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graphite-digester-service
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现场代码同步

master
白凤吉 3 months ago
parent
aa72d9f30a
commit
933c3b151d
26 changed files with 450 additions and 161 deletions
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  1. 8
      src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java
  2. 37
      src/main/java/com/iflytop/gd/app/cmd/DoorOriginCommand.java
  3. 6
      src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java
  4. 5
      src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java
  5. 10
      src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
  6. 9
      src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java
  7. 5
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorLiftDownCommand.java
  8. 5
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorLiftUpCommand.java
  9. 5
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorResetCommand.java
  10. 4
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorStopCommand.java
  11. 2
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugLiquidArmResetCommand.java
  12. 5
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmMoveCommand.java
  13. 5
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmResetCommand.java
  14. 4
      src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmStopCommand.java
  15. 54
      src/main/java/com/iflytop/gd/app/controller/StepCommandController.java
  16. 6
      src/main/java/com/iflytop/gd/app/controller/SystemController.java
  17. 3
      src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java
  18. 29
      src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
  19. 79
      src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
  20. 3
      src/main/java/com/iflytop/gd/app/service/DeviceStateService.java
  21. 81
      src/main/java/com/iflytop/gd/app/service/StepCommandService.java
  22. 18
      src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java
  23. 13
      src/main/java/com/iflytop/gd/hardware/drivers/LiquidDistributionArmDriver.java
  24. 4
      src/main/java/com/iflytop/gd/hardware/service/GDDeviceStatusService.java
  25. 31
      src/main/java/com/iflytop/gd/hardware/type/IO/InputIOMId.java

8
src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java
View File

@ -3,8 +3,12 @@ package com.iflytop.gd.app.cmd;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.app.service.SelfTestService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.service.IOService;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -21,14 +25,18 @@ import java.util.concurrent.CompletableFuture;
public class CapLiftingOriginCommand extends BaseCommandHandler {
private final DeviceCommandUtilService deviceCommandUtilService;
private final SelfTestService selfTestService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
//拍子升降回原点
deviceCommandUtilService.trayMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
//将拍子升降是否在原点状态设置为true
selfTestService.getSelfTestState().setCapLiftingOrigin(true);
});
}
}

37
src/main/java/com/iflytop/gd/app/cmd/DoorOriginCommand.java
View File

@ -0,0 +1,37 @@
package com.iflytop.gd.app.cmd;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.DevicePositionService;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 门回原点
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("door_origin")//业务指令注解
public class DoorOriginCommand extends BaseCommandHandler {
private final DeviceCommandUtilService deviceCommandUtilService;
private final DeviceStateService deviceStateService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
//门电机回原点
deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
//将门状态设置为false
deviceStateService.setDoorStatus(false);
});
}
}

6
src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java
View File

@ -2,12 +2,10 @@ package com.iflytop.gd.app.cmd;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.app.service.SelfTestService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.cmd.CmdAxis;
import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -31,8 +29,6 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler {
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
if (!deviceStateService.getDeviceState().isVirtual()) {//虚拟模式不执行
//加液臂电机使能 TODO将来干掉
liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
//将加液臂移动至0位
liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
}

5
src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java
View File

@ -5,6 +5,8 @@ import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.SelfTestService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -21,11 +23,14 @@ import java.util.concurrent.CompletableFuture;
public class GantryZOriginCommand extends BaseCommandHandler {
private final DeviceCommandUtilService deviceCommandUtilService;
private final SelfTestService selfTestService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
outputIOCtrlDriver.close(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态
});
}

10
src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
View File

@ -13,8 +13,6 @@ import com.iflytop.gd.common.enums.HeatModuleCode;
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.service.GDDeviceStatusService;
import com.iflytop.gd.hardware.type.IO.InputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -45,14 +43,14 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
//校验目标加热位是否有托盘
try{
deviceStateService.setGantryArmStateIdle(true);
deviceStateService.setGantryArmStateIdle(false);
isExecuting.set(true);
Boolean heatModuleTray = deviceCommandUtilService.heatModuleTray(heatModuleId);
Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
if (!heatModuleTray) {
throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
}
}finally {
deviceStateService.setGantryArmStateIdle(false);
deviceStateService.setGantryArmStateIdle(true);
isExecuting.set(false);
}
return runAsync(() -> {
@ -100,7 +98,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);
} finally {
deviceStateService.setGantryArmStateIdle(false);
deviceStateService.setGantryArmStateIdle(true);
isExecuting.set(false);
}
});

