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graphite-digester-service
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调整自检逻辑

master
白凤吉 2 months ago
parent
ecb3854aae
commit
5e51a95268
2 changed files with 43 additions and 28 deletions
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  1. 67
      src/main/java/com/iflytop/gd/app/command/selftest/MoveTestCommand.java
  2. 4
      src/main/java/com/iflytop/gd/app/model/bo/status/CommandMutexState.java

67
src/main/java/com/iflytop/gd/app/command/selftest/MoveTestCommand.java
View File

@ -5,12 +5,15 @@ import com.iflytop.gd.app.core.SelfMoveTestGenerator;
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.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.SolutionModuleService;
import com.iflytop.gd.app.ws.server.WebSocketSender;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import com.iflytop.gd.common.exception.AppException;
import com.iflytop.gd.common.result.ResultCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -29,42 +32,50 @@ public class MoveTestCommand extends BaseCommandHandler {
private final SolutionModuleService solutionModuleService;
private final DevicePositionService devicePositionService;
private final CapModuleService capModuleService;
private final DeviceStateService deviceStateService;
private final WebSocketSender webSocketService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
if (deviceStateService.getCommandMutexState().get().isMoveTest()) {
throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
}
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
Double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
deviceStateService.getCommandMutexState().get().setMoveTest(true);
return runAsync(() -> {
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 15));
//移动xy到加液模块
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
//移动z
gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
//xyz回0点
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、z轴电机检测完毕", 30));
gantryModuleService.gantryMoveZero();
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、xy轴电机检测完毕", 45));
//抬起托盘1-6
gantryModuleService.allTrayUp(cmdDTO.getCommandId(), cmdDTO.getCommand());
gantryModuleService.allTrayDown(cmdDTO.getCommandId(), cmdDTO.getCommand());
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、加热模块升降电机检测完毕", 60));
//抬升拍子升降
capModuleService.capMotorMove(21);
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "5、拍子存放区升降电机检测完毕", 75));
//摇匀
solutionModuleService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());
Thread.sleep(2000);
solutionModuleService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());
solutionModuleService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "6、摇匀电机检测完毕", 90));
//加液机械臂
solutionModuleService.dualRobotMovePoint(16);
solutionModuleService.dualRobotOrigin();
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "7、加液机械臂检测完毕", 100));
try{
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 15));
//移动xy到加液模块
gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
//移动z
gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
//xyz回0点
gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、z轴电机检测完毕", 30));
gantryModuleService.gantryMoveZero();
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、xy轴电机检测完毕", 45));
//抬起托盘1-6
gantryModuleService.allTrayUp(cmdDTO.getCommandId(), cmdDTO.getCommand());
gantryModuleService.allTrayDown(cmdDTO.getCommandId(), cmdDTO.getCommand());
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、加热模块升降电机检测完毕", 60));
//抬升拍子升降
capModuleService.capMotorMove(21);
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "5、拍子存放区升降电机检测完毕", 75));
//摇匀
solutionModuleService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());
Thread.sleep(2000);
solutionModuleService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());
solutionModuleService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "6、摇匀电机检测完毕", 90));
//加液机械臂
solutionModuleService.dualRobotMovePoint(16);
solutionModuleService.dualRobotOrigin();
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "7、加液机械臂检测完毕", 100));
}finally {
deviceStateService.getCommandMutexState().get().setMoveTest(false);
}
});
}
}

4
src/main/java/com/iflytop/gd/app/model/bo/status/CommandMutexState.java
View File

@ -32,4 +32,8 @@ public class CommandMutexState {
private boolean trayDownCommandExecuting = false;
private boolean trayLiftingOriginCommandExecuting = false;
private boolean trayUpCommandExecuting = false;
private boolean moveTest = false;
private boolean trayOut = false;
}
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