From b79d4290c4977fbc5abb122360af7954df06940c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 2 Jun 2025 11:09:29 +0800 Subject: [PATCH] 1 --- .../app/command/control/MoveToHeatAreaCommand.java | 11 ++-- .../command/control/MoveToSolutionAreaCommand.java | 12 ++-- .../gd/app/command/control/TrayDownCommand.java | 4 +- .../iflytop/gd/app/controller/TestController.java | 15 +++++ .../device/DeviceCommandTempUtilService.java | 49 +++++++++++++++ .../service/device/DeviceEmergencyStopService.java | 2 +- .../service/device/module/CapModuleService.java | 70 ++++++++++++++++++++++ .../app/ws/client/DeviceEmergencyStopConfig.java | 15 ++--- 8 files changed, 153 insertions(+), 25 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java index 802fb4a..9f50b16 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java @@ -80,29 +80,29 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { return runAsync(() -> { try { // TrayState trayState = deviceStateService.getTrayInSolutionModule(); + capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方 -// deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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 +// deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 - - capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(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 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方 + capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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 @@ -111,7 +111,6 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { // trayState.setInHeatModule(true); // heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 } finally { deviceStateService.getDeviceState().getGantryArm().setIdle(true); diff --git a/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java index 5fdf540..79ba7ad 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java @@ -84,15 +84,15 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { try { // TrayState trayState = deviceStateService.getTrayInSolutionModule(); solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待 - capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度 + capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度 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 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子 - gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 - capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置 + capModuleService.capMotorMoveByNumNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1);//拍子存放模块下降1个拍子位置 + gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(2000);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子 @@ -105,13 +105,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降 + gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//抬升z轴 // deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态 +// deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块 // trayState.setInSolutionModule(true);//托盘是否在加液模块中 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 diff --git a/src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.java b/src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.java index 9fba0cb..55971bb 100644 --- a/src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.java @@ -46,7 +46,7 @@ public class TrayDownCommand extends BaseCommandHandler { //下降加热位托盘 heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower); deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0); - if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) { +// if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) { // schedulerManager.scheduleOnce(heatModuleCode,() -> { // try { // heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift); @@ -55,7 +55,7 @@ public class TrayDownCommand extends BaseCommandHandler { // log.error("加热完毕抬起托盘错误{}", heatModuleCode, e); // } // }, deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTargetTime(), TimeUnit.SECONDS); - } +// } } catch (Exception e) { log.error("降下托盘失败", e); } 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 d75bdb0..cb20f7c 100644 --- a/src/main/java/com/iflytop/gd/app/controller/TestController.java +++ b/src/main/java/com/iflytop/gd/app/controller/TestController.java @@ -3,6 +3,7 @@ package com.iflytop.gd.app.controller; import com.iflytop.gd.app.model.bo.status.CommandMutexState; import com.iflytop.gd.app.model.dto.AllSensorDTO; import com.iflytop.gd.app.service.api.TestService; +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.SolutionModuleService; @@ -32,6 +33,7 @@ public class TestController { private final CapModuleService capModuleService; private final DeviceStateService deviceStateService; private final SolutionModuleService solutionModuleService; + private final DeviceEmergencyStopService deviceEmergencyStopService; @Operation(summary = "获取所有传感器读数") @GetMapping("/all-sensor") @@ -69,4 +71,17 @@ public class TestController { } + @Operation(summary = "触发急停") + @PostMapping("/press-emergency-stop") + public Result pressEmergencyStop() throws Exception { + deviceEmergencyStopService.press(); + return Result.success(); + } + + @Operation(summary = "解除急停") + @PostMapping("/release-emergency-stop") + public Result releaseEmergencyStop() throws Exception { + deviceEmergencyStopService.release(); + return Result.success(); + } } 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 766d0b3..677b7fa 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 @@ -41,6 +41,27 @@ public class DeviceCommandTempUtilService { public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes); } + /** + * 避让抬升 + * 临时移动托盘的时候，加热模块升降避让 + * 该方法会恢复之前升起的状态 + */ + public void moveTrayHeatModuleAvoidUpNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { + double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离 + for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { + if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) { + DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift); + deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + } + } + if (targetHeatModuleCode != null) { + DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift); + deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + } + for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态 + } + } /** * 避让抬升 @@ -82,6 +103,34 @@ public class DeviceCommandTempUtilService { * 临时移动托盘的时候，加热模块升降避让 * 该方法会下降所有升起的加热模块并且记录 */ + public void moveTrayHeatModuleAvoidDownNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { + moveTrayHeatModuleAvoidUpStateList.clear(); + List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); + double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 + for (HeatModuleState heatModuleState : heatModuleStateList) { + if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) { + if (heatModuleState.getTrayUp() == 1) { + HeatModuleCode heatModuleCode = heatModuleState.getModuleCode(); + DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower); + deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode); + } + } + } + if (targetHeatModuleCode != null) { + DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower); + deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); + } + for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) { + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 + } + } + + /** + * 避让下降 + * 临时移动托盘的时候，加热模块升降避让 + * 该方法会下降所有升起的加热模块并且记录 + */ public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception { moveTrayHeatModuleAvoidUpStateList.clear(); List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); 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 9d800ac..921752a 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 { } /** - * 处理解除急停 + * 处理接触急停 */ public void release(){ commandPoolManager.restartExecutor(); 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 cb42442..10e9609 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 @@ -35,6 +35,60 @@ public class CapModuleService { } /** + * 将拍子升降区抬升至可以获取的位置 不等待 + */ + public void capUpBalanceNoWait(String commandId, String command) throws Exception { + Boolean capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST); + Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST); + Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST); + Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST); + Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST); + Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST); + //如果传感器读数存在null，则视为异常 + if (capExist01 == null || capExist02 == null || capExist03 == null || capExist04 == null || capExist05 == null || capExist06 == null) { + log.error("拍子存放区获取传感器状态异常"); + throw new AppException(ResultCode.SENSOR_STATUS_FAILED); + } + //先统计拍子个数 + int capNum = 0; + if (capExist01) { + return; + } + if (capExist02) { + capNum++; + } + if (capExist03) { + capNum++; + } + if (capExist04) { + capNum++; + if (capExist02 && !capExist03) { + throw new AppException(ResultCode.SENSOR_STATUS_FAILED); + } + } + if (capExist05) { + capNum++; + if (capExist03 && !capExist04) { + throw new AppException(ResultCode.SENSOR_STATUS_FAILED); + } + } + if (capExist06) { + capNum++; + if (capExist04 && !capExist05) { + throw new AppException(ResultCode.SENSOR_STATUS_FAILED); + } + } + if (capNum == 0) { + throw new AppException(ResultCode.CAP_MODULE_NO_CAP); + } + double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度 + double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21; + //先留一个空位置，不要完全抬升，防止有传感器坏了的情况，使用第二个传感器做校验 + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum); + deviceCommandService.sendCommand(commandId, command, deviceCommand); + } + + /** * 将拍子升降区抬升至可以获取的位置 */ public void capUpBalance(String commandId, String command) throws Exception { @@ -124,6 +178,22 @@ public class CapModuleService { * * @param num 1为上升1格，-1为下降1格 */ + public void capMotorMoveByNumNoWait(String commandId, String command, int num) throws Exception { + double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance(); + Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID); + double toCapPosition = capPosition + (num * capLiftingHeight); + if (toCapPosition < 0) { + throw new AppException(ResultCode.CAP_LIFT_ERROR); + } + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(toCapPosition); + deviceCommandService.sendCommand(commandId, command, deviceCommand); + } + + /** + * 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(String commandId, String command, int num) throws Exception { double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance(); Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID); 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 a4cdb56..7123e2c 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 @@ -2,6 +2,7 @@ package com.iflytop.gd.app.ws.client; import com.iflytop.gd.app.core.CommandPoolManager; import com.iflytop.gd.app.service.api.CraftsService; +import com.iflytop.gd.app.service.device.DeviceEmergencyStopService; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.DeviceStepCommandService; import lombok.RequiredArgsConstructor; @@ -16,10 +17,8 @@ import java.net.URI; @Configuration @RequiredArgsConstructor public class DeviceEmergencyStopConfig { - private final DeviceStepCommandService stepCommandService; - private final DeviceStateService deviceStateService; - private final CommandPoolManager commandPoolManager; - private final CraftsService craftsService; + private final DeviceEmergencyStopService deviceEmergencyStopService; + @Value("${iflytophald.ip}") String ip; @@ -34,17 +33,13 @@ public class DeviceEmergencyStopConfig { if (s.get("event").equals("press")) { log.info("触发急停{}", s); try { - commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令 - craftsService.stopAllCrafts();//停止所有工艺 - stepCommandService.stopAll(); - deviceStateService.getDeviceState().setEmergencyStop(true); + deviceEmergencyStopService.press(); } catch (Exception e) { log.error("设备急停失败:{}", e.getMessage()); throw new RuntimeException(e); } } else if (s.get("event").equals("release")) { - commandPoolManager.restartExecutor(); - deviceStateService.getDeviceState().setEmergencyStop(false); + deviceEmergencyStopService.release(); log.info("解除急停{}", s); } });