9
src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java
View File

@ -13,7 +13,6 @@ import com.iflytop.gd.common.enums.HeatModuleCode;
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.exception.HardwareException;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -44,14 +43,14 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
//校验目标加热位是否有托盘
try{
deviceStateService.setGantryArmStateIdle(true);
deviceStateService.setGantryArmStateIdle(false);
isExecuting.set(true);
Boolean heatModuleTray = deviceCommandUtilService.heatModuleTray(heatModuleId);
Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
if (heatModuleTray) {
throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
}
}finally {
deviceStateService.setGantryArmStateIdle(false);
deviceStateService.setGantryArmStateIdle(true);
isExecuting.set(false);
}
return runAsync(() -> {
@ -102,7 +101,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
trayState.setInSolutionModule(true);
deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
}finally {
deviceStateService.setGantryArmStateIdle(false);
deviceStateService.setGantryArmStateIdle(true);
isExecuting.set(false);
}
});

5
src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorLiftDownCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -22,6 +24,7 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_cover_elevator_lift_down")
public class DebugCoverElevatorLiftDownCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@ -34,9 +37,11 @@ public class DebugCoverElevatorLiftDownCommand extends BaseCommandHandler {
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(-distance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
});
}
}

5
src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorLiftUpCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -23,6 +25,7 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_cover_elevator_lift_up")
public class DebugCoverElevatorLiftUpCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@ -35,9 +38,11 @@ public class DebugCoverElevatorLiftUpCommand extends BaseCommandHandler {
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
});
}
}

5
src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorResetCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -22,13 +24,16 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_cover_elevator_reset")
public class DebugCoverElevatorResetCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorOrigin();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
});
}
}

4
src/main/java/com/iflytop/gd/app/cmd/debug/DebugCoverElevatorStopCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -22,6 +24,7 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_cover_elevator_stop")
public class DebugCoverElevatorStopCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@ -29,6 +32,7 @@ public class DebugCoverElevatorStopCommand extends BaseCommandHandler {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorStop();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
});
}
}

2
src/main/java/com/iflytop/gd/app/cmd/debug/DebugLiquidArmResetCommand.java
View File

@ -3,7 +3,7 @@ package com.iflytop.gd.app.cmd.debug;
import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;

5
src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmMoveCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -24,6 +26,7 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_transportation_arm_move")
public class DebugTransportationArmMoveCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
private boolean stop = false;
@Override
@ -51,9 +54,11 @@ public class DebugTransportationArmMoveCommand extends BaseCommandHandler {
futuresList.add(deviceCommandFuture);
}
if (zDimVelocity != null) {
outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
}
commandWait(futuresList.toArray(new CommandFuture[0]));

5
src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmResetCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -24,6 +26,7 @@ import java.util.concurrent.CompletableFuture;
@CommandMapping("debug_transportation_arm_reset")
public class DebugTransportationArmResetCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@ -42,9 +45,11 @@ public class DebugTransportationArmResetCommand extends BaseCommandHandler {
}
if (dim != null && dim.contains("z")) {
outputIOCtrlDriver.open(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
}
commandWait(futuresList.toArray(new CommandFuture[0]));

4
src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmStopCommand.java
View File

@ -7,6 +7,8 @@ import com.iflytop.gd.common.annotation.CommandMapping;
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.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -25,6 +27,7 @@ import java.util.concurrent.CompletableFuture;
public class DebugTransportationArmStopCommand extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final DebugTransportationArmMoveCommand debugTransportationArmMoveCommand;
private final OutputIOCtrlDriver outputIOCtrlDriver;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@ -47,6 +50,7 @@ public class DebugTransportationArmStopCommand extends BaseCommandHandler {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZStop();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_HBOTZ_MOTOR_CLAMP);
}
commandWait(futuresList.toArray(new CommandFuture[0]));

