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 fbb1451..536d286 100644 --- a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java +++ b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java @@ -94,6 +94,7 @@ public class CraftsContext implements Runnable { } } if (sm.getState().getId() == CraftStates.RUNNING) { + craftsStepService.finish(heatModuleCode); Message finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build(); Mono.from(sm.sendEvent(Mono.just(finishMsg))).block(); } 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 e359f54..6a2c719 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 @@ -149,6 +149,13 @@ public class CraftsStepService { } /** + * 工艺执行完毕 + */ + public void finish(HeatModuleCode heatModuleCode) throws Exception { + moveToSolutionModule(heatModuleCode); + } + + /** * 将托盘移至加热 */ private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception { @@ -262,7 +269,7 @@ public class CraftsStepService { deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(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().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘 + deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 gantryModuleService.clawMove(clawTrayPick);//将夹爪打开,释放托盘 gantryModuleService.gantryZMove(0);//抬升z轴 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方