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 9f50b16..d5c4527 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 @@ -69,10 +69,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { //校验目标加热位是否有托盘 try { deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true); -// Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); -// if (heatModuleTray) { + Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); + if (heatModuleTray) { // throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED); -// } + } } catch (Exception e) { deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false); throw e; @@ -80,37 +80,38 @@ 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 - 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 +// 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 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 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 // trayState.setHeatModuleId(heatModuleId); // 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 + 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 79ba7ad..8ac83af 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 @@ -47,9 +47,6 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) { throw new AppException(ResultCode.CMD_BUSY); } - if (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) { - throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED); - } String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 @@ -72,10 +69,10 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { //校验目标加热位是否有托盘 try { deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true); -// Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); -// if (!heatModuleTray) { + Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); + if (!heatModuleTray) { // throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY); -// } + } } catch (Exception e) { deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false); throw e; @@ -84,15 +81,15 @@ 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.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度 + 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(), 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 - 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.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 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 +102,13 @@ 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 - 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 + gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//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.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//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/controller/TestController.java b/src/main/java/com/iflytop/gd/app/controller/TestController.java index 2e1cf68..26ccb3c 100644 --- a/src/main/java/com/iflytop/gd/app/controller/TestController.java +++ b/src/main/java/com/iflytop/gd/app/controller/TestController.java @@ -1,20 +1,15 @@ 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.HeatService; 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.OtherModuleService; -import com.iflytop.gd.common.enums.HeatModuleCode; import com.iflytop.gd.common.result.Result; import com.iflytop.gd.hardware.exception.HardwareException; 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; @@ -32,27 +27,9 @@ import java.util.List; public class TestController { private final TestService testService; private final CapModuleService capModuleService; - private final DeviceStateService deviceStateService; - private final OtherModuleService otherModuleService; - private final DeviceEmergencyStopService deviceEmergencyStopService; - - @Operation(summary = "启动虚拟模式") - @PostMapping("/virtual") - public Result changeVirtualMode() { - deviceStateService.getDeviceState().setVirtual(true); - deviceStateService.getDeviceState().setInitComplete(true); - return Result.success(); - } - - @Operation(summary = "模拟向硬件写入完毕") - @PostMapping("/initComplete") - public Result setInitComplete(Boolean initComplete) { - deviceStateService.getDeviceState().setInitComplete(initComplete); - return Result.success(); - } @Operation(summary = "获取所有传感器读数") - @GetMapping("/all-sensor") + @PostMapping("/all-sensor") public Result> getAllSensor() throws HardwareException { return Result.success(testService.getAllSensor()); } @@ -72,44 +49,4 @@ public class TestController { return Result.success(); } - @Operation(summary = "获取指令互斥状态") - @GetMapping("/mutex-state") - public Result getCommandMutexState() throws HardwareException { - return Result.success(deviceStateService.getCommandMutexState().get()); - } - - @Operation(summary = "重置状态") - @PostMapping("/reset") - public Result reset() throws Exception { - testService.reset(); - return Result.success(); - } - - @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(); - } - - @Operation(summary = "工艺执行完毕蜂鸣器提醒") - @PostMapping("/crafts-finish-beep-remind") - public Result craftsFinishBeepRemind() throws Exception { - otherModuleService.craftsFinishBeepRemind(); - return Result.success(); - } - - @Operation(summary = "设置当前温度") - @PostMapping("/set-temperature") - public Result setTemperature(HeatModuleCode code, Double temperature) throws Exception { - testService.setTemperature(code, temperature); - return Result.success(); - } } diff --git a/src/main/java/com/iflytop/gd/app/service/api/TestService.java b/src/main/java/com/iflytop/gd/app/service/api/TestService.java index f64b3e1..21abffb 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/TestService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/TestService.java @@ -1,8 +1,6 @@ package com.iflytop.gd.app.service.api; import com.iflytop.gd.app.model.dto.AllSensorDTO; -import com.iflytop.gd.app.service.device.DeviceStateService; -import com.iflytop.gd.common.enums.HeatModuleCode; import com.iflytop.gd.hardware.exception.HardwareException; import com.iflytop.gd.hardware.service.GDDeviceStatusService; import com.iflytop.gd.hardware.type.IO.InputIOMId; @@ -19,7 +17,6 @@ import java.util.List; @RequiredArgsConstructor public class TestService { private final GDDeviceStatusService gdDeviceStatusService; - private final DeviceStateService deviceStateService; public List getAllSensor() throws HardwareException { List allSensorDTOList = new ArrayList<>(); @@ -41,13 +38,4 @@ public class TestService { return allSensorDTOList; } - public void reset(){ - deviceStateService.getCommandMutexState().get().reset(); - deviceStateService.getDeviceState().reset(); - } - - public void setTemperature(HeatModuleCode code, Double temperature){ - deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature); - } - } 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 b3df5f7..cb42442 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 @@ -30,72 +30,11 @@ public class CapModuleService { /** * 将拍子升降区抬升至可以获取的位置 */ - public void capUpBalanceNoWait() throws Exception { - capUpBalanceNoWait(null, null); - } - - /** - * 将拍子升降区抬升至可以获取的位置 - */ public void capUpBalance() throws Exception { capUpBalance(null, null); } /** - * 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) { - return; - } - 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 { @@ -176,15 +115,6 @@ public class CapModuleService { * * @param num 1为上升1格，-1为下降1格 */ - public void capMotorMoveByNumNoWait(int num) throws Exception { - capMotorMoveByNumNoWait(null, null, num); - } - - /** - * 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(int num) throws Exception { capMotorMoveByNum(null, null, num); } @@ -194,22 +124,6 @@ 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/common/result/ResultCode.java b/src/main/java/com/iflytop/gd/common/result/ResultCode.java index 368f5dc..7287b4a 100644 --- a/src/main/java/com/iflytop/gd/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/gd/common/result/ResultCode.java @@ -57,6 +57,7 @@ public enum ResultCode implements IResultCode, Serializable { CAP_LIFT_ERROR("6024", "拍子升降错误"), CMD_BUSY("6025", "设备忙，请稍后"), HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"), + CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"), ; /** 状态码 */ private final String code;