54
src/main/java/com/iflytop/gd/app/controller/StepCommandController.java
View File

@ -0,0 +1,54 @@
package com.iflytop.gd.app.controller;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.service.StepCommandService;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.result.Result;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
@Tag(name = "单步调试")
@RestController
@RequestMapping("/api/cmd/step")
@RequiredArgsConstructor
@Slf4j
public class StepCommandController {
private final StepCommandService stepCommandService;
@Operation(summary = "获取当前龙门架机械臂坐标")
@GetMapping("/gantry-point")
public Result<String> getGantryPoint() throws Exception {
Point3D point3D = stepCommandService.getGantryPoint();
return Result.success(point3D.getX() + "," + point3D.getY() + "," + point3D.getZ());
}
@Operation(summary = "失能所有电机")
@PostMapping("/disability-all")
public Result<?> disabilityAll() throws Exception {
stepCommandService.disabilityAll();
return Result.success();
}
@Operation(summary = "使能所有电机")
@PostMapping("/enable-all")
public Result<?> enableAll() throws Exception {
stepCommandService.enableAll();
return Result.success();
}
@Operation(summary = "龙门架移至托盘夹取处")
@PostMapping("/gantry-tray")
public Result<?> gantryToTray(HeatModuleCode moduleCode) throws Exception {
stepCommandService.gantryToTray(moduleCode);
return Result.success();
}
}

6
src/main/java/com/iflytop/gd/app/controller/SystemController.java
View File

@ -1,6 +1,7 @@
package com.iflytop.gd.app.controller;
import com.iflytop.gd.app.core.device.DeviceState;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.app.model.dto.SetSystemDatetimeDTO;
import com.iflytop.gd.app.service.DeviceStateService;
import com.iflytop.gd.app.service.SystemConfigService;
@ -12,7 +13,7 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.*;
@Tag(name = "系统设置")
@Tag(name = "系统")
@RestController
@RequestMapping("/api/sys")
@RequiredArgsConstructor
@ -29,7 +30,7 @@ public class SystemController {
}
@Operation(summary = "模拟向硬件写入完毕")
@GetMapping("/initComplete")
@PostMapping("/initComplete")
public Result<?> setInitComplete(Boolean initComplete) {
deviceStateService.setInitComplete(initComplete);
return Result.success();
@ -48,5 +49,4 @@ public class SystemController {
return Result.success();
}
}

3
src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java
View File

@ -6,6 +6,9 @@ import lombok.Data;
@Schema(description = "自检状态")
@Data
public class SelfTestState {
@Schema(description = "门是否在原点")
private boolean doorOrigin = false;
@Schema(description = "龙门架机械臂x轴是否在原点")
private boolean gantryXOrigin = false;

