From cb57a8f466ba270e7337159f59ea2bbfff1efed4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Sun, 1 Jun 2025 09:43:43 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B7=A5=E8=89=BA=E6=89=A7=E8=A1=8C=E5=AE=8C?= =?UTF-8?q?=E6=AF=95=E7=A7=BB=E9=99=A4=E6=89=98=E7=9B=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/iflytop/gd/app/core/CraftsContext.java | 1 + .../com/iflytop/gd/app/service/crafts/CraftsStepService.java | 9 ++++++++- 2 files changed, 9 insertions(+), 1 deletion(-) 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