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修复拍子升降错误

master
白凤吉 2 months ago
parent
2a650cd040
commit
cbd0aeb1db
6 changed files with 23 additions and 185 deletions
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  1. 21
      src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java
  2. 21
      src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java
  3. 67
      src/main/java/com/iflytop/gd/app/controller/TestController.java
  4. 12
      src/main/java/com/iflytop/gd/app/service/api/TestService.java
  5. 86
      src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java
  6. 1
      src/main/java/com/iflytop/gd/common/result/ResultCode.java

21
src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java
View File

@ -69,10 +69,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
//校验目标加热位是否有托盘 //校验目标加热位是否有托盘
try { try {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true); 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); // throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
// }
}
} catch (Exception e) { } catch (Exception e) {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false); deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
throw e; throw e;
@ -80,37 +80,38 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
return runAsync(() -> { return runAsync(() -> {
try { try {
// TrayState trayState = deviceStateService.getTrayInSolutionModule(); // 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.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.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.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.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 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 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(), 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 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.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 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 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 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.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.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.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.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.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 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.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 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 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 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
// trayState.setHeatModuleId(heatModuleId); // trayState.setHeatModuleId(heatModuleId);
// trayState.setInHeatModule(true); // 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 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
} finally { } finally {
deviceStateService.getDeviceState().getGantryArm().setIdle(true); deviceStateService.getDeviceState().getGantryArm().setIdle(true);

21
src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java
View File

@ -47,9 +47,6 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
|| deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) { || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) {
throw new AppException(ResultCode.CMD_BUSY); throw new AppException(ResultCode.CMD_BUSY);
} }
if (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED);
}
String heatId = cmdDTO.getStringParam("heatId"); String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 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 //校验目标加热位是否有托盘
try { try {
deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true); 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); // throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
// }
}
} catch (Exception e) { } catch (Exception e) {
deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false); deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
throw e; throw e;
@ -84,15 +81,15 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
try { try {
// TrayState trayState = deviceStateService.getTrayInSolutionModule(); // TrayState trayState = deviceStateService.getTrayInSolutionModule();
solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待 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 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 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.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.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 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 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.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.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 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 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 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 // 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 // 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 // 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(), 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 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 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 // 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 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘

67
src/main/java/com/iflytop/gd/app/controller/TestController.java
View File

@ -1,20 +1,15 @@
package com.iflytop.gd.app.controller; 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.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.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.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.common.result.Result;
import com.iflytop.gd.hardware.exception.HardwareException; import com.iflytop.gd.hardware.exception.HardwareException;
import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag; import io.swagger.v3.oas.annotations.tags.Tag;
import lombok.RequiredArgsConstructor; import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; 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.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController; import org.springframework.web.bind.annotation.RestController;
@ -32,27 +27,9 @@ import java.util.List;
public class TestController { public class TestController {
private final TestService testService; private final TestService testService;
private final CapModuleService capModuleService; 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") @Operation(summary = "获取所有传感器读数")
@GetMapping("/all-sensor")
@PostMapping("/all-sensor")
public Result<List<AllSensorDTO>> getAllSensor() throws HardwareException { public Result<List<AllSensorDTO>> getAllSensor() throws HardwareException {
return Result.success(testService.getAllSensor()); return Result.success(testService.getAllSensor());
} }
@ -72,44 +49,4 @@ public class TestController {
return Result.success(); return Result.success();
} }
@Operation(summary = "获取指令互斥状态")
@GetMapping("/mutex-state")
public Result<CommandMutexState> 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();
}
} }

12
src/main/java/com/iflytop/gd/app/service/api/TestService.java
View File

@ -1,8 +1,6 @@
package com.iflytop.gd.app.service.api; package com.iflytop.gd.app.service.api;
import com.iflytop.gd.app.model.dto.AllSensorDTO; 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.exception.HardwareException;
import com.iflytop.gd.hardware.service.GDDeviceStatusService; import com.iflytop.gd.hardware.service.GDDeviceStatusService;
import com.iflytop.gd.hardware.type.IO.InputIOMId; import com.iflytop.gd.hardware.type.IO.InputIOMId;
@ -19,7 +17,6 @@ import java.util.List;
@RequiredArgsConstructor @RequiredArgsConstructor
public class TestService { public class TestService {
private final GDDeviceStatusService gdDeviceStatusService; private final GDDeviceStatusService gdDeviceStatusService;
private final DeviceStateService deviceStateService;
public List<AllSensorDTO> getAllSensor() throws HardwareException { public List<AllSensorDTO> getAllSensor() throws HardwareException {
List<AllSensorDTO> allSensorDTOList = new ArrayList<>(); List<AllSensorDTO> allSensorDTOList = new ArrayList<>();
@ -41,13 +38,4 @@ public class TestService {
return allSensorDTOList; 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);
}
} }

86
src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java
View File

@ -30,72 +30,11 @@ public class CapModuleService {
/** /**
* 将拍子升降区抬升至可以获取的位置 * 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 { public void capUpBalance() throws Exception {
capUpBalance(null, null); 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 * 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 { 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 * @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 { public void capMotorMoveByNum(int num) throws Exception {
capMotorMoveByNum(null, null, num); 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 * @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 { public void capMotorMoveByNum(String commandId, String command, int num) throws Exception {
double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance(); double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID); Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);

1
src/main/java/com/iflytop/gd/common/result/ResultCode.java
View File

@ -57,6 +57,7 @@ public enum ResultCode implements IResultCode, Serializable {
CAP_LIFT_ERROR("6024", "拍子升降错误"), CAP_LIFT_ERROR("6024", "拍子升降错误"),
CMD_BUSY("6025", "设备忙，请稍后"), CMD_BUSY("6025", "设备忙，请稍后"),
HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"), 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 */ /** 状态码 */
private final String code; private final String code;

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