29
src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
View File

@ -10,11 +10,13 @@ import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.cmd.CmdAxis;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.service.GDDeviceStatusService;
import com.iflytop.gd.hardware.type.IO.InputIOMId;
import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
import lombok.RequiredArgsConstructor;
@ -32,6 +34,7 @@ public class DeviceCommandUtilService {
private final LiquidDistributionArmDriver liquidDistributionArmDriver;
private final GDDeviceStatusService gdDeviceStatusService;
private final StepMotorCtrlDriver stepMotorCtrlDriver;
private final OutputIOCtrlDriver outputIOCtrlDriver;
/**
* 门电机回原点
*/
@ -75,6 +78,7 @@ public class DeviceCommandUtilService {
* 龙门架机械臂移动到指定点
*/
public void gantryMove(String cmdId, String cmdCode, Point3D point) throws Exception {
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
CommandFuture gantryXMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryXMoveDeviceCommand);
@ -84,6 +88,7 @@ public class DeviceCommandUtilService {
DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
CommandFuture gantryZMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, gantryZMoveDeviceCommand);
commandWait(gantryXMoveDeviceCommandFuture, gantryYMoveDeviceCommandFuture, gantryZMoveDeviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
}
/**
@ -183,9 +188,11 @@ public class DeviceCommandUtilService {
* 龙门架机械臂Z轴回原点
*/
public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception {
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
}
@ -442,9 +449,11 @@ public class DeviceCommandUtilService {
}
double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
double capLiftingHeightSum = (6 - capNum) * capLiftingHeight;
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(capLiftingHeightSum);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
}
/**
@ -453,10 +462,12 @@ public class DeviceCommandUtilService {
* @param num 1为上升1格，-1为下降1格
*/
public void capMotorMove(String cmdId, String cmdCode, int num) throws Exception {
outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(num * capLiftingHeight);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
commandWait(deviceCommandFuture);
outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
}
@ -760,16 +771,16 @@ public class DeviceCommandUtilService {
}
/**
* 获取指定加热模块是否有托盘
* 获取指定加热模块托盘检测传感器数值
*/
public Boolean heatModuleTray(HeatModuleCode heatModuleCode) throws HardwareException {
public Boolean heatModuleSensorState(HeatModuleCode heatModuleCode) throws HardwareException {
return switch (heatModuleCode) {
case heat_module_01 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE1_EXSIT);
case heat_module_02 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE2_EXSIT);
case heat_module_03 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE3_EXSIT);
case heat_module_04 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE4_EXSIT);
case heat_module_05 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE5_EXSIT);
case heat_module_06 -> gdDeviceStatusService.getInputState(InputIOMId.Heater_TUBE6_EXSIT);
case heat_module_01 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE01_EXIST);
case heat_module_02 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE02_EXIST);
case heat_module_03 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE03_EXIST);
case heat_module_04 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE04_EXIST);
case heat_module_05 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE05_EXIST);
case heat_module_06 -> gdDeviceStatusService.getInputState(InputIOMId.HEAT_MODULE06_EXIST);
};
}

79
src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
View File

@ -9,9 +9,19 @@ import com.iflytop.gd.common.enums.ContainerCode;
import com.iflytop.gd.common.enums.ContainerType;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.constants.ActionOvertimeConstant;
import com.iflytop.gd.hardware.drivers.LeisaiServoDriver;
import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoDriver;
import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
import com.iflytop.gd.hardware.type.CmdId;
import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.MId;
import com.iflytop.gd.hardware.type.RegIndex;
import com.iflytop.gd.hardware.type.Servo.LeisaiServoMId;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import com.iflytop.gd.hardware.type.Servo.MiniServoMId;
import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
import com.opencsv.CSVReader;
import jakarta.annotation.PostConstruct;
import lombok.RequiredArgsConstructor;
@ -19,7 +29,6 @@ import lombok.extern.slf4j.Slf4j;
import org.springframework.core.io.ClassPathResource;
import org.springframework.stereotype.Service;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.List;
@ -30,19 +39,73 @@ public class DeviceInitService {
private final ContainerService containerService;
private final DeviceStateService deviceStateService;
private final A8kCanBusService canBusService;
private final StepMotorCtrlDriver stepMotorCtrlDriver;
private final MiniServoDriver miniServoDriver;
private final LiquidDistributionArmDriver liquidDistributionArmDriver;
private final TricolorLightDriver tricolorLightDriver;
private final LeisaiServoDriver leisaiServoDriver;
private final ActionOvertimeConstant actionOvertimeConstant;
@PostConstruct
public void init() {
new Thread(() -> {
try {
tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE);
initDeviceState();
initDeviceSetData();
initOvertime();
initEnable();
tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN);
deviceStateService.setInitComplete(true);
} catch (Exception ignored) {
} catch (Exception e) {
try {
tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED);
} catch (Exception ignored) {
}
log.error("设备初始化失败", e);
}
}).start();
}
/**
* 设置各动作超时时间
*/
public void initOvertime(){
actionOvertimeConstant.pushNewConfig(StepMotorMId.DOOR_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 60 * 1000);
actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainXSV, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainYSV, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HBOT_Z_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 30 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_1_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_2_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_3_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_4_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_5_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.HEATER_6_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 15 * 1000);
actionOvertimeConstant.pushNewConfig(StepMotorMId.TRAY_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 120 * 1000);
actionOvertimeConstant.pushNewConfig(LiquidArmMId.LiquidDistributionArm, CmdId.liquid_distribution_arm_move_to, 3 * 1000);
}
/**
* 初始化所有设备使能
*/
public void initEnable() throws Exception {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_1_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_2_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_3_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_4_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 1);
liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1);
}
public void initDeviceSetData() throws Exception {
if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
return;
@ -67,18 +130,14 @@ public class DeviceInitService {
}
}
} catch (Exception e) {
log.error("设备初始化失败", e);
log.error("设备初始化写入参数失败，2秒后重试", e);
// 如果发生错误，可以递归调用重试（如果需要）
initDeviceSetData();
}
}
public void sendToDevice(DeviceInitializationData data){
try{
canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
}catch (Exception e) {
log.error("设备初始化写入失败", e);
}
public void sendToDevice(DeviceInitializationData data) throws Exception {
canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
}
public void initDeviceState() {

