12 changed files with 174 additions and 38 deletions
-
13src/main/java/com/iflytop/gd/GraphiteDigesterServiceApplication.java
-
4src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
-
10src/main/java/com/iflytop/gd/app/cmd/FilledSolutionStartCommand.java
-
26src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
-
24src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java
-
5src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java
-
5src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java
-
8src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
-
2src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmMoveCommand.java
-
106src/main/java/com/iflytop/gd/app/service/DeviceCommandTempUtilService.java
-
2src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
-
7src/main/java/com/iflytop/gd/app/service/UserService.java
@ -0,0 +1,106 @@ |
|||
package com.iflytop.gd.app.service; |
|||
|
|||
import com.iflytop.gd.app.core.device.HeatModuleState; |
|||
import com.iflytop.gd.common.cmd.CommandFuture; |
|||
import com.iflytop.gd.common.cmd.DeviceCommandBundle; |
|||
import com.iflytop.gd.common.cmd.DeviceCommandGenerator; |
|||
import com.iflytop.gd.common.enums.HeatModuleCode; |
|||
import com.iflytop.gd.common.enums.data.DevicePositionCode; |
|||
import lombok.RequiredArgsConstructor; |
|||
import lombok.extern.slf4j.Slf4j; |
|||
import org.springframework.stereotype.Service; |
|||
|
|||
import java.util.ArrayList; |
|||
import java.util.Arrays; |
|||
import java.util.Collections; |
|||
import java.util.List; |
|||
import java.util.concurrent.CompletableFuture; |
|||
import java.util.concurrent.TimeUnit; |
|||
|
|||
/** |
|||
* 临时方法 以后应该会废弃 |
|||
*/ |
|||
@Slf4j |
|||
@Service |
|||
@RequiredArgsConstructor |
|||
public class DeviceCommandTempUtilService { |
|||
private final DeviceCommandService deviceCommandService; |
|||
private final DevicePositionService devicePositionService; |
|||
|
|||
private final DeviceStateService deviceStateService; |
|||
|
|||
private List<HeatModuleCode> moveTrayHeatModuleAvoidUpStateList = Collections.synchronizedList(new ArrayList<>()); |
|||
|
|||
/** |
|||
* 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) throws Exception { |
|||
double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离 |
|||
List<CommandFuture> futuresList = new ArrayList<>(); |
|||
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { |
|||
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift); |
|||
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); |
|||
futuresList.add(deviceCommandFuture); |
|||
} |
|||
if(targetHeatModuleCode != null) { |
|||
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift); |
|||
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); |
|||
futuresList.add(deviceCommandFuture); |
|||
} |
|||
commandWait(futuresList.toArray(new CommandFuture[0])); |
|||
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { |
|||
deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 1);//加热模块托盘升降状态 |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 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) throws Exception { |
|||
moveTrayHeatModuleAvoidUpStateList.clear(); |
|||
List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); |
|||
double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 |
|||
List<CommandFuture> futuresList = new ArrayList<>(); |
|||
for (HeatModuleState heatModuleState : heatModuleStateList) { |
|||
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); |
|||
} |
|||
} |
|||
if(targetHeatModuleCode != null) { |
|||
DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower); |
|||
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); |
|||
futuresList.add(deviceCommandFuture); |
|||
} |
|||
commandWait(futuresList.toArray(new CommandFuture[0])); |
|||
for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { |
|||
deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 0);//加热模块托盘升降状态 |
|||
} |
|||
} |
|||
|
|||
public DeviceCommandBundle getHeaterMotorMoveDeviceCommand(HeatModuleCode heatModuleCode, Double position) { |
|||
return switch (heatModuleCode) { |
|||
case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position); |
|||
case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position); |
|||
case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Move(position); |
|||
case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Move(position); |
|||
case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position); |
|||
case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position); |
|||
}; |
|||
} |
|||
|
|||
protected void commandWait(CommandFuture... futures) throws Exception { |
|||
CompletableFuture<?>[] responseFutures = Arrays.stream(futures) |
|||
.map(CommandFuture::getResponseFuture) |
|||
.toArray(CompletableFuture[]::new); |
|||
CompletableFuture.allOf(responseFutures) |
|||
.get(120, TimeUnit.SECONDS); |
|||
} |
|||
} |
|||
Write
Preview
Loading…
Cancel
Save
Reference in new issue