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工艺执行完毕移除托盘

master
白凤吉 2 months ago
parent
commit
cb57a8f466
  1. 1
      src/main/java/com/iflytop/gd/app/core/CraftsContext.java
  2. 9
      src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

1
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<CraftEvents> finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build();
Mono.from(sm.sendEvent(Mono.just(finishMsg))).block();
}

9
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

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