3
src/main/java/com/iflytop/gd/app/service/DeviceStateService.java
View File

@ -20,6 +20,8 @@ public class DeviceStateService {
private final DeviceState deviceState = new DeviceState();
public synchronized DeviceState getDeviceState() {
return deviceState;
}
@ -28,6 +30,7 @@ public class DeviceStateService {
support.addPropertyChangeListener(deviceStateListener);
}
public synchronized HeatModuleState getHeatModuleState(HeatModuleCode moduleCode) {
HeatModuleState heatModuleState = null;
for (HeatModuleState t : deviceState.getHeatModule()) {

81
src/main/java/com/iflytop/gd/app/service/StepCommandService.java
View File

@ -0,0 +1,81 @@
package com.iflytop.gd.app.service;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.hardware.drivers.LeisaiServoDriver;
import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoDriver;
import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
import com.iflytop.gd.hardware.service.GDDeviceStatusService;
import com.iflytop.gd.hardware.drivers.LiquidDistributionArmDriver;
import com.iflytop.gd.hardware.type.Servo.LeisaiServoMId;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import com.iflytop.gd.hardware.type.Servo.MiniServoMId;
import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
import lombok.RequiredArgsConstructor;
import org.springframework.stereotype.Service;
/**
* 单步运动调试服务
*/
@Service
@RequiredArgsConstructor
public class StepCommandService {
private final DeviceCommandUtilService deviceCommandUtilService;
private final StepMotorCtrlDriver stepMotorCtrlDriver;
private final MiniServoDriver miniServoDriver;
private final LiquidDistributionArmDriver liquidDistributionArmDriver;
private final LeisaiServoDriver leisaiServoDriver;
private final GDDeviceStatusService gdDeviceStatusService;
public void gantryToTray(HeatModuleCode moduleCode) throws Exception {
Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(moduleCode);//获取指定托盘上方点位
deviceCommandUtilService.gantryMove(heatAreaTrayClawPoint3D);
}
/**
* 获取当前龙门架机械臂所在点位
*/
public Point3D getGantryPoint() throws Exception {
double x = gdDeviceStatusService.getXYServoPosition(LeisaiServoMId.MainXSV);
double y = gdDeviceStatusService.getXYServoPosition(LeisaiServoMId.MainYSV);
double z = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.HBOT_X_MOTOR_MID);
return new Point3D(x, y, z);
}
public void enableAll() throws Exception {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_1_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_2_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_3_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_4_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 1);
liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1);
}
public void disabilityAll() throws Exception {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.DOOR_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.SHAKE_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.TRAY_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HBOT_Z_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_1_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_2_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_3_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_4_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 0);
liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1);
leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1);
}
}

