId, true); } + + public void moveToEnd(StepMotorMId stepMotorMId) throws Exception { + log.info("Motor {} Move To End", stepMotorMId.mid.getDescription()); + stepMotorCtrlDriver_.stepMotorEasyMoveToEndPointBlock(stepMotorMId); + } } diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml index 748e630..09a08af 100644 --- a/src/main/resources/application-dev.yml +++ b/src/main/resources/application-dev.yml @@ -18,7 +18,7 @@ spring: mybatis-plus: configuration: # 开启 SQL 日志输出（可选） - log-impl: org.apache.ibatis.logging.stdout.StdOutImpl +# log-impl: org.apache.ibatis.logging.stdout.StdOutImpl # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations： mapper-locations: classpath*:mapper/*.xml diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql index c789160..fea1fb0 100644 --- a/src/main/resources/sql/init.sql +++ b/src/main/resources/sql/init.sql @@ -56,10 +56,10 @@ CREATE TABLE IF NOT EXISTS container ); INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, scale,capacity_total, capacity_used) -VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 120,5000, 0), - (2, 0, 'container_02', 2, 'acid_pump_02', 100,5000, 2500), - (3, 0, 'container_03', 3, 'acid_pump_03', 111,5000, 2600), - (4, 0, 'container_04', 4, 'acid_pump_04', 107,5000, 4000), +VALUES (1, 0, 'container_01', 1, 'acid_pump_01', 364,5000, 0), + (2, 0, 'container_02', 2, 'acid_pump_02', 133,5000, 2500), + (3, 0, 'container_03', 3, 'acid_pump_03', 160,5000, 2600), + (4, 0, 'container_04', 4, 'acid_pump_04', 163,5000, 4000), (5, 0, 'container_05', 5, 'acid_pump_05', 117,5000, 2400), (6, 0, 'container_06', 6, 'acid_pump_06', 105,5000, 4500), (7, 0, 'container_07', 7, 'acid_pump_07', 187,5000, 4900),