18
src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java
View File

@ -3,6 +3,8 @@ package com.iflytop.gd.hardware.constants;
import com.iflytop.gd.hardware.type.CmdId;
import com.iflytop.gd.hardware.type.MId;
import com.iflytop.gd.hardware.type.Servo.LeisaiServoMId;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
import jakarta.annotation.PostConstruct;
import org.springframework.stereotype.Component;
@ -12,7 +14,7 @@ import java.util.List;
@Component
public class ActionOvertimeConstant {
final Integer defaultOvertime = 60 * 1000;
final Integer defaultOvertime = 80 * 1000;
static class OvertimeConfigItem {
public MId mid;
@ -22,11 +24,6 @@ public class ActionOvertimeConstant {
List<OvertimeConfigItem> overtimeConfigItems = new ArrayList<>();
@PostConstruct
void init() {
// pushNewConfig(StepMotorMId.IncubatorRotateCtrlM, CmdId.step_motor_easy_move_to_zero, 20 * 1000);
}
public Integer get(MId mid, CmdId cmdId) {
return priGetOvertime(mid, cmdId);
}
@ -35,8 +32,13 @@ public class ActionOvertimeConstant {
return priGetOvertime(mid.mid, cmdId);
}
private void pushNewConfig(StepMotorMId mid, CmdId cmdId, Integer overtime) {
public void pushNewConfig(LeisaiServoMId mid, CmdId cmdId, Integer overtime) {
pushNewConfig(mid.mid, cmdId, overtime);
}
public void pushNewConfig(LiquidArmMId mid, CmdId cmdId, Integer overtime) {
pushNewConfig(mid.mid, cmdId, overtime);
}
public void pushNewConfig(StepMotorMId mid, CmdId cmdId, Integer overtime) {
pushNewConfig(mid.mid, cmdId, overtime);
}

13
src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java → src/main/java/com/iflytop/gd/hardware/drivers/LiquidDistributionArmDriver.java
View File

@ -1,8 +1,9 @@
package com.iflytop.gd.hardware.type;
package com.iflytop.gd.hardware.drivers;
import com.fasterxml.jackson.databind.node.ObjectNode;
import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
import com.iflytop.gd.hardware.constants.ActionOvertimeConstant;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.type.CmdId;
import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
import com.iflytop.gd.hardware.type.Servo.LiquidArmRegIndex;
import lombok.RequiredArgsConstructor;
@ -16,8 +17,8 @@ import org.springframework.stereotype.Component;
@Slf4j
@RequiredArgsConstructor
public class LiquidDistributionArmDriver {
private final ActionOvertimeConstant actionOvertimeConstant;
final private A8kCanBusService canBus;
/**
* 使能
* @param id
@ -42,9 +43,11 @@ public class LiquidDistributionArmDriver {
public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException {
liquidDistributionArmMoveTo(id,index);
canBus.waitForMod(id.mid,3000);
waitForMod(id, actionOvertimeConstant.get(id.mid, CmdId.liquid_distribution_arm_move_to));
}
public void waitForMod(LiquidArmMId id, Integer overtime) throws HardwareException {
canBus.waitForMod(id.mid, overtime);
}
public int liquidDistributionReadPos(LiquidArmMId id) throws HardwareException {
log.info("liquidDistributionReadPos called with id: {}", id);

4
src/main/java/com/iflytop/gd/hardware/service/GDDeviceStatusService.java
View File

@ -1,5 +1,6 @@
package com.iflytop.gd.hardware.service;
import com.iflytop.gd.app.model.bo.Point3D;
import com.iflytop.gd.hardware.drivers.DIDriver.InputDetectDriver;
import com.iflytop.gd.hardware.drivers.HeaterRodDriver;
import com.iflytop.gd.hardware.drivers.LeisaiServoDriver;
@ -85,6 +86,7 @@ public class GDDeviceStatusService {
*/
public Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException {
int servoPosition = leisaiServoDriver.readPosition(mid);
return (double)servoPosition;
return StepMotorConverter.toUserPosition(servoPosition);
}
}

31
src/main/java/com/iflytop/gd/hardware/type/IO/InputIOMId.java
View File

@ -3,24 +3,19 @@ package com.iflytop.gd.hardware.type.IO;
import com.iflytop.gd.hardware.type.MId;
public enum InputIOMId {
Heater_CAP1_EXSIT("Heater_CAP1_EXSIT [ 加热模块拍子1到位 ]", MId.IO1_IO, 0,false),
Heater_CAP2_EXSIT("Heater_CAP2_EXSIT [ 加热模块拍子2到位 ]", MId.IO1_IO, 1,false),
Heater_CAP3_EXSIT("Heater_CAP3_EXSIT [ 加热模块拍子3到位 ]", MId.IO1_IO, 2,false),
Heater_CAP4_EXSIT("Heater_CAP4_EXSIT [ 加热模块拍子4到位 ]", MId.IO1_IO, 3,false),
Heater_CAP5_EXSIT("Heater_CAP5_EXSIT [ 加热模块拍子5到位 ]", MId.IO1_IO, 4,false),
Heater_CAP6_EXSIT("Heater_CAP6_EXSIT [ 加热模块拍子6到位 ]", MId.IO1_IO, 5,false),
Heater_TUBE1_EXSIT("Heater_TUBE1_EXSIT [ 加热模块托盘1到位 ]", MId.IO1_IO, 6,false),
Heater_TUBE2_EXSIT("Heater_TUBE2_EXSIT [ 加热模块托盘2到位 ]", MId.IO1_IO, 7,false),
Heater_TUBE3_EXSIT("Heater_TUBE3_EXSIT [ 加热模块托盘3到位 ]", MId.IO1_IO, 8,false),
Heater_TUBE4_EXSIT("Heater_TUBE4_EXSIT [ 加热模块托盘4到位 ]", MId.IO1_IO, 9,false),
Heater_TUBE5_EXSIT("Heater_TUBE5_EXSIT [ 加热模块托盘5到位 ]", MId.IO1_IO, 10,false),
Heater_TUBE6_EXSIT("Heater_TUBE6_EXSIT [ 加热模块托盘6到位 ]", MId.IO1_IO, 11,false),
TRAY_CAP1_EXSIT("TRAY_CAP1_EXSIT [ 拍子存放位拍子1到位 ]", MId.IO1_IO, 12,false),
TRAY_CAP2_EXSIT("TRAY_CAP2_EXSIT [ 拍子存放位拍子2到位 ]", MId.IO1_IO, 13,false),
TRAY_CAP3_EXSIT("TRAY_CAP3_EXSIT [ 拍子存放位拍子3到位 ]", MId.IO1_IO, 14,false),
TRAY_CAP4_EXSIT("TRAY_CAP4_EXSIT [ 拍子存放位拍子4到位 ]", MId.IO1_IO, 15,false),
TRAY_CAP5_EXSIT("TRAY_CAP5_EXSIT [ 拍子存放位拍子5到位 ]", MId.IO1_IO, 16,false),
TRAY_CAP6_EXSIT("TRAY_CAP6_EXSIT [ 拍子存放位拍子6到位 ]", MId.IO1_IO, 17,false),
HEAT_MODULE01_EXIST("HEAT_MODULE01_EXIST [ 加热模1传感器存在 ]", MId.IO1_IO, 0,false),
HEAT_MODULE02_EXIST("HEAT_MODULE02_EXIST [ 加热模2传感器存在 ]", MId.IO1_IO, 1,false),
HEAT_MODULE03_EXIST("HEAT_MODULE03_EXIST [ 加热模3传感器存在 ]", MId.IO1_IO, 2,false),
HEAT_MODULE04_EXIST("HEAT_MODULE04_EXIST [ 加热模4传感器存在 ]", MId.IO1_IO, 3,false),
HEAT_MODULE05_EXIST("HEAT_MODULE05_EXIST [ 加热模5传感器存在 ]", MId.IO1_IO, 4,false),
HEAT_MODULE06_EXIST("HEAT_MODULE06_EXIST [ 加热模6传感器存在 ]", MId.IO1_IO, 5,false),
CAP01_EXIST("CAP01_EXIST [ 拍子存放位拍子1到位 ]", MId.IO1_IO, 6,false),
CAP02_EXIST("CAP02_EXIST [ 拍子存放位拍子2到位 ]", MId.IO1_IO, 7,false),
CAP03_EXIST("CAP03_EXIST [ 拍子存放位拍子3到位 ]", MId.IO1_IO, 8,false),
CAP04_EXIST("CAP04_EXIST [ 拍子存放位拍子4到位 ]", MId.IO1_IO, 9,false),
CAP05_EXIST("CAP05_EXIST [ 拍子存放位拍子5到位 ]", MId.IO1_IO, 10,false),
CAP06_EXIST("CAP06_EXIST [ 拍子存放位拍子6到位 ]", MId.IO1_IO, 11,false),
E_STOP("E_STOP [ 急停 ]", MId.IO1_IO, 18,false